Visual Servoing Platform  version 3.6.1 under development (2024-12-03)
manGeometricFeatures.cpp

Geometric features projection example.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Geometric features example.
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/io/vpImageIo.h>
// For 2D image
#include <visp3/core/vpImage.h>
// Video device interface
#include <visp3/core/vpDisplay.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
// For frame transformation and projection
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
// Needed geometric features
#include <visp3/core/vpCircle.h>
#include <visp3/core/vpCylinder.h>
#include <visp3/core/vpLine.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpSphere.h>
#include <iostream>
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
try {
std::cout << "ViSP geometric features display example" << std::endl;
unsigned int height = 288;
unsigned int width = 384;
vpImage<unsigned char> I(height, width);
I = 255u; // I is a white image
// create a display window
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display;
#else
std::cout << "Please install X11, GDI, OpenCV or GTK to see the result of this example" << std::endl;
#endif
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GTK)
// initialize a display attached to image I
display.init(I, 100, 100, "ViSP geometric features display");
#endif
// camera parameters to digitalize the image plane
vpCameraParameters cam(600, 600, width / 2, height / 2); // px,py,u0,v0
// pose of the camera with reference to the scene
vpTranslationVector t(0, 0, 1);
vpRxyzVector rxyz(-M_PI / 4, 0, 0);
// scene building, geometric features definition
vpPoint point;
point.setWorldCoordinates(0, 0, 0); // (X0=0,Y0=0,Z0=0)
vpLine line;
line.setWorldCoordinates(1, 1, 0, 0, 0, 0, 1, 0); // planes:(X+Y=0)&(Z=0)
vpCylinder cylinder;
cylinder.setWorldCoordinates(1, -1, 0, 0, 0, 0,
0.1); // alpha=1,beta=-1,gamma=0,
// X0=0,Y0=0,Z0=0,R=0.1
vpCircle circle;
circle.setWorldCoordinates(0, 0, 1, 0, 0, 0,
0.1); // plane:(Z=0),X0=0,Y0=0,Z=0,R=0.1
vpSphere sphere;
sphere.setWorldCoordinates(0, 0, 0, 0.1); // X0=0,Y0=0,Z0=0,R=0.1
// change frame to be the camera frame and project features in the image
// plane
point.project(cMo);
line.project(cMo);
cylinder.project(cMo);
circle.project(cMo);
sphere.project(cMo);
// display the scene
vpDisplay::display(I); // display I
// draw the projections of the 3D geometric features in the image plane.
point.display(I, cam, vpColor::black); // draw a black cross over I
line.display(I, cam, vpColor::blue); // draw a blue line over I
cylinder.display(I, cam, vpColor::red); // draw two red lines over I
circle.display(I, cam, vpColor::orange); // draw an orange ellipse over I
sphere.display(I, cam, vpColor::black); // draw a black ellipse over I
vpDisplay::flush(I); // flush the display buffer
vpDisplay::displayText(I, 10, 10, "Click in the display to exit", vpColor::red);
vpDisplay::getClick(I); // wait for a click in the display to exit
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GTK)
// save the drawing
std::cout << "ViSP creates \"./geometricFeatures.ppm\" image" << std::endl;
vpImageIo::write(Ic, "./geometricFeatures.ppm");
#endif
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
Generic class defining intrinsic camera parameters.
Class that defines a 3D circle in the object frame and allows forward projection of a 3D circle in th...
Definition: vpCircle.h:87
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) VP_OVERRIDE
Definition: vpCircle.cpp:348
void setWorldCoordinates(const vpColVector &oP) VP_OVERRIDE
Definition: vpCircle.cpp:59
static const vpColor red
Definition: vpColor.h:217
static const vpColor orange
Definition: vpColor.h:227
static const vpColor blue
Definition: vpColor.h:223
static const vpColor black
Definition: vpColor.h:211
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition: vpCylinder.h:101
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) VP_OVERRIDE
Definition: vpCylinder.cpp:405
void setWorldCoordinates(const vpColVector &oP) VP_OVERRIDE
Definition: vpCylinder.cpp:63
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:130
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:133
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
Definition: vpDisplay.cpp:140
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition: vpException.h:60
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:291
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition: vpLine.h:103
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) VP_OVERRIDE
Definition: vpLine.cpp:466
void setWorldCoordinates(const double &oA1, const double &oB1, const double &oC1, const double &oD1, const double &oA2, const double &oB2, const double &oC2, const double &oD2)
Definition: vpLine.cpp:83
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:79
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) VP_OVERRIDE
Definition: vpPoint.cpp:384
void setWorldCoordinates(double oX, double oY, double oZ)
Definition: vpPoint.cpp:113
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:183
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition: vpSphere.h:80
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1) VP_OVERRIDE
Definition: vpSphere.cpp:309
void setWorldCoordinates(const vpColVector &oP) VP_OVERRIDE
Definition: vpSphere.cpp:61
Class that consider the case of a translation vector.