Visual Servoing Platform  version 3.5.1 under development (2022-10-03)
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/robot/vpImageSimulator.h>
int main()
try {
vpImageIo::read(target, "./target_square.pgm");
for (int i = 0; i < 4; i++)
// Top left Top right Bottom right Bottom left
X[0][0] = -0.1;
X[1][0] = 0.1;
X[2][0] = 0.1;
X[3][0] = -0.1;
X[0][1] = -0.1;
X[1][1] = -0.1;
X[2][1] = 0.1;
X[3][1] = 0.1;
X[0][2] = 0;
X[1][2] = 0;
X[2][2] = 0;
X[3][2] = 0;
vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
vpHomogeneousMatrix cMo(0, 0, 0.35, 0, vpMath::rad(30), vpMath::rad(15));
sim.init(target, X);
// Get the new image of the projected planar image target
sim.getImage(I, cam);
try {
vpImageIo::write(I, "./rendered_image.jpg");
} catch (...) {
std::cout << "Unsupported image format" << std::endl;
#if defined(VISP_HAVE_X11)
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
std::cout << "No image viewer is available..." << std::endl;
vpDisplay::setTitle(I, "Planar image projection");
std::cout << "A click to quit..." << std::endl;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
static void flush(const vpImage< unsigned char > &I)
error that can be emited by ViSP classes.
Definition: vpException.h:72
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:148
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:292
Class which enables to project an image in the 3D space and get the view of a virtual camera.
void getImage(vpImage< unsigned char > &I, const vpCameraParameters &cam)
void init(const vpImage< unsigned char > &I, vpColVector *X)
void setCleanPreviousImage(const bool &clean, const vpColor &color=vpColor::white)
void setInterpolationType(const vpInterpolationType interplt)
void setCameraPosition(const vpHomogeneousMatrix &cMt)
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:188
static double rad(double deg)
Definition: vpMath.h:117