Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
tutorial-image-simulator.cpp
1 #include <visp3/gui/vpDisplayGDI.h>
3 #include <visp3/gui/vpDisplayOpenCV.h>
4 #include <visp3/gui/vpDisplayX.h>
5 #include <visp3/io/vpImageIo.h>
7 #include <visp3/robot/vpImageSimulator.h>
9 
10 int main()
11 {
12  try {
15  vpImageIo::read(target, "./target_square.pgm");
17 
19  vpColVector X[4];
20  for (int i = 0; i < 4; i++)
21  X[i].resize(3);
22  // Top left Top right Bottom right Bottom left
23  X[0][0] = -0.1;
24  X[1][0] = 0.1;
25  X[2][0] = 0.1;
26  X[3][0] = -0.1;
27  X[0][1] = -0.1;
28  X[1][1] = -0.1;
29  X[2][1] = 0.1;
30  X[3][1] = 0.1;
31  X[0][2] = 0;
32  X[1][2] = 0;
33  X[2][2] = 0;
34  X[3][2] = 0;
36 
38  vpImage<unsigned char> I(480, 640);
41  vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
44  vpHomogeneousMatrix cMo(0, 0, 0.35, 0, vpMath::rad(30), vpMath::rad(15));
46 
48  vpImageSimulator sim;
50  sim.init(target, X);
52 
53  // Get the new image of the projected planar image target
55  sim.setCleanPreviousImage(true);
56  sim.setCameraPosition(cMo);
57  sim.getImage(I, cam);
59 
61  try {
62  vpImageIo::write(I, "./rendered_image.jpg");
63  } catch (...) {
64  std::cout << "Unsupported image format" << std::endl;
65  }
67 
68 #if defined(VISP_HAVE_X11)
69  vpDisplayX d(I);
70 #elif defined(VISP_HAVE_GDI)
71  vpDisplayGDI d(I);
72 #elif defined(VISP_HAVE_OPENCV)
73  vpDisplayOpenCV d(I);
74 #else
75  std::cout << "No image viewer is available..." << std::endl;
76 #endif
77 
78  vpDisplay::setTitle(I, "Planar image projection");
81  std::cout << "A click to quit..." << std::endl;
83  } catch (const vpException &e) {
84  std::cout << "Catch an exception: " << e << std::endl;
85  }
86 }
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