Visual Servoing Platform  version 3.6.1 under development (2024-04-15)
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/detection/vpDetectorQRCode.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/vision/vpPose.h>
#include "pose_helper.h"
int main(int, char *argv[])
#if defined(VISP_HAVE_ZBAR)
try {
vpImageIo::read(I, vpIoTools::getParent(argv[0]) + "/data/bar-code.pgm");
#if defined(VISP_HAVE_X11)
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(HAVE_OPENCV_HIGHGUI)
// Camera parameters should be adapted to your camera
vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
// 3D model of the QRcode: here we consider a 12cm by 12cm QRcode
std::vector<vpPoint> point;
point.push_back(vpPoint(-0.06, -0.06, 0)); // QRcode point 0 3D coordinates in plane Z=0
point.push_back(vpPoint(0.06, -0.06, 0)); // QRcode point 1 3D coordinates in plane Z=0
point.push_back(vpPoint(0.06, 0.06, 0)); // QRcode point 2 3D coordinates in plane Z=0
point.push_back(vpPoint(-0.06, 0.06, 0)); // QRcode point 3 3D coordinates in plane Z=0
bool init = true;
vpDetectorQRCode detector;
while (1) {
vpImageIo::read(I, vpIoTools::getParent(argv[0]) + "/data/bar-code.pgm");
bool status = detector.detect(I);
std::ostringstream legend;
legend << detector.getNbObjects() << " bar code detected";
vpDisplay::displayText(I, (int)I.getHeight() - 30, 10, legend.str(), vpColor::red);
if (status) { // true if at least one QRcode is detected
for (size_t i = 0; i < detector.getNbObjects(); i++) {
std::vector<vpImagePoint> p = detector.getPolygon(i); // get the four corners location in the image
for (size_t j = 0; j < p.size(); j++) {
std::ostringstream number;
number << j;
vpDisplay::displayText(I, p[j] + vpImagePoint(15, 5), number.str(), vpColor::blue);
computePose(point, p, cam, init, cMo); // resulting pose is available in cMo var
std::cout << "Pose translation (meter): " << cMo.getTranslationVector().t() << std::endl
<< "Pose rotation (quaternion): " << vpQuaternionVector(cMo.getRotationMatrix()).t() << std::endl;
vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none, 3);
vpDisplay::displayText(I, (int)I.getHeight() - 15, 10, "A click to quit...", vpColor::red);
if (vpDisplay::getClick(I, false))
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
std::cout << "ViSP is not build with zbar 3rd party." << std::endl;
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition: vpColor.h:211
static const vpColor none
Definition: vpColor.h:223
static const vpColor blue
Definition: vpColor.h:217
std::vector< std::vector< vpImagePoint > > & getPolygon()
size_t getNbObjects() const
bool detect(const vpImage< unsigned char > &I) vp_override
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
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:128
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
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:59
const char * getMessage() const
Definition: vpException.cpp:64
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpRotationMatrix getRotationMatrix() const
vpTranslationVector getTranslationVector() const
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:143
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
unsigned int getWidth() const
Definition: vpImage.h:245
unsigned int getHeight() const
Definition: vpImage.h:184
void init(unsigned int h, unsigned int w, Type value)
Definition: vpImage.h:619
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:2047
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:77
Implementation of a rotation vector as quaternion angle minimal representation.
vpRowVector t() const
vpRowVector t() const
VISP_EXPORT int wait(double t0, double t)