Visual Servoing Platform version 3.6.0
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manGeometricFeatures.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Geometric features example.
33 *
34*****************************************************************************/
48#include <visp3/core/vpDebug.h>
49#include <visp3/io/vpImageIo.h>
50// For 2D image
51#include <visp3/core/vpImage.h>
52// Video device interface
53#include <visp3/core/vpDisplay.h>
54#include <visp3/gui/vpDisplayGDI.h>
55#include <visp3/gui/vpDisplayGTK.h>
56#include <visp3/gui/vpDisplayOpenCV.h>
57#include <visp3/gui/vpDisplayX.h>
58
59// For frame transformation and projection
60#include <visp3/core/vpCameraParameters.h>
61#include <visp3/core/vpHomogeneousMatrix.h>
62
63// Needed geometric features
64#include <visp3/core/vpCircle.h>
65#include <visp3/core/vpCylinder.h>
66#include <visp3/core/vpLine.h>
67#include <visp3/core/vpPoint.h>
68#include <visp3/core/vpSphere.h>
69
70#include <iostream>
71
72int main()
73{
74 try {
75 std::cout << "ViSP geometric features display example" << std::endl;
76 unsigned int height = 288;
77 unsigned int width = 384;
78 vpImage<unsigned char> I(height, width);
79 I = 255; // I is a white image
80
81 // create a display window
82#if defined(VISP_HAVE_X11)
83 vpDisplayX display;
84#elif defined(VISP_HAVE_GDI)
85 vpDisplayGDI display;
86#elif defined(HAVE_OPENCV_HIGHGUI)
87 vpDisplayOpenCV display;
88#elif defined(VISP_HAVE_GTK)
89 vpDisplayGTK display;
90#else
91 std::cout << "Please install X11, GDI, OpenCV or GTK to see the result of this example" << std::endl;
92#endif
93
94#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GTK)
95 // initialize a display attached to image I
96 display.init(I, 100, 100, "ViSP geometric features display");
97#endif
98
99 // camera parameters to digitalize the image plane
100 vpCameraParameters cam(600, 600, width / 2, height / 2); // px,py,u0,v0
101
102 // pose of the camera with reference to the scene
103 vpTranslationVector t(0, 0, 1);
104 vpRxyzVector rxyz(-M_PI / 4, 0, 0);
105 vpRotationMatrix R(rxyz);
106 vpHomogeneousMatrix cMo(t, R);
107
108 // scene building, geometric features definition
109 vpPoint point;
110 point.setWorldCoordinates(0, 0, 0); // (X0=0,Y0=0,Z0=0)
111 vpLine line;
112 line.setWorldCoordinates(1, 1, 0, 0, 0, 0, 1, 0); // planes:(X+Y=0)&(Z=0)
113 vpCylinder cylinder;
114 cylinder.setWorldCoordinates(1, -1, 0, 0, 0, 0,
115 0.1); // alpha=1,beta=-1,gamma=0,
116 // X0=0,Y0=0,Z0=0,R=0.1
117 vpCircle circle;
118 circle.setWorldCoordinates(0, 0, 1, 0, 0, 0,
119 0.1); // plane:(Z=0),X0=0,Y0=0,Z=0,R=0.1
120 vpSphere sphere;
121 sphere.setWorldCoordinates(0, 0, 0, 0.1); // X0=0,Y0=0,Z0=0,R=0.1
122
123 // change frame to be the camera frame and project features in the image
124 // plane
125 point.project(cMo);
126 line.project(cMo);
127 cylinder.project(cMo);
128 circle.project(cMo);
129 sphere.project(cMo);
130
131 // display the scene
132 vpDisplay::display(I); // display I
133 // draw the projections of the 3D geometric features in the image plane.
134 point.display(I, cam, vpColor::black); // draw a black cross over I
135 line.display(I, cam, vpColor::blue); // draw a blue line over I
136 cylinder.display(I, cam, vpColor::red); // draw two red lines over I
137 circle.display(I, cam, vpColor::orange); // draw an orange ellipse over I
138 sphere.display(I, cam, vpColor::black); // draw a black ellipse over I
139
140 vpDisplay::flush(I); // flush the display buffer
141 vpDisplay::displayText(I, 10, 10, "Click in the display to exit", vpColor::red);
142 vpDisplay::getClick(I); // wait for a click in the display to exit
143
144#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GTK)
145 // save the drawing
147 vpDisplay::getImage(I, Ic);
148 std::cout << "ViSP creates \"./geometricFeatures.ppm\" image" << std::endl;
149 vpImageIo::write(Ic, "./geometricFeatures.ppm");
150#endif
151 }
152 catch (const vpException &e) {
153 std::cout << "Catch an exception: " << e << std::endl;
154 return EXIT_FAILURE;
155 }
156
157 return EXIT_SUCCESS;
158}
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 setWorldCoordinates(const vpColVector &oP)
Definition vpCircle.cpp:57
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
Definition vpCircle.cpp:311
static const vpColor red
Definition vpColor.h:211
static const vpColor black
Definition vpColor.h:205
static const vpColor orange
Definition vpColor.h:221
static const vpColor blue
Definition vpColor.h:217
Class that defines a 3D cylinder in the object frame and allows forward projection of a 3D cylinder i...
Definition vpCylinder.h:98
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
void setWorldCoordinates(const vpColVector &oP)
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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:132
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)
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
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 of the vpImage class member functions.
Definition vpImage.h:135
Class that defines a 3D line in the object frame and allows forward projection of the line in the cam...
Definition vpLine.h:100
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
Definition vpLine.cpp:462
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:82
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
Definition vpPoint.cpp:427
void setWorldCoordinates(double oX, double oY, double oZ)
Definition vpPoint.cpp:110
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Class that defines a 3D sphere in the object frame and allows forward projection of a 3D sphere in th...
Definition vpSphere.h:78
void display(const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, unsigned int thickness=1)
Definition vpSphere.cpp:284
void setWorldCoordinates(const vpColVector &oP)
Definition vpSphere.cpp:59
Class that consider the case of a translation vector.