Visual Servoing Platform  version 3.3.0
tutorial-pose-from-qrcode-image.cpp
#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()
{
#if defined(VISP_HAVE_ZBAR)
try {
vpImageIo::read(I, "bar-code.pgm");
#if defined(VISP_HAVE_X11)
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#endif
// 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, "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))
break;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
}
#else
std::cout << "ViSP is not build with zbar 3rd party." << std::endl;
#endif
}
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:149
vpTime::wait
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:172
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpDetectorBase::getPolygon
std::vector< std::vector< vpImagePoint > > & getPolygon()
Definition: vpDetectorBase.h:120
vpImageIo::read
static void read(vpImage< unsigned char > &I, const std::string &filename)
Definition: vpImageIo.cpp:242
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:127
vpDetectorBase::getNbObjects
size_t getNbObjects() const
Definition: vpDetectorBase.h:115
vpDetectorQRCode
Definition: vpDetectorQRCode.h:113
vpDisplay::displayFrame
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))
Definition: vpDisplay_uchar.cpp:383
vpDetectorAprilTag::detect
bool detect(const vpImage< unsigned char > &I)
Definition: vpDetectorAprilTag.cpp:761
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:140
vpHomogeneousMatrix::getTranslationVector
vpTranslationVector getTranslationVector() const
Definition: vpHomogeneousMatrix.cpp:784
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:739
vpDisplay::displayText
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Definition: vpDisplay_uchar.cpp:663
vpQuaternionVector
Implementation of a rotation vector as quaternion angle minimal representation.
Definition: vpQuaternionVector.h:110
vpImage::getHeight
unsigned int getHeight() const
Definition: vpImage.h:185
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
vpColor::none
static const vpColor none
Definition: vpColor.h:190
vpException::getMessage
const char * getMessage(void) const
Definition: vpException.cpp:89
vpColor::blue
static const vpColor blue
Definition: vpColor.h:184
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:715
vpDisplay::displayCross
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
Definition: vpDisplay_uchar.cpp:179
vpImage< unsigned char >
vpPoint
Class that defines what is a point.
Definition: vpPoint.h:57
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:764
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:148
vpHomogeneousMatrix::getRotationMatrix
vpRotationMatrix getRotationMatrix() const
Definition: vpHomogeneousMatrix.cpp:794
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpTranslationVector::t
vpRowVector t() const
Definition: vpTranslationVector.cpp:697
vpColor::red
static const vpColor red
Definition: vpColor.h:178
vpImage::getWidth
unsigned int getWidth() const
Definition: vpImage.h:243