Visual Servoing Platform  version 3.3.0
tutorial-pose-from-points-image.cpp
#include <visp3/io/vpImageIo.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include "pose_helper.h"
int main()
{
try {
vpImageIo::read(I, "square.pgm");
#if defined(VISP_HAVE_X11)
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#endif
vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
std::vector<vpDot2> dot(4);
std::vector<vpImagePoint> ip(4);
dot[0].initTracking(I, vpImagePoint(193, 157));
dot[1].initTracking(I, vpImagePoint(203, 366));
dot[2].initTracking(I, vpImagePoint(313, 402));
dot[3].initTracking(I, vpImagePoint(304, 133));
std::vector<vpPoint> point;
point.push_back(vpPoint(-0.06, -0.06, 0));
point.push_back(vpPoint( 0.06, -0.06, 0));
point.push_back(vpPoint( 0.06, 0.06, 0));
point.push_back(vpPoint(-0.06, 0.06, 0));
bool init = true;
while (1) {
vpImageIo::read(I, "square.pgm");
for (unsigned int i = 0; i < dot.size(); i++) {
dot[i].setGraphics(true);
dot[i].track(I);
ip[i] = dot[i].getCog();
}
computePose(point, ip, cam, init, cMo);
if (init)
init = false; // turn off pose initialisation
if (vpDisplay::getClick(I, false))
break;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
}
}
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:151
vpTime::wait
VISP_EXPORT int wait(double t0, double t)
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:234
vpImageIo::read
static void read(vpImage< unsigned char > &I, const std::string &filename)
Definition: vpImageIo.cpp:243
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
vpImage::getHeight
unsigned int getHeight() const
Definition: vpImage.h:222
vpColor::none
static const vpColor none
Definition: vpColor.h:191
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:384
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:142
vpImage::getWidth
unsigned int getWidth() const
Definition: vpImage.h:280
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:740
vpImagePoint
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:89
vpException::getMessage
const char * getMessage(void) const
Definition: vpException.cpp:90
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:716
vpImage< unsigned char >
vpPoint
Class that defines what is a point.
Definition: vpPoint.h:59
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:765
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:150
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:72