tutorial-image-simulator.cpp

#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/robot/vpImageSimulator.h>
 
int main()
{
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  std::shared_ptr<vpDisplay> display;
#else
  vpDisplay *display = nullptr;
#endif
  try {
    vpImage<unsigned char> target;
    vpImageIo::read(target, "./target_square.jpg");

    vpColVector X[4];
    for (int i = 0; i < 4; i++)
      X[i].resize(3);
    // Top left     Top right       Bottom right   Bottom left
    X[0][0] = -0.1;
    X[1][0] = 0.1;
    X[2][0] = 0.1;
    X[3][0] = -0.1;
    X[0][1] = -0.1;
    X[1][1] = -0.1;
    X[2][1] = 0.1;
    X[3][1] = 0.1;
    X[0][2] = 0;
    X[1][2] = 0;
    X[2][2] = 0;
    X[3][2] = 0;

    vpImage<unsigned char> I(480, 640);
    vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
    vpHomogeneousMatrix cMo(0, 0, 0.35, 0, vpMath::rad(30), vpMath::rad(15));

    vpImageSimulator sim;
    sim.setInterpolationType(vpImageSimulator::BILINEAR_INTERPOLATION);
    sim.init(target, X);
 
    // Get the new image of the projected planar image target
    sim.setCleanPreviousImage(true);
    sim.setCameraPosition(cMo);
    sim.getImage(I, cam);

    try {
      vpImageIo::write(I, "./rendered_image.jpg");
    }
    catch (...) {
      std::cout << "Unsupported image format" << std::endl;
    }
 
#if defined(VISP_HAVE_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    display = vpDisplayFactory::createDisplay(I);
#else
    display = vpDisplayFactory::allocateDisplay(I);
#endif
#else
    std::cout << "No image viewer is available..." << std::endl;
#endif
 
    vpDisplay::setTitle(I, "Planar image projection");
    vpDisplay::display(I);
    vpDisplay::flush(I);
    std::cout << "A click to quit..." << std::endl;
    vpDisplay::getClick(I);
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
  }
 
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  if (display != nullptr) {
    delete display;
  }
#endif
}