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tutorial-image-simulator.cpp
1 
2 #include <visp/vpDisplayX.h>
3 #include <visp/vpDisplayGDI.h>
4 #include <visp/vpImageIo.h>
5 #include <visp/vpImageSimulator.h>
6 
7 int main()
8 {
10  vpImageIo::read(target, "./target_square.pgm");
11 
12  vpColVector X[4];
13  for (int i = 0; i < 4; i++) X[i].resize(3);
14  // Top left Top right Bottom right Bottom left
15  X[0][0] = -0.1; X[1][0] = 0.1; X[2][0] = 0.1; X[3][0] = -0.1;
16  X[0][1] = -0.1; X[1][1] = -0.1; X[2][1] = 0.1; X[3][1] = 0.1;
17  X[0][2] = 0; X[1][2] = 0; X[2][2] = 0; X[3][2] = 0;
18 
19  vpImage<unsigned char> I(480, 640);
20  vpCameraParameters cam(840, 840, I.getWidth()/2, I.getHeight()/2);
21  vpHomogeneousMatrix cMo(0, 0, 0.35, 0, vpMath::rad(30), vpMath::rad(15));
22 
23  vpImageSimulator sim;
25  sim.init(target, X);
26 
27  // Get the new image of the projected planar image target
28  sim.setCleanPreviousImage(true);
29  sim.setCameraPosition(cMo);
30  sim.getImage(I, cam);
31 
32  try {
33  vpImageIo::write(I, "./rendered_image.jpg");
34  }
35  catch(...) {
36  std::cout << "Unsupported image format" << std::endl;
37  }
38 
39 #if defined(VISP_HAVE_X11)
40  vpDisplayX d(I);
41 #elif defined(VISP_HAVE_GDI)
42  vpDisplayGDI d(I);
43 #else
44  std::cout << "No image viewer is available..." << std::endl;
45 #endif
46 
47  vpDisplay::setTitle(I, "Planar image projection");
50  std::cout << "A click to quit..." << std::endl;
52 }