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//! \example tutorial-draw-frame.cpp
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/core/vpHomogeneousMatrix.h>
int main()
{
vpImage<unsigned char> I(2160, 3840, 128);
try {
#if defined(VISP_HAVE_X11)
vpDisplayX d(I, vpDisplay::SCALE_AUTO);
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d(I, vpDisplay::SCALE_AUTO);
#endif
vpDisplay::setTitle(I, "My image");
vpDisplay::display(I);
double dTheta = 45;
double dOffset = 0.25;
std::string axisName[3] = {"x", "y", "z"};
double px = 600; double py = 600;
double u0 = 320; double v0 = 240;
// Create a camera parameter container
vpCameraParameters cam;
// Camera initialization with a perspective projection without distortion model
cam.initPersProjWithoutDistortion(px,py,u0,v0);
for(unsigned int idAxis = 0; idAxis < 3; idAxis ++)
{
unsigned int tOffset = 0;
for(double theta = -180; theta < 180; theta += dTheta)
{
vpTranslationVector t(0.05, 0.25 * (idAxis + 1), 0.37);
vpRxyzVector r(0, 0, 0);
t[0] = t[0] + tOffset * dOffset;
tOffset++;
r[idAxis] = vpMath::rad(theta);
vpHomogeneousMatrix cMo;
cMo.buildFrom(t, vpRotationMatrix(r));
std::stringstream ss_name;
ss_name << "cMo_";
ss_name << static_cast<int>(theta);
ss_name << "_";
ss_name << axisName[idAxis];
//! [frame]
vpDisplay::displayFrame(I, cMo, cam, 0.1, vpColor::none, 1, vpImagePoint(), ss_name.str(), vpColor::yellow, vpImagePoint(40,40));
//! [frame]
}
}
vpDisplay::flush(I);
std::cout << "A click to quit..." << std::endl;
vpDisplay::getClick(I);
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
}
}
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