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//! \example tutorial-draw-frame.cpp
#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
int main()
{
#if defined(VISP_HAVE_DISPLAY)
vpImage<unsigned char> I(2160, 3840, 128);
// Initialize the display with the image I. Display and image are now linked together
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> d = vpDisplayFactory::createDisplay(I, -1, -1, "Frame drawing", vpDisplay::SCALE_AUTO);
#else
vpDisplay *d = vpDisplayFactory::allocateDisplay(I, -1, -1, "Frame drawing", vpDisplay::SCALE_AUTO);
#endif
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);
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
delete d;
#endif
#else
std::cout << "No gui available to display an image..." << std::endl;
#endif
return EXIT_SUCCESS;
}
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