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//! \example tutorial-image-simulator.cpp
#include <visp3/core/vpConfig.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
//! [Include]
#include <visp3/robot/vpImageSimulator.h>
//! [Include]
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 {
//! [Read image]
vpImage<unsigned char> target;
vpImageIo::read(target, "./target_square.jpg");
//! [Read image]
//! [Set model]
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;
//! [Set model]
//! [Image construction]
vpImage<unsigned char> I(480, 640);
//! [Image construction]
//! [Camera parameters]
vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
//! [Camera parameters]
//! [Set cMo]
vpHomogeneousMatrix cMo(0, 0, 0.35, 0, vpMath::rad(30), vpMath::rad(15));
//! [Set cMo]
//! [Create simulator]
vpImageSimulator sim;
sim.setInterpolationType(vpImageSimulator::BILINEAR_INTERPOLATION);
sim.init(target, X);
//! [Create simulator]
// Get the new image of the projected planar image target
//! [Render image]
sim.setCleanPreviousImage(true);
sim.setCameraPosition(cMo);
sim.getImage(I, cam);
//! [Render image]
//! [Write image]
try {
vpImageIo::write(I, "./rendered_image.jpg");
}
catch (...) {
std::cout << "Unsupported image format" << std::endl;
}
//! [Write image]
#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
}
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