Visual Servoing Platform version 3.6.0
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tutorial-pose-from-qrcode-image.cpp
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/detection/vpDetectorQRCode.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/vision/vpPose.h>
#include "pose_helper.h"
int main(int, char *argv[])
{
#if defined(VISP_HAVE_ZBAR)
try {
vpImageIo::read(I, vpIoTools::getParent(argv[0]) + "/data/bar-code.pgm");
#if defined(VISP_HAVE_X11)
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(HAVE_OPENCV_HIGHGUI)
#endif
// Camera parameters should be adapted to your camera
vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2);
// 3D model of the QRcode: here we consider a 12cm by 12cm QRcode
std::vector<vpPoint> point;
point.push_back(vpPoint(-0.06, -0.06, 0)); // QRcode point 0 3D coordinates in plane Z=0
point.push_back(vpPoint(0.06, -0.06, 0)); // QRcode point 1 3D coordinates in plane Z=0
point.push_back(vpPoint(0.06, 0.06, 0)); // QRcode point 2 3D coordinates in plane Z=0
point.push_back(vpPoint(-0.06, 0.06, 0)); // QRcode point 3 3D coordinates in plane Z=0
bool init = true;
vpDetectorQRCode detector;
while (1) {
vpImageIo::read(I, vpIoTools::getParent(argv[0]) + "/data/bar-code.pgm");
bool status = detector.detect(I);
std::ostringstream legend;
legend << detector.getNbObjects() << " bar code detected";
vpDisplay::displayText(I, (int)I.getHeight() - 30, 10, legend.str(), vpColor::red);
if (status) { // true if at least one QRcode is detected
for (size_t i = 0; i < detector.getNbObjects(); i++) {
std::vector<vpImagePoint> p = detector.getPolygon(i); // get the four corners location in the image
for (size_t j = 0; j < p.size(); j++) {
std::ostringstream number;
number << j;
vpDisplay::displayText(I, p[j] + vpImagePoint(15, 5), number.str(), vpColor::blue);
}
computePose(point, p, cam, init, cMo); // resulting pose is available in cMo var
std::cout << "Pose translation (meter): " << cMo.getTranslationVector().t() << std::endl
<< "Pose rotation (quaternion): " << vpQuaternionVector(cMo.getRotationMatrix()).t() << std::endl;
vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none, 3);
}
}
vpDisplay::displayText(I, (int)I.getHeight() - 15, 10, "A click to quit...", vpColor::red);
if (vpDisplay::getClick(I, false))
break;
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
}
#else
(void)argv;
std::cout << "ViSP is not build with zbar 3rd party." << std::endl;
#endif
}
Generic class defining intrinsic camera parameters.
static const vpColor red
Definition vpColor.h:211
static const vpColor none
Definition vpColor.h:223
static const vpColor blue
Definition vpColor.h:217
std::vector< std::vector< vpImagePoint > > & getPolygon()
size_t getNbObjects() const
bool detect(const vpImage< unsigned char > &I)
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition vpDisplayX.h:132
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition vpException.h:59
const char * getMessage() const
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpRotationMatrix getRotationMatrix() const
vpTranslationVector getTranslationVector() const
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
static std::string getParent(const std::string &pathname)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition vpPoint.h:77
Implementation of a rotation vector as quaternion angle minimal representation.
vpRowVector t() const
VISP_EXPORT int wait(double t0, double t)