Visual Servoing Platform  version 3.2.0 under development (2018-10-16)
vpAR Class Reference

#include <visp3/ar/vpAR.h>

+ Inheritance diagram for vpAR:

Public Types

enum  vpImageType { grayImage, colorImage }
 
enum  vpSimulatorViewType { INTERNAL, EXTERNAL }
 

Public Member Functions

 vpAR ()
 
virtual ~vpAR ()
 
void initInternalViewer (const unsigned int width, const unsigned int height, vpImageType type=grayImage)
 
void setImage (vpImage< unsigned char > &I)
 
void setImage (vpImage< vpRGBa > &I)
 
virtual void mainLoop ()
 
virtual void initInternalViewer (const unsigned int nlig, const unsigned int ncol)
 
void initExternalViewer (const unsigned int nlig, const unsigned int ncol)
 
void initApplication (void *(*start_routine)(void *))
 
void initApplication (void *(*start_routine)(void *), void *data)
 
void initMainApplication ()
 
void closeMainApplication ()
 
unsigned int getInternalWidth () const
 
unsigned int getInternalHeight () const
 
void addObject (SoSeparator *newObject, const vpHomogeneousMatrix &fMo)
 
void redraw ()
 
void load (const char *file_name)
 
void load (const char *iv_filename, const vpHomogeneousMatrix &fMo)
 
void save (const char *name, bool binary=false)
 
void addAbsoluteFrame (float zoom=1)
 
void addFrame (const vpHomogeneousMatrix &fMo, float zoom=1)
 
void setZoomFactor (const float zoom)
 
void setCameraPosition (vpHomogeneousMatrix &cMf)
 
void getCameraPosition (vpHomogeneousMatrix &_cMf)
 
void moveInternalCamera (vpHomogeneousMatrix &cMf)
 
void setInternalCameraParameters (vpCameraParameters &cam)
 
void setExternalCameraParameters (vpCameraParameters &cam)
 
void getExternalCameraPosition (vpHomogeneousMatrix &cMf)
 
void getInternalImage (vpImage< unsigned char > &I)
 
void getInternalImage (vpImage< vpRGBa > &I)
 
void changeZoomFactor (const float zoom, const int index)
 
void write (const char *fileName)
 
unsigned char * getBufferedOffScreenRenderer ()
 
void getSizeInternalView (int &width, int &height)
 
void getCameraParameters (vpCameraParameters &cam)
 

Public Attributes

vpImageType typeImage
 
GLubyte * image_background
 
unsigned char * bufferView
 
int get
 

Protected Member Functions

void init ()
 
void kill ()
 
void initSoApplication ()
 
void initSceneGraph ()
 
void addObject (SoSeparator *object, const vpHomogeneousMatrix &fMo, SoSeparator *root)
 
void offScreenRendering (vpSimulatorViewType view=vpSimulator::EXTERNAL, int *width=NULL, int *height=NULL)
 

Protected Attributes

HWND mainWindow
 
bool mainWindowInitialized
 
vpViewerinternalView
 
vpViewerexternalView
 
SbThread * mainThread
 
unsigned int internal_width
 
unsigned int internal_height
 
unsigned int external_width
 
unsigned int external_height
 
SoSeparator * scene
 
SoSeparator * internalRoot
 
SoSeparator * externalRoot
 
SoPerspectiveCamera * internalCamera
 
SoPerspectiveCamera * externalCamera
 
SoTransform * internalCameraPosition
 
SoTransform * extrenalCameraPosition
 
SoSeparator * internalCameraObject
 
float zoomFactor
 
bool cameraPositionInitialized
 
vpHomogeneousMatrix cMf
 
vpCameraParameters internalCameraParameters
 
vpCameraParameters externalCameraParameters
 
SbTime * realtime
 
SoOffscreenRenderer * offScreenRenderer
 

Detailed Description

Implementation of an augmented reality viewer using Coin3D 3rd party.

Thus to be enabled this class requires Coin3D 3rd party installation. Installation instructions are provided here https://visp.inria.fr/3rd_coin.

This class can be used to display an image behind the internal view of the simulator used for augmented reality application.

Warning
This class is only available if Coin3D and one of the GUI (SoWin, SoXT, SoQt) are installed.

The code below shows how to use the class.

#include <visp3/ar/vpAR.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#ifdef VISP_HAVE_COIN3D_AND_GUI
static void *mainloopfunction(void *_simu)
{
vpAR *simu = (vpAR *)_simu ;
//Your code to compute the pose cMo.
//Set the image to use as background.
simu->setImage(I) ;
//Set the camera position thanks to the pose cMo computed before.
simu->setCameraPosition(cMo) ;
}
#endif
int main()
{
#ifdef VISP_HAVE_COIN3D_AND_GUI
vpAR simu;
//Camera parameters.
vpCameraParameters cam(600,600,160,120);
//Initialize the internal view of the simulator.
// Load the cad model. 4points.iv can be downloaded on the website
// with the image package
simu.load("./4points.iv");
//Initialize the internal camera parameters.
simu.initApplication(&mainloopfunction);
simu.mainLoop();
#endif
return 0;
}

Definition at line 144 of file vpAR.h.

Member Enumeration Documentation

enum vpSimulator::vpImageType
inherited
Enumerator
grayImage 
colorImage 

Definition at line 128 of file vpSimulator.h.

Enumerator
INTERNAL 
EXTERNAL 

Definition at line 268 of file vpSimulator.h.

Constructor & Destructor Documentation

vpAR::vpAR ( )
inline

Definition at line 151 of file vpAR.h.

References vpSimulator::initInternalViewer().

vpAR::~vpAR ( )
virtual

Basic Destructor that calls the kill() method of the vpSimulator class.

Definition at line 75 of file vpAR.cpp.

References vpSimulator::kill().

Member Function Documentation

void vpSimulator::addAbsoluteFrame ( float  zoom = 1)
inherited

Add the representation of the absolute frame.

Parameters
zoom: Zoom factor.
Examples:
simulateCircle2DCamVelocity.cpp.

Definition at line 727 of file vpSimulator.cpp.

References vpSimulator::scene.

void vpSimulator::addFrame ( const vpHomogeneousMatrix fMo,
float  zoom = 1 
)
inherited

Add the representation of a frame.

Add the representation of a frame.

Parameters
fMo: desired position of the frame
zoom: Zoom factor.

Definition at line 708 of file vpSimulator.cpp.

References vpSimulator::addObject(), and vpSimulator::externalRoot.

void vpSimulator::addObject ( SoSeparator *  object,
const vpHomogeneousMatrix fMo,
SoSeparator *  root 
)
protectedinherited

Add a new object in the scene graph ad a given location.

Add an object in a sub scene graph.

Parameters
object: pointer toward the new object
fMo: position of the object wrt the reference frame
root: pointer toward the subscene graph

Definition at line 782 of file vpSimulator.cpp.

Referenced by vpSimulator::addFrame(), vpSimulator::addObject(), and vpSimulator::load().

void vpSimulator::addObject ( SoSeparator *  newObject,
const vpHomogeneousMatrix fMo 
)
inherited

Add a new object in the scene graph ad a given location.

Add a new object in the scene graph.

Parameters
newObject: pointer toward the new object
fMo: position of the object wrt the reference frame

Definition at line 765 of file vpSimulator.cpp.

References vpSimulator::addObject(), vpSimulator::scene, and vpERROR_TRACE.

void vpSimulator::changeZoomFactor ( const float  zoomFactor,
const int  index 
)
inherited

Change the zoom factor associated to the child given by index. In order to create multiple zoom factor for multiple object to display, objects loaded the load() function, you have to know the index of the scale object associated to.

Usually, if you define the main zoom factor (for example for the frames) and then load two differents objects, You can change the zoom factor of all the objects using: changeZoomFactor(newZoom, 0)

If you want to change the zoom factor of the first object, use changeZoomFactor(newZoom, 1)

And for the second object, use changeZoomFactor(newZoom, 3)

Parameters
zoomFactor: the new zoom use to specify the apparent size of the object
index: the index of the Scale object to modify (see comments)

Definition at line 443 of file vpSimulator.cpp.

References vpSimulator::scene.

void vpSimulator::closeMainApplication ( )
inherited

performed some thread destruction in the main program thread should be locate at the end of the main program

Examples:
manSimu4Dots.cpp, manSimu4Points.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 853 of file vpSimulator.cpp.

unsigned char* vpSimulator::getBufferedOffScreenRenderer ( )
inlineinherited

get the image corresponding to the internal view

Definition at line 287 of file vpSimulator.h.

void vpSimulator::getCameraParameters ( vpCameraParameters cam)
inlineinherited

get the intrinsic parameters of the camera

Examples:
manSimu4Dots.cpp, and manSimu4Points.cpp.

Definition at line 293 of file vpSimulator.h.

void vpSimulator::getCameraPosition ( vpHomogeneousMatrix _cMf)
inlineinherited

get the camera position (from an homogeneous matrix)

Examples:
simulateFourPoints2DCartesianCamVelocity.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 249 of file vpSimulator.h.

void vpSimulator::getExternalCameraPosition ( vpHomogeneousMatrix cMf)
inherited

get the external camera position

Definition at line 546 of file vpSimulator.cpp.

References vpSimulator::externalCamera, and vpHomogeneousMatrix::inverse().

Referenced by vpViewer::resize().

unsigned int vpSimulator::getInternalHeight ( ) const
inlineinherited

Return the height of the internal view.

Returns
The height of the internal view.
Examples:
manSimu4Dots.cpp.

Definition at line 180 of file vpSimulator.h.

Referenced by vpViewer::actualRedraw().

void vpSimulator::getInternalImage ( vpImage< unsigned char > &  I)
inherited

get an Image of the internal view

Make a copy of the current internal view

Parameters
I: destination image
Examples:
manSimu4Dots.cpp.

Definition at line 990 of file vpSimulator.cpp.

References vpImage< Type >::bitmap, vpSimulator::bufferView, vpSimulator::internal_height, vpSimulator::internal_width, vpImage< Type >::resize(), and vpImageConvert::RGBToGrey().

void vpSimulator::getInternalImage ( vpImage< vpRGBa > &  I)
inherited

get an Image of the internal view

Make a copy of the current internal view

Parameters
I: destination image

Definition at line 977 of file vpSimulator.cpp.

References vpImage< Type >::bitmap, vpSimulator::bufferView, vpSimulator::internal_height, vpSimulator::internal_width, vpImage< Type >::resize(), and vpImageConvert::RGBToRGBa().

unsigned int vpSimulator::getInternalWidth ( ) const
inlineinherited

Return the width of the internal view.

Returns
The width of the internal view.
Examples:
manSimu4Dots.cpp.

Definition at line 174 of file vpSimulator.h.

Referenced by vpViewer::actualRedraw().

void vpSimulator::getSizeInternalView ( int &  width,
int &  height 
)
inherited

get the size of the internal view

Definition at line 965 of file vpSimulator.cpp.

References vpSimulator::internalView.

void vpSimulator::initApplication ( void *(*)(void *)  start_routine)
inherited
void vpSimulator::initApplication ( void *(*)(void *)  start_routine,
void *  data 
)
inherited

Set the function used for the simulation loop and the data to pass to this function. As the data are represented using a generic pointer, care should be taken to ensure there is no memory corruption.

Parameters
start_routine: A pointer to the function used as a main simulation loop for the simulation.
data: The data to pass to the main loop.

Definition at line 838 of file vpSimulator.cpp.

References vpSimulator::mainThread.

void vpAR::initInternalViewer ( const unsigned int  width,
const unsigned int  height,
vpImageType  type = grayImage 
)

Initialisation of the internal view of the simulator.

Parameters
width: Width of the internal view.
height: Height of the internal view.
type: Type of background image ie gray scaled or color.

Definition at line 84 of file vpAR.cpp.

References vpSimulator::grayImage, vpSimulator::image_background, vpSimulator::initInternalViewer(), vpSimulator::internal_height, vpSimulator::internal_width, and vpSimulator::typeImage.

void vpSimulator::initMainApplication ( )
inherited

perform some initialization in the main program thread

performed some initialization in the main program thread should be locate at the beginning of the main program

Examples:
manSimu4Dots.cpp, manSimu4Points.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 845 of file vpSimulator.cpp.

References vpTime::wait().

void vpSimulator::initSoApplication ( )
protectedinherited

open the SoGui application

Definition at line 347 of file vpSimulator.cpp.

References vpSimulator::mainWindow, and vpSimulator::mainWindowInitialized.

Referenced by vpSimulator::initExternalViewer(), and vpSimulator::initInternalViewer().

void vpSimulator::kill ( )
protectedinherited
void vpSimulator::load ( const char *  file_name)
inherited
void vpSimulator::load ( const char *  iv_filename,
const vpHomogeneousMatrix fMo 
)
inherited

load an iv file, set the location of this scene

Add a new object in the scene graph.

Parameters
iv_filename: name of.iv file to load
fMo: position of the object wrt the reference frame

Definition at line 737 of file vpSimulator.cpp.

References vpSimulator::addObject(), and vpERROR_TRACE.

void vpSimulator::moveInternalCamera ( vpHomogeneousMatrix cMf)
inherited

modify the position of the camera in the scene graph

Definition at line 585 of file vpSimulator.cpp.

References vpSimulator::internalCamera, vpSimulator::internalCameraPosition, and vpHomogeneousMatrix::inverse().

Referenced by vpSimulator::redraw(), and vpViewer::resize().

void vpSimulator::offScreenRendering ( vpSimulatorViewType  view = vpSimulator::EXTERNAL,
int *  width = NULL,
int *  height = NULL 
)
protectedinherited
void vpSimulator::redraw ( )
inherited

display the scene (handle with care)

this function MUST NOT be called from a thread where the vpSimulator and its mainloop are not

Definition at line 617 of file vpSimulator.cpp.

References vpSimulator::cMf, vpSimulator::externalView, vpSimulator::internalView, vpSimulator::moveInternalCamera(), and vpSimulator::redraw().

Referenced by vpSimulator::redraw().

void vpSimulator::save ( const char *  name,
bool  binary = false 
)
inherited

save the scene in an iv file

Definition at line 689 of file vpSimulator.cpp.

References vpSimulator::scene.

void vpSimulator::setCameraPosition ( vpHomogeneousMatrix cMf)
inherited
void vpAR::setImage ( vpImage< unsigned char > &  I)

Set the background image and turn it to deal with the frame of OpenGL.

Parameters
I: Gray scaled image for the background.

Definition at line 110 of file vpAR.cpp.

References vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpSimulator::image_background, vpSimulator::internal_height, vpSimulator::internal_width, and vpERROR_TRACE.

void vpAR::setImage ( vpImage< vpRGBa > &  I)

Set the background image and turn it to deal with the frame of OpenGL.

Parameters
I: Color image for the background.

Definition at line 133 of file vpAR.cpp.

References vpException::dimensionError, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpSimulator::image_background, vpSimulator::internal_height, vpSimulator::internal_width, and vpERROR_TRACE.

void vpSimulator::setZoomFactor ( const float  zoom)
inherited

set the size of the camera/frame

Define the zoom factor used to define the size of the objects (frame, camera, ...)

Parameters
zoomzoom factor of the objects. By default, 1.
Examples:
simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 410 of file vpSimulator.cpp.

References vpSimulator::scene, and vpSimulator::zoomFactor.

Member Data Documentation

unsigned char* vpSimulator::bufferView
inherited
bool vpSimulator::cameraPositionInitialized
protectedinherited

Definition at line 237 of file vpSimulator.h.

Referenced by vpSimulator::init(), and vpSimulator::setCameraPosition().

vpHomogeneousMatrix vpSimulator::cMf
protectedinherited

internal camera position

Definition at line 239 of file vpSimulator.h.

Referenced by vpSimulator::redraw(), vpViewer::resize(), and vpSimulator::setCameraPosition().

unsigned int vpSimulator::external_height
protectedinherited
unsigned int vpSimulator::external_width
protectedinherited
SoPerspectiveCamera* vpSimulator::externalCamera
protectedinherited
vpCameraParameters vpSimulator::externalCameraParameters
protectedinherited

internal camera parameters

Definition at line 243 of file vpSimulator.h.

Referenced by vpSimulator::setExternalCameraParameters().

SoSeparator* vpSimulator::externalRoot
protectedinherited

root node of the external view

Definition at line 189 of file vpSimulator.h.

Referenced by vpSimulator::addFrame(), vpSimulator::init(), vpSimulator::initExternalViewer(), and vpSimulator::initSceneGraph().

vpViewer* vpSimulator::externalView
protectedinherited
SoTransform* vpSimulator::extrenalCameraPosition
protectedinherited

external camera position

Definition at line 200 of file vpSimulator.h.

Referenced by vpSimulator::init().

int vpSimulator::get
inherited

Flag to protect the read and write of the framebuffer (between the simulator and the viewer).

Definition at line 283 of file vpSimulator.h.

Referenced by vpViewer::actualRedraw().

GLubyte* vpSimulator::image_background
inherited
SoPerspectiveCamera* vpSimulator::internalCamera
protectedinherited
SoSeparator* vpSimulator::internalCameraObject
protectedinherited

representation of the camera in the external view

Definition at line 203 of file vpSimulator.h.

Referenced by vpSimulator::init(), and vpSimulator::initSceneGraph().

vpCameraParameters vpSimulator::internalCameraParameters
protectedinherited

internal camera parameters

Definition at line 241 of file vpSimulator.h.

Referenced by vpSimulator::setInternalCameraParameters().

SoTransform* vpSimulator::internalCameraPosition
protectedinherited

internal camera position

Definition at line 197 of file vpSimulator.h.

Referenced by vpSimulator::init(), vpSimulator::initSceneGraph(), and vpSimulator::moveInternalCamera().

SoSeparator* vpSimulator::internalRoot
protectedinherited

root node of the internal view

Definition at line 187 of file vpSimulator.h.

Referenced by vpSimulator::init(), vpSimulator::initInternalViewer(), and vpSimulator::initSceneGraph().

vpViewer* vpSimulator::internalView
protectedinherited
SbThread* vpSimulator::mainThread
protectedinherited

thread with the main program

Definition at line 149 of file vpSimulator.h.

Referenced by vpSimulator::init(), and vpSimulator::initApplication().

HWND vpSimulator::mainWindow
protectedinherited
bool vpSimulator::mainWindowInitialized
protectedinherited
SoOffscreenRenderer* vpSimulator::offScreenRenderer
protectedinherited

Definition at line 274 of file vpSimulator.h.

Referenced by vpSimulator::init(), and vpSimulator::offScreenRendering().

SbTime* vpSimulator::realtime
protectedinherited

Definition at line 273 of file vpSimulator.h.

Referenced by vpSimulator::init(), and vpSimulator::initSceneGraph().

SoSeparator* vpSimulator::scene
protectedinherited

root node of the scene : contains everything except stuff specific to each view

Definition at line 185 of file vpSimulator.h.

Referenced by vpSimulator::addAbsoluteFrame(), vpSimulator::addObject(), vpSimulator::changeZoomFactor(), vpSimulator::init(), vpSimulator::initSceneGraph(), vpSimulator::load(), vpSimulator::save(), and vpSimulator::setZoomFactor().

vpImageType vpSimulator::typeImage
inherited

Definition at line 129 of file vpSimulator.h.

Referenced by vpViewer::actualRedraw(), vpSimulator::init(), and initInternalViewer().

float vpSimulator::zoomFactor
protectedinherited