#include <vpAROgre.h>

Inheritance diagram for vpAROgre:

Public Member Functions
	vpAROgre (const vpCameraParameters &cam=vpCameraParameters(), unsigned int width=640, unsigned int height=480, const char resourcePath=VISP_HAVE_OGRE_RESOURCES_PATH, const char pluginsPath=VISP_HAVE_OGRE_PLUGINS_PATH)

virtual void	init (vpImage< unsigned char > &I, bool bufferedKeys=false)

virtual void	init (vpImage< vpRGBa > &I, bool bufferedKeys=false)

virtual	~vpAROgre (void)

virtual bool	customframeStarted (const Ogre::FrameEvent &evt)

virtual bool	customframeEnded (const Ogre::FrameEvent &evt)

virtual bool	keyPressed (const OIS::KeyEvent &)

virtual bool	keyReleased (const OIS::KeyEvent &)

virtual void	windowClosed (Ogre::RenderWindow *rw)

virtual void	display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMw)

virtual void	display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMw)

void	setCameraParameters (const vpCameraParameters &cameraP)

void	load (const std::string &name, const std::string &model)

void	setPosition (const std::string &name, const vpTranslationVector &wTo)

void	setPosition (const std::string &name, const vpHomogeneousMatrix &wMo)

vpTranslationVector	getPosition (const std::string &name) const

void	setRotation (const std::string &name, const vpRotationMatrix &wRo)

void	addRotation (const std::string &name, const vpRotationMatrix &wRo)

void	setVisibility (const std::string &name, bool isVisible)

void	setScale (const std::string &name, const float factorx, const float factory, const float factorz)

bool	continueRendering (void)

void	getRenderingOutput (vpImage< vpRGBa > &I, vpHomogeneousMatrix &cMo)

void	setImageWidth (const unsigned int width)

void	setImageHeight (const unsigned int height)

void	setShowConfigDialog (const bool showConfigDialog)

void	setResourcePath (const char *resourcePath)

void	setPluginsPath (const char *pluginsPath)

void	addResource (const std::string &resourceLocation)

void	setWindowPosition (const unsigned int win_x, const unsigned int win_y)

Protected Member Functions
virtual void	init (bool bufferedKeys=false)

virtual void	createCamera (void)

virtual void	createScene (void)

virtual void	closeOIS (void)

virtual bool	updateScene (const Ogre::FrameEvent &)

virtual bool	processInputEvent (const Ogre::FrameEvent &)

virtual bool	destroyScene (void)

virtual void	updateCameraProjection (void)

virtual void	updateBackgroundTexture (const vpImage< unsigned char > &I)

virtual void	updateBackgroundTexture (const vpImage< vpRGBa > &I)

virtual void	updateCameraParameters (const vpHomogeneousMatrix &cMo)

Protected Attributes
Ogre::Root *	mRoot

Ogre::Camera *	mCamera

Ogre::SceneManager *	mSceneMgr

Ogre::RenderWindow *	mWindow

Ogre::String	mResourcePath

Ogre::String	mPluginsPath

OIS::InputManager *	mInputManager

OIS::Keyboard *	mKeyboard

bool	keepOn

vpImage< vpRGBa >	mImageRGBA

vpImage< unsigned char >	mImage

Ogre::HardwarePixelBufferSharedPtr	mPixelBuffer

Ogre::Rectangle2D *	mBackground

unsigned int	mHeight

unsigned int	mWidth

vpCameraParameters	mcam

bool	mshowConfigDialog

std::list< std::string >	mOptionnalResourceLocation

Detailed Description

Implementation of an augmented reality viewer.

This class provides methods to show a 3D scene in a real world. To do that you will need to initialise it with the parameters of your camera, then each frame you will need to compute a pose for your camera and give it to the application. With that information and the image to be shown in background it will set up the 3D scene correspondingly.

Examples:: AROgre.cpp, AROgreBasic.cpp, HelloWorldOgre.cpp, and HelloWorldOgreAdvanced.cpp.

Definition at line 90 of file vpAROgre.h.

Constructor & Destructor Documentation

vpAROgre::vpAROgre	(	const vpCameraParameters &	cam = `vpCameraParameters()`,
		unsigned int	width = `640`,
		unsigned int	height = `480`,
		const char *	resourcePath = `VISP_HAVE_OGRE_RESOURCES_PATH`,
		const char *	pluginsPath = `VISP_HAVE_OGRE_PLUGINS_PATH`
	)

Constructor.

Parameters

cam	: Camera parameters.
width	: Width of the grabbed image.
height	: Height of the grabbed image.
resourcePath	: Path to the resources.cfg file telling Ogre where to look for resources.
pluginsPath	: Path to the plugins.cfg of plugins_d.cfg files telling Ogre where to look for renderer plugins.

Examples:: HelloWorldOgreAdvanced.cpp.

Definition at line 75 of file vpAROgre.cpp.

References keepOn, mcam, mHeight, mOptionnalResourceLocation, mPluginsPath, mResourcePath, mshowConfigDialog, and mWidth.

vpAROgre::~vpAROgre ( void )

virtual

Destructor.

Definition at line 344 of file vpAROgre.cpp.

References closeOIS(), destroyScene(), mRoot, mWindow, and windowClosed().

Member Function Documentation

void vpAROgre::addResource ( const std::string & resourceLocation )

inline

Add optional resource location. Since a resource file cannot be always sufficient to manage multiple location media (depending on the computer and the executable path), this method may be used to add such paths.

Warning: To be effective, this method must be called before the init() one.

Parameters

resourceLocation : The resource location (it may be a folder or a zip file).

Definition at line 233 of file vpAROgre.h.

void vpAROgre::addRotation	(	const std::string &	name,
		const vpRotationMatrix &	wRo
	)

Add a rotation to a SceneNode.

Parameters

name	: Name of the SceneNode to rotate.
wRo	: The rotation matrix representing the rotation to apply.

Definition at line 582 of file vpAROgre.cpp.

References mSceneMgr.

void vpAROgre::closeOIS ( void )

protectedvirtual

Close the OIS based input manager.

Warning: This method is only to call if OIS is installed and detected during ViSP configuration stage.

Definition at line 786 of file vpAROgre.cpp.

References mInputManager, and mKeyboard.

Referenced by windowClosed(), and ~vpAROgre().

bool vpAROgre::continueRendering ( void )

Ask the program if we can continue to render.

Returns: True if nothing stopped the rendering loop.

Definition at line 509 of file vpAROgre.cpp.

References keepOn.

void vpAROgre::createCamera ( void )

protectedvirtual

Create the Ogre camera.

Definition at line 645 of file vpAROgre.cpp.

References mCamera, and mSceneMgr.

Referenced by init().

virtual void vpAROgre::createScene ( void )

inlineprotectedvirtual

Build the 3D scene Override this to show what you want

Examples:: AROgre.cpp, and HelloWorldOgreAdvanced.cpp.

Definition at line 264 of file vpAROgre.h.

Referenced by init().

bool vpAROgre::customframeEnded ( const Ogre::FrameEvent & evt )

virtual

Function telling what to do after each frame.

Parameters

evt	: Frame event to process.

Returns: True if everything went well.

Examples:: AROgre.cpp, and HelloWorldOgreAdvanced.cpp.

Definition at line 442 of file vpAROgre.cpp.

bool vpAROgre::customframeStarted ( const Ogre::FrameEvent & evt )

virtual

Function telling what to do before each frame. This method is called before every frame rendered by Ogre.

Parameters

evt	: Frame event to process

Returns: True if everything went well

Definition at line 422 of file vpAROgre.cpp.

References mKeyboard, and mWindow.

virtual bool vpAROgre::destroyScene ( void )

inlineprotectedvirtual

Clean up the 3D scene.

Returns: Always true.

Definition at line 287 of file vpAROgre.h.

Referenced by ~vpAROgre().

void vpAROgre::display	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMw
	)

virtual

Display a frame.

Parameters

I	: Grey level image to show in background.
cMw	: Camera pose as an homogeneous matrix.

Definition at line 465 of file vpAROgre.cpp.

References keepOn, mRoot, mWindow, updateBackgroundTexture(), and updateCameraParameters().

void vpAROgre::display	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMw
	)

virtual

Display a frame.

Parameters

I	: RGBa image to show in background.
cMw	: Camera pose as an homogeneous matrix.

Definition at line 488 of file vpAROgre.cpp.

References keepOn, mRoot, mWindow, updateBackgroundTexture(), and updateCameraParameters().

vpTranslationVector vpAROgre::getPosition ( const std::string & name ) const

Get position of a SceneNode.

Parameters

name	: Name of the SceneNode in the scene graph.

Returns: The position of the node.

Definition at line 553 of file vpAROgre.cpp.

References mSceneMgr.

void vpAROgre::getRenderingOutput	(	vpImage< vpRGBa > &	I,
		vpHomogeneousMatrix &	cMo
	)

Get the result of the rendering loop.

Parameters

I	: The image on which to copy the result of the rendering loop.
cMo	: The desired camera pose.

Definition at line 898 of file vpAROgre.cpp.

References vpImage< Type >::bitmap, vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), mPixelBuffer, mWindow, vpImage< Type >::resize(), and updateCameraParameters().

void vpAROgre::init	(	vpImage< unsigned char > &	I,
		bool	bufferedKeys = `false`
	)

virtual

Initialisation of Ogre with a grey level background.

Load the plugins that are specified in the plugins.cfg or plugins_d.cfg files. These files are located in VISP_HAVE_OGRE_PLUGINS_PATH folder that is defined in vpConfig.h. Note that plugins.cfg file is always considered under Unix platforms. The file plugins_d.cfg is only considered under Windows when the build type is Debug.

Load also the resources that are defined in the resources.cfg file. This file is located in VISP_HAVE_OGRE_RESOURCES_PATH folder that is defined in vpConfig.h.

Create also the grey level background used to display the image.

Parameters

I	: Image that is displayed in the background.
bufferedKeys	: If true, use of buffered input for the keyboard (see Ogre documentation). Note that this parameter is only useful if OIS is used.

Exceptions

vpException::ioError : If the required plugins.cfg / plugins_d.cfg or resources.cfg files are not accessible.

Examples:: AROgreBasic.cpp, and HelloWorldOgre.cpp.

Definition at line 125 of file vpAROgre.cpp.

Referenced by init().

void vpAROgre::init	(	vpImage< vpRGBa > &	I,
		bool	bufferedKeys = `false`
	)

virtual

Initialisation of Ogre with a color background.

Load the plugins that are specified in the plugins.cfg or plugins_d.cfg files. These files are located in VISP_HAVE_OGRE_PLUGINS_PATH folder that is defined in vpConfig.h. Note that plugins.cfg file is always considered under Unix platforms. The file plugins_d.cfg is only considered under Windows when the build type is Debug.

Load also the resources that are defined in the resources.cfg file. This file is located in VISP_HAVE_OGRE_RESOURCES_PATH folder that is defined in vpConfig.h.

Create also a color background used to display the image.

Parameters

I	: Image that is displayed in the background.
bufferedKeys	: If true, use of buffered input for the keyboard (see Ogre documentation). Note that this parameter is only useful if OIS is used.

Exceptions

vpException::ioError : If the required plugins.cfg / plugins_d.cfg or resources.cfg files are not accessible.

Definition at line 166 of file vpAROgre.cpp.

References init().

void vpAROgre::init ( bool bufferedKeys = false )

protectedvirtual

Initialisation of Ogre.

Load the plugins that are specified in the plugins.cfg or plugins_d.cfg files. These files are located in VISP_HAVE_OGRE_PLUGINS_PATH folder that is defined in vpConfig.h. Note that plugins.cfg file is always considered under Unix platforms. The file plugins_d.cfg is only considered under Windows when the build type is Debug.

Load also the resources that are defined in the resources.cfg file. This file is located in VISP_HAVE_OGRE_RESOURCES_PATH folder that is defined in vpConfig.h.

Parameters

bufferedKeys : If true, use of buffered input for the keyboard (see Ogre documentation). Note that this parameter is only useful if OIS is used.

Exceptions

vpException::ioError : If the required plugins.cfg / plugins_d.cfg or resources.cfg files are not accessible.

Definition at line 203 of file vpAROgre.cpp.

References vpIoTools::checkFilename(), createCamera(), createScene(), vpException::ioError, mCamera, mInputManager, mKeyboard, mOptionnalResourceLocation, mPluginsPath, mResourcePath, mRoot, mSceneMgr, mshowConfigDialog, mWindow, and updateCameraProjection().

virtual bool vpAROgre::keyPressed ( const OIS::KeyEvent & )

inlinevirtual

Default event handler

Definition at line 125 of file vpAROgre.h.

virtual bool vpAROgre::keyReleased ( const OIS::KeyEvent & )

inlinevirtual

Default event handler

Definition at line 129 of file vpAROgre.h.

void vpAROgre::load	(	const std::string &	name,
		const std::string &	model
	)

Load a mesh in the 3D world.

Parameters

name	: Name of the Entity and SceneNode to create.
model	: 3D model to load.

Definition at line 527 of file vpAROgre.cpp.

References mSceneMgr.

virtual bool vpAROgre::processInputEvent ( const Ogre::FrameEvent & )

inlineprotectedvirtual

Check for keyboard, mouse and joystick inputs.

Returns: Always true.

Examples:: AROgre.cpp.

Definition at line 280 of file vpAROgre.h.

void vpAROgre::setCameraParameters ( const vpCameraParameters & cameraP )

Set the camera intrinsic parameters

Definition at line 517 of file vpAROgre.cpp.

References mcam.

void vpAROgre::setImageHeight ( const unsigned int height )

inline

Set the height of the grabbed image.

Warning: To be effective, this method must be called before the init() one.

Parameters

height : Height of the grabbed image.

Definition at line 180 of file vpAROgre.h.

void vpAROgre::setImageWidth ( const unsigned int width )

inline

Set the width of the grabbed image.

Warning: To be effective, this method must be called before the init() one.

Parameters

width : Width of the grabbed image.

Definition at line 169 of file vpAROgre.h.

void vpAROgre::setPluginsPath ( const char * pluginsPath )

inline

Set the plugins path used to locate the plugins.cfg file.

By default, this path is set to VISP_HAVE_OGRE_PLUGINS_PATH defined in vpConfig.h

Warning: To be effective, this method must be called before the init() one.

Parameters

pluginsPath : The new plugins path (must not have a terminate /).

Definition at line 218 of file vpAROgre.h.

void vpAROgre::setPosition	(	const std::string &	name,
		const vpTranslationVector &	wTo
	)

Change position of a ScneneNode.

Parameters

name	: Name of the SceneNode to move.
wTo	: New position of the node (translation between object frame and world frame).

Definition at line 540 of file vpAROgre.cpp.

References mSceneMgr.

Referenced by setPosition().

void vpAROgre::setPosition	(	const std::string &	name,
		const vpHomogeneousMatrix &	wMo
	)

Set the position and the orientation of a SceneNode.

Parameters

name	: Name of the SceneNode to rotate.
wMo	: The homogeneous matrix representing the rotation and translation to apply.

Definition at line 604 of file vpAROgre.cpp.

References vpHomogeneousMatrix::extract(), setPosition(), and setRotation().

void vpAROgre::setResourcePath ( const char * resourcePath )

inline

Set the resource path used to locate the resource.cfg file.

By default, this path is set to VISP_HAVE_OGRE_RESOURCES_PATH defined in vpConfig.h

Warning: To be effective, this method must be called before the init() one.

Parameters

resourcePath : The new resource path (must not have a terminate /).

Definition at line 205 of file vpAROgre.h.

void vpAROgre::setRotation	(	const std::string &	name,
		const vpRotationMatrix &	wRo
	)

Set the orientation of a SceneNode.

Parameters

name	: Name of the SceneNode to rotate.
wRo	: The rotation matrix representing the rotation to apply.

Definition at line 564 of file vpAROgre.cpp.

References mSceneMgr.

Referenced by setPosition().

void vpAROgre::setScale	(	const std::string &	name,
		const float	factorx,
		const float	factory,
		const float	factorz
	)

Scale a SceneNode.

Parameters

name	: Name of the SceneNode.
factorx	: Scale factor along the x-axis.
factory	: Scale factor along the x-axis.
factorz	: Scale factor along the x-axis.

Definition at line 634 of file vpAROgre.cpp.

References mSceneMgr.

void vpAROgre::setShowConfigDialog ( const bool showConfigDialog )

inline

Enable/Disable the apparition of the config dialog on startup.

Warning: To be effective, this method must be called before the init() one.

Parameters

showConfigDialog : if true, shows the dialog window (used to set the display options)

Definition at line 192 of file vpAROgre.h.

void vpAROgre::setVisibility	(	const std::string &	name,
		bool	isVisible
	)

Tell if a SceneNode is shown on the screen or not.

Parameters

name	: Name of the SceneNode.
isVisible	: If true we show the node, if false we don't.

Definition at line 622 of file vpAROgre.cpp.

References mSceneMgr.

void vpAROgre::setWindowPosition	(	const unsigned int	win_x,
		const unsigned int	win_y
	)

inline

Set the window position in the screen.

Exceptions

vpException::notInitialised if the window has not been created (using the init() method).

Parameters

win_x	: x coordinate of the new top left corner of the window in the screen.
win_y	: y coordinate of the new top left corner of the window in the screen.

Definition at line 248 of file vpAROgre.h.

References vpException::notInitialized.

void vpAROgre::updateBackgroundTexture ( const vpImage< unsigned char > & I )

protectedvirtual

Update the texture we see in background with a grey level image.

Definition at line 824 of file vpAROgre.cpp.

References vpImage< Type >::bitmap, mHeight, mPixelBuffer, and mWidth.

Referenced by display().

void vpAROgre::updateBackgroundTexture ( const vpImage< vpRGBa > & I )

protectedvirtual

Update the texture we see in background with a RGBa image.

Definition at line 843 of file vpAROgre.cpp.

References vpImage< Type >::bitmap, mHeight, mPixelBuffer, and mWidth.

void vpAROgre::updateCameraParameters ( const vpHomogeneousMatrix & cMw )

protectedvirtual

Update Camera parameters from a pose calculation.

Definition at line 879 of file vpAROgre.cpp.

References mCamera.

Referenced by display(), and getRenderingOutput().

void vpAROgre::updateCameraProjection ( void )

protectedvirtual

Update the projection parameters of the camera.

Definition at line 802 of file vpAROgre.cpp.

References vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), mcam, mCamera, mHeight, and mWidth.

Referenced by init().

virtual bool vpAROgre::updateScene ( const Ogre::FrameEvent & )

inlineprotectedvirtual

Update the 3D scene

Returns: Always true.

Definition at line 273 of file vpAROgre.h.

void vpAROgre::windowClosed ( Ogre::RenderWindow * rw )

virtual

Unattach OIS (Object-oriented Input System library) before window shutdown (very important under Linux).

Warning: This method is only available if OIS is installed and detected during ViSP configuration stage.

Parameters

rw	: RenderWindow to close.

Definition at line 454 of file vpAROgre.cpp.

References closeOIS(), and mWindow.

Referenced by ~vpAROgre().

Member Data Documentation

bool vpAROgre::keepOn

protected

Definition at line 326 of file vpAROgre.h.

Referenced by continueRendering(), display(), and vpAROgre().

Ogre::Rectangle2D* vpAROgre::mBackground

protected

Pointer to the pixel buffer

Definition at line 330 of file vpAROgre.h.

vpCameraParameters vpAROgre::mcam

protected

Width of the acquired image

Definition at line 335 of file vpAROgre.h.

Referenced by setCameraParameters(), updateCameraProjection(), and vpAROgre().

Ogre::Camera* vpAROgre::mCamera

protected

Application's root

Definition at line 313 of file vpAROgre.h.

Referenced by createCamera(), init(), updateCameraParameters(), and updateCameraProjection().

unsigned int vpAROgre::mHeight

protected

Background image

Definition at line 331 of file vpAROgre.h.

Referenced by updateBackgroundTexture(), updateCameraProjection(), and vpAROgre().

vpImage<unsigned char> vpAROgre::mImage

protected

vpImage to store grabbed image

Definition at line 328 of file vpAROgre.h.

vpImage<vpRGBa> vpAROgre::mImageRGBA

protected

Has the application received a signal to stop(false) or not (true)

Definition at line 327 of file vpAROgre.h.

OIS::InputManager* vpAROgre::mInputManager

protected

Path to plugins.cfg

Definition at line 321 of file vpAROgre.h.

Referenced by closeOIS(), and init().

OIS::Keyboard* vpAROgre::mKeyboard

protected

Definition at line 322 of file vpAROgre.h.

Referenced by closeOIS(), customframeStarted(), and init().

std::list<std::string> vpAROgre::mOptionnalResourceLocation

protected

if true, shows the dialog window (used to set the display options)

Definition at line 339 of file vpAROgre.h.

Referenced by init(), and vpAROgre().

Ogre::HardwarePixelBufferSharedPtr vpAROgre::mPixelBuffer

protected

vpImage to store grabbed image

Definition at line 329 of file vpAROgre.h.

Referenced by getRenderingOutput(), and updateBackgroundTexture().

Ogre::String vpAROgre::mPluginsPath

protected

Path to resources.cfg

Definition at line 317 of file vpAROgre.h.

Referenced by init(), and vpAROgre().

Ogre::String vpAROgre::mResourcePath

protected

Display window

Definition at line 316 of file vpAROgre.h.

Referenced by init(), and vpAROgre().

Ogre::Root* vpAROgre::mRoot

protected

Definition at line 312 of file vpAROgre.h.

Referenced by display(), init(), and ~vpAROgre().

Ogre::SceneManager* vpAROgre::mSceneMgr

protected

Camera

Definition at line 314 of file vpAROgre.h.

Referenced by addRotation(), createCamera(), getPosition(), init(), load(), setPosition(), setRotation(), setScale(), and setVisibility().

bool vpAROgre::mshowConfigDialog

protected

The intrinsic camera parameters

Definition at line 337 of file vpAROgre.h.

Referenced by init(), and vpAROgre().

unsigned int vpAROgre::mWidth

protected

Height of the acquired image

Definition at line 332 of file vpAROgre.h.

Referenced by updateBackgroundTexture(), updateCameraProjection(), and vpAROgre().

Ogre::RenderWindow* vpAROgre::mWindow

protected

Scene manager

Definition at line 315 of file vpAROgre.h.

Referenced by customframeStarted(), display(), getRenderingOutput(), init(), windowClosed(), and ~vpAROgre().

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation