#include <vpWireFrameSimulator.h>

Inheritance diagram for vpWireFrameSimulator:

Public Types
enum	vpSceneObject { THREE_PTS, CUBE, PLATE, SMALL_PLATE, RECTANGLE, SQUARE_10CM, DIAMOND, TRAPEZOID, THREE_LINES, ROAD, TIRE, PIPE, CIRCLE, SPHERE, CYLINDER, PLAN, POINT_CLOUD }

enum	vpSceneDesiredObject { D_STANDARD, D_CIRCLE, D_TOOL }

enum	vpCameraTrajectoryDisplayType { CT_LINE, CT_POINT }

Public Member Functions
	vpWireFrameSimulator ()

virtual	~vpWireFrameSimulator ()

void	initScene (vpSceneObject obj, vpSceneDesiredObject desiredObject)

void	initScene (const char obj, const char desiredObject)

void	initScene (vpSceneObject obj)

void	initScene (const char *obj)

void	initScene (vpSceneObject obj, vpSceneDesiredObject desiredObject, const std::list< vpImageSimulator > &imObj)

void	initScene (const char obj, const char desiredObject, const std::list< vpImageSimulator > &imObj)

void	initScene (vpSceneObject obj, const std::list< vpImageSimulator > &imObj)

void	initScene (const char *obj, const std::list< vpImageSimulator > &imObj)

void	setCameraPositionRelObj (const vpHomogeneousMatrix cMo)

void	setCameraPositionRelWorld (const vpHomogeneousMatrix fMc)

void	setDesiredCameraPosition (const vpHomogeneousMatrix cdMo)

void	setExternalCameraPosition (const vpHomogeneousMatrix camMf)

vpHomogeneousMatrix	getExternalCameraPosition () const

void	setCameraColor (const vpColor col)

void	setCameraTrajectoryColor (const vpColor col)

void	setCurrentViewColor (const vpColor col)

void	setDesiredViewColor (const vpColor col)

void	setDisplayCameraTrajectory (const bool displayCameraTrajectory)

vpCameraParameters	getInternalCameraParameters (const vpImage< vpRGBa > &I) const

vpCameraParameters	getInternalCameraParameters (const vpImage< unsigned char > &I) const

vpCameraParameters	getExternalCameraParameters (const vpImage< vpRGBa > &I) const

vpCameraParameters	getExternalCameraParameters (const vpImage< unsigned char > &I) const

void	set_fMo (const vpHomogeneousMatrix &fMo)

vpHomogeneousMatrix	get_fMo () const

vpHomogeneousMatrix	get_cMo () const

void	setInternalCameraParameters (const vpCameraParameters cam)

void	setExternalCameraParameters (const vpCameraParameters cam)

void	setNbPtTrajectory (const unsigned int nbPt)

void	setCameraSizeFactor (const float factor)

void	deleteCameraPositionHistory ()

void	setCameraTrajectoryDisplayType (const vpCameraTrajectoryDisplayType camTrajType)

void	get_cMo_History (std::list< vpHomogeneousMatrix > &cMo_history)

void	get_fMo_History (std::list< vpHomogeneousMatrix > &fMo_history)

void	displayTrajectory (vpImage< unsigned char > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)

void	displayTrajectory (vpImage< vpRGBa > &I, const std::list< vpHomogeneousMatrix > &list_cMo, const std::list< vpHomogeneousMatrix > &list_fMo, const vpHomogeneousMatrix &camMf)

void	getInternalImage (vpImage< vpRGBa > &I)

void	getExternalImage (vpImage< vpRGBa > &I)

void	getExternalImage (vpImage< vpRGBa > &I, vpHomogeneousMatrix camMf)

void	getInternalImage (vpImage< unsigned char > &I)

void	getExternalImage (vpImage< unsigned char > &I)

void	getExternalImage (vpImage< unsigned char > &I, vpHomogeneousMatrix camMf)

Deprecated functions
vp_deprecated vpList< vpHomogeneousMatrix >	get_fMo_History ()

vp_deprecated vpList< vpHomogeneousMatrix >	get_cMo_History ()

vp_deprecated void	initScene (vpSceneObject obj, vpSceneDesiredObject desiredObject, vpList< vpImageSimulator > &imObj)

vp_deprecated void	initScene (const char obj, const char desiredObject, vpList< vpImageSimulator > &imObj)

vp_deprecated void	initScene (vpSceneObject obj, vpList< vpImageSimulator > &imObj)

vp_deprecated void	initScene (const char *obj, vpList< vpImageSimulator > &imObj)

vp_deprecated void	displayTrajectory (vpImage< unsigned char > &I, vpList< vpHomogeneousMatrix > &list_cMo, vpList< vpHomogeneousMatrix > &list_fMo, vpHomogeneousMatrix camMf)

vp_deprecated void	displayTrajectory (vpImage< vpRGBa > &I, vpList< vpHomogeneousMatrix > &list_cMo, vpList< vpHomogeneousMatrix > &list_fMo, vpHomogeneousMatrix camMf)

Protected Member Functions
void	display_scene (Matrix mat, Bound_scene &sc, vpImage< vpRGBa > &I, vpColor color)

void	display_scene (Matrix mat, Bound_scene &sc, vpImage< unsigned char > &I, vpColor color)

vpHomogeneousMatrix	navigation (vpImage< vpRGBa > &I, bool &changed)

vpHomogeneousMatrix	navigation (vpImage< unsigned char > &I, bool &changed)

vpImagePoint	projectCameraTrajectory (vpImage< vpRGBa > &I, vpHomogeneousMatrix cMo, vpHomogeneousMatrix fMo)

vpImagePoint	projectCameraTrajectory (vpImage< unsigned char > &I, vpHomogeneousMatrix cMo, vpHomogeneousMatrix fMo)

vpImagePoint	projectCameraTrajectory (vpImage< vpRGBa > &I, vpHomogeneousMatrix cMo, vpHomogeneousMatrix fMo, vpHomogeneousMatrix cMf)

vpImagePoint	projectCameraTrajectory (vpImage< unsigned char > &I, vpHomogeneousMatrix cMo, vpHomogeneousMatrix fMo, vpHomogeneousMatrix cMf)

Protected Attributes
Bound_scene	scene

Bound_scene	desiredScene

Bound_scene	camera

std::list< vpImageSimulator >	objectImage

vpHomogeneousMatrix	fMo

vpHomogeneousMatrix	fMc

vpHomogeneousMatrix	camMf

vpHomogeneousMatrix	refMo

vpHomogeneousMatrix	cMo

vpHomogeneousMatrix	cdMo

vpSceneObject	object

vpSceneDesiredObject	desiredObject

vpColor	camColor

vpColor	camTrajColor

vpColor	curColor

vpColor	desColor

bool	sceneInitialized

bool	displayCameraTrajectory

std::list< vpImagePoint >	cameraTrajectory

std::list< vpHomogeneousMatrix >	poseList

std::list< vpHomogeneousMatrix >	fMoList

unsigned int	nbrPtLimit

vpImagePoint	old_iPr

vpImagePoint	old_iPz

vpImagePoint	old_iPt

bool	blockedr

bool	blockedz

bool	blockedt

bool	blocked

vpHomogeneousMatrix	camMf2

vpHomogeneousMatrix	f2Mf

double	px_int

double	py_int

double	px_ext

double	py_ext

bool	displayObject

bool	displayDesiredObject

bool	displayCamera

bool	displayImageSimulator

float	cameraFactor

vpCameraTrajectoryDisplayType	camTrajType

bool	extCamChanged

vpHomogeneousMatrix	rotz

Detailed Description

Implementation of a wire frame simulator. Compared to the vpSimulator class, it does not require third party libraries to be used.

The simulator uses several frames to display the scene in the image. There are:

The world frame : This is a fixed frame used to compute the position of the other frames against each other. By default this frame is positionned at the same location as the initial object frame position.
The object frame : It is the frame linked to the object.
The camera frame : It is the frame linked to the main camera.
The external camera frame : It is the frame which corresponds to one external point of view.

The most used homogeneous matrices which describes the displacement between two frames are :

fMo which is the displacement between the world frame and the object frame.
cMo which is the displacement between the main camera frame and the object frame.
cextMf which is the displacement between one external camera frame and the world frame.

The following picture summarize all the previous informations.

The simulator uses .bnd or .wrl files as 3D scene descriptors. Several scenes can be found in the data folder which is in the directory where you build ViSP.

You can move the main external view while clicking in the image. The left click enables to turn, the middle button enables to zoom and the left to translate along x and y.

The simulator is able to take into account to camera parameters. You can set the internal and external cameras parameters thanks to a vpCameraParameters.

The following example shows how it is easy to use.

#include <visp/vpImage.h>
#include <visp/vpWireFrameSimulator.h>
int main()
{
  vpWireFrameSimulator sim;
  
  vpImage<vpRGBa> Iint(480,640,255);
  vpImage<vpRGBa> Iext(480,640,255);
  
  //Set the type of scene to use
  sim.initScene(vpWireFrameSimulator::PLATE, vpWireFrameSimulator::D_STANDARD);
  
  //Set the initial pose of the camera
  sim.setCameraPositionRelObj(vpHomogeneousMatrix(0,0,0.5,vpMath::rad(0),vpMath::rad(10),0));
  //Set the desired pose of the camera (for the internal view)
  sim.setDesiredCameraPosition(vpHomogeneousMatrix(0.0,0,0.5,0,0,0));
  //Set the pose of the reference frame (for the external view)
  sim.setExternalCameraPosition(vpHomogeneousMatrix(0.1,0,0.2,0,0,0));
  
  //Set the camera parameters
  vpCameraParameters camera(1000,1000,320,240);
  sim.setInternalCameraParameters(camera);
  sim.setExternalCameraParameters(camera);
  
  //Get the internal view
  sim.getInternalImage(Iint);
  
  //Get the external view
  sim.getExternalImage(Iext);
  
  return 0;
}

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 186 of file vpWireFrameSimulator.h.

Member Enumeration Documentation

enum vpWireFrameSimulator::vpCameraTrajectoryDisplayType

Enumerator
CT_LINE
CT_POINT

Definition at line 227 of file vpWireFrameSimulator.h.

enum vpWireFrameSimulator::vpSceneDesiredObject

Type of scene used to display the object at the desired pose (in the internal view).

D_STANDARD will use the vpSceneObject used to be the object at the current position.
D_OUTIL will display a tool which is attached to the camera.

Enumerator
D_STANDARD
D_CIRCLE
D_TOOL

Definition at line 220 of file vpWireFrameSimulator.h.

enum vpWireFrameSimulator::vpSceneObject

Type of scene used to display the object at the current position.

Enumerator
THREE_PTS
CUBE
PLATE
SMALL_PLATE
RECTANGLE
SQUARE_10CM
DIAMOND
TRAPEZOID
THREE_LINES
ROAD
TIRE
PIPE
CIRCLE
SPHERE
CYLINDER
PLAN
POINT_CLOUD

Definition at line 193 of file vpWireFrameSimulator.h.

Constructor & Destructor Documentation

vpWireFrameSimulator::vpWireFrameSimulator ( )

Basic constructor.

Set the path to the scene files (*.bnd and *.sln) used by the simulator. If the path set in vpConfig.h in VISP_SCENES_DIR macro is not valid, the path is set from the VISP_SCENES_DIR environment variable that the user has to set.

Definition at line 514 of file vpWireFrameSimulator.cpp.

References blocked, blockedr, blockedt, blockedz, vpColor::blue, vpHomogeneousMatrix::buildFrom(), camColor, cameraFactor, cameraTrajectory, camTrajColor, camTrajType, vpIoTools::checkDirectory(), CT_LINE, curColor, desColor, displayCamera, displayCameraTrajectory, displayDesiredObject, displayImageSimulator, displayObject, extCamChanged, fMo, fMoList, vpIoTools::getenv(), vpColor::green, nbrPtLimit, objectImage, old_iPr, old_iPt, old_iPz, poseList, px_ext, px_int, py_ext, py_int, vpMath::rad(), vpColor::red, rotz, sceneInitialized, and vpHomogeneousMatrix::setIdentity().

vpWireFrameSimulator::~vpWireFrameSimulator ( )

virtual

Basic destructor

Definition at line 581 of file vpWireFrameSimulator.cpp.

References camera, cameraTrajectory, desiredScene, displayCamera, displayDesiredObject, displayObject, fMoList, poseList, scene, and sceneInitialized.

Member Function Documentation

void vpWireFrameSimulator::deleteCameraPositionHistory ( )

inline

Delete the history of the main camera position which are displayed in the external views.

Definition at line 529 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::display_scene	(	Matrix	mat,
		Bound_scene &	sc,
		vpImage< vpRGBa > &	I,
		vpColor	color
	)

protected

Definition at line 408 of file vpWireFrameSimulator.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), getExternalImage(), getInternalImage(), and vpRobotSimulator::getInternalView().

void vpWireFrameSimulator::display_scene	(	Matrix	mat,
		Bound_scene &	sc,
		vpImage< unsigned char > &	I,
		vpColor	color
	)

protected

Definition at line 458 of file vpWireFrameSimulator.cpp.

References vpDisplay::displayLine(), vpImage< Type >::getHeight(), and vpImage< Type >::getWidth().

void vpWireFrameSimulator::displayTrajectory	(	vpImage< unsigned char > &	I,
		const std::list< vpHomogeneousMatrix > &	list_cMo,
		const std::list< vpHomogeneousMatrix > &	list_fMo,
		const vpHomogeneousMatrix &	cMf
	)

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world refrence frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world refrence frame.

Definition at line 1689 of file vpWireFrameSimulator.cpp.

References camTrajColor, camTrajType, CT_LINE, CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), projectCameraTrajectory(), and rotz.

void vpWireFrameSimulator::displayTrajectory	(	vpImage< vpRGBa > &	I,
		const std::list< vpHomogeneousMatrix > &	list_cMo,
		const std::list< vpHomogeneousMatrix > &	list_fMo,
		const vpHomogeneousMatrix &	cMf
	)

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world refrence frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world refrence frame.

Definition at line 1729 of file vpWireFrameSimulator.cpp.

References camTrajColor, camTrajType, CT_LINE, CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), projectCameraTrajectory(), and rotz.

void vpWireFrameSimulator::displayTrajectory	(	vpImage< unsigned char > &	I,
		vpList< vpHomogeneousMatrix > &	list_cMo,
		vpList< vpHomogeneousMatrix > &	list_fMo,
		vpHomogeneousMatrix	cMf
	)

Deprecated:: This method is deprecated. You should use displayTrajectory(vpImage<unsigned char> &, const std::list<vpHomogeneousMatrix> &, const std::list<vpHomogeneousMatrix> &, const vpHomogeneousMatrix &); instead.

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world refrence frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world refrence frame.

Definition at line 1607 of file vpWireFrameSimulator.cpp.

References camTrajColor, camTrajType, CT_LINE, CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpList< type >::front(), vpList< type >::nbElements(), vpList< type >::next(), vpList< type >::outside(), projectCameraTrajectory(), rotz, and vpList< type >::value().

void vpWireFrameSimulator::displayTrajectory	(	vpImage< vpRGBa > &	I,
		vpList< vpHomogeneousMatrix > &	list_cMo,
		vpList< vpHomogeneousMatrix > &	list_fMo,
		vpHomogeneousMatrix	cMf
	)

Deprecated:: This method is deprecated. You should use displayTrajectory (vpImage<vpRGBa> &, const std::list<vpHomogeneousMatrix> &, const std::list<vpHomogeneousMatrix> &, const vpHomogeneousMatrix &); instead.

Display a trajectory thanks to a list of homogeneous matrices which give the position of the camera relative to the object and the position of the object relative to the world refrence frame. The trajectory is projected into the view of an external camera whose position is given in parameter.

The two lists must have the same size of homogeneous matrices must have the same size.

Parameters

I	: The image where the trajectory is displayed.
list_cMo	: The homogeneous matrices list containing the position of the camera relative to the object.
list_fMo	: The homogeneous matrices list containing the position of the object relative to the world reference frame.
cMf	: A homogeneous matrix which gives the position of the external camera (used to project the trajectory) relative to the world refrence frame.

Definition at line 1649 of file vpWireFrameSimulator.cpp.

References camTrajColor, camTrajType, CT_LINE, CT_POINT, vpException::dimensionError, vpDisplay::displayLine(), vpDisplay::displayPoint(), vpList< type >::front(), vpList< type >::nbElements(), vpList< type >::next(), vpList< type >::outside(), projectCameraTrajectory(), rotz, and vpList< type >::value().

vpHomogeneousMatrix vpWireFrameSimulator::get_cMo ( ) const

inline

Get the pose between the object and the camera.

Returns: The pose between between the object and the camera.

Examples:: servoSimu4Points.cpp, and servoSimuCylinder.cpp.

Definition at line 490 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::get_cMo_History ( std::list< vpHomogeneousMatrix > & cMo_history )

inline

Get the homogeneous matrices cMo stored to display the camera trajectory.

Parameters

cMo_history : The list of the homogeneous matrices cMo.

Definition at line 546 of file vpWireFrameSimulator.h.

vp_deprecated vpList<vpHomogeneousMatrix> vpWireFrameSimulator::get_cMo_History ( )

inline

Deprecated:: This method is deprecated. You should use get_cMo_History(std::list<vpHomogeneousMatrix> &) instead.

Get the homogeneous matrices cMo stored to display the camera trajectory.

Returns: Returns the list of the homogeneous matrices cMo.

Definition at line 612 of file vpWireFrameSimulator.h.

References vpList< type >::addRight().

vpHomogeneousMatrix vpWireFrameSimulator::get_fMo ( ) const

inline

Get the pose between the object and the fixed world frame.

Returns: The pose between the object and the fixed world frame.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, and servoSimuSphere.cpp.

Definition at line 483 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::get_fMo_History ( std::list< vpHomogeneousMatrix > & fMo_history )

inline

Get the homogeneous matrices fMo stored to display the camera trajectory.

Parameters

fMo_history : The list of the homogeneous matrices fMo.

Definition at line 558 of file vpWireFrameSimulator.h.

vp_deprecated vpList<vpHomogeneousMatrix> vpWireFrameSimulator::get_fMo_History ( )

inline

Deprecated:: This method is deprecated. You should use get_fMo_History(std::list<vpHomogeneousMatrix> &) instead.

Get the homogeneous matrices fMo stored to display the camera trajectory.

Returns: Returns the list of the homogeneous matrices fMo.

Definition at line 597 of file vpWireFrameSimulator.h.

References vpList< type >::addRight().

vpCameraParameters vpWireFrameSimulator::getExternalCameraParameters ( const vpImage< vpRGBa > & I ) const

inline

Get the parameters of the virtual external camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 438 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

Referenced by projectCameraTrajectory().

vpCameraParameters vpWireFrameSimulator::getExternalCameraParameters ( const vpImage< unsigned char > & I ) const

inline

Get the parameters of the virtual external camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 458 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

vpHomogeneousMatrix vpWireFrameSimulator::getExternalCameraPosition ( ) const

inline

Get the main external camera's position relative to the the world reference frame.

Returns: the main external camera position relative to the the world reference frame.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, and servoSimuSphere.cpp.

Definition at line 352 of file vpWireFrameSimulator.h.

Referenced by vpRobotSimulator::getExternalCameraPosition().

void vpWireFrameSimulator::getExternalImage ( vpImage< vpRGBa > & I )

Get the external view. It corresponds to the view of the scene from a reference frame you have to set.

Parameters

I	: The image where the external view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 1112 of file vpWireFrameSimulator.cpp.

References camColor, camera, cameraTrajectory, camMf, camMf2, camTrajColor, camTrajType, cMo, CT_LINE, CT_POINT, CUBE, curColor, vpImage< Type >::display, vpDisplay::display(), display_scene(), displayCamera, displayCameraTrajectory, displayImageSimulator, vpDisplay::displayLine(), displayObject, vpDisplay::displayPoint(), extCamChanged, f2Mf, fMc, fMo, fMoList, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), navigation(), nbrPtLimit, objectImage, poseList, projectCameraTrajectory(), px_ext, py_ext, rotz, scene, vpImageSimulator::setCameraPosition(), and SPHERE.

void vpWireFrameSimulator::getExternalImage	(	vpImage< vpRGBa > &	I,
		vpHomogeneousMatrix	camMf
	)

Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.

Parameters

I	: The image where the external view is displayed.
camMf	: The pose between the point of view and the fixed world frame.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 1255 of file vpWireFrameSimulator.cpp.

References camColor, camera, camMf, cMo, curColor, vpImage< Type >::display, vpDisplay::display(), display_scene(), displayCamera, displayImageSimulator, displayObject, fMo, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), objectImage, px_ext, py_ext, rotz, scene, and vpImageSimulator::setCameraPosition().

void vpWireFrameSimulator::getExternalImage ( vpImage< unsigned char > & I )

Get the external view. It corresponds to the view of the scene from a reference frame you have to set.

Parameters

I	: The image where the external view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 1397 of file vpWireFrameSimulator.cpp.

References camColor, camera, cameraTrajectory, camMf, camMf2, camTrajColor, camTrajType, cMo, CT_LINE, CT_POINT, CUBE, curColor, vpImage< Type >::display, vpDisplay::display(), display_scene(), displayCamera, displayCameraTrajectory, displayImageSimulator, vpDisplay::displayLine(), displayObject, vpDisplay::displayPoint(), extCamChanged, f2Mf, fMc, fMo, fMoList, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), navigation(), nbrPtLimit, objectImage, poseList, projectCameraTrajectory(), px_ext, py_ext, rotz, scene, vpImageSimulator::setCameraPosition(), and SPHERE.

void vpWireFrameSimulator::getExternalImage	(	vpImage< unsigned char > &	I,
		vpHomogeneousMatrix	camMf
	)

Get an external view. The point of view is set thanks to the pose between the camera camMf and the fixed world frame.

Parameters

I	: The image where the external view is displayed.
camMf	: The pose between the point of view and the fixed world frame.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 1538 of file vpWireFrameSimulator.cpp.

References camColor, camera, camMf, cMo, curColor, vpImage< Type >::display, vpDisplay::display(), display_scene(), displayCamera, displayImageSimulator, displayObject, fMo, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), objectImage, px_ext, py_ext, rotz, scene, and vpImageSimulator::setCameraPosition().

vpCameraParameters vpWireFrameSimulator::getInternalCameraParameters ( const vpImage< vpRGBa > & I ) const

inline

Get the parameters of the virtual internal camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 398 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

Referenced by getExternalImage(), and getInternalImage().

vpCameraParameters vpWireFrameSimulator::getInternalCameraParameters ( const vpImage< unsigned char > & I ) const

inline

Get the parameters of the virtual internal camera.

Parameters

I	: The image used to display the view of the camera.

Returns: It returns the camera parameters.

Definition at line 418 of file vpWireFrameSimulator.h.

References vpImage< Type >::getHeight(), vpImage< Type >::getWidth(), vpMath::maximum(), and vpMath::minimum().

void vpWireFrameSimulator::getInternalImage ( vpImage< vpRGBa > & I )

Get the internal view ie the view of the camera.

Parameters

I	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 1034 of file vpWireFrameSimulator.cpp.

References cdMo, cMo, curColor, D_TOOL, desColor, desiredObject, desiredScene, vpImage< Type >::display, vpDisplay::display(), display_scene(), displayDesiredObject, displayImageSimulator, displayObject, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpSimulatorException::notInitializedError, objectImage, px_int, py_int, vpColor::red, rotz, scene, sceneInitialized, and vpImageSimulator::setCameraPosition().

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

Get the internal view ie the view of the camera.

Parameters

I	: The image where the internal view is displayed.

Warning: : The objects are displayed thanks to overlays. The image I is not modified.

Definition at line 1319 of file vpWireFrameSimulator.cpp.

References camMf, cdMo, cMo, curColor, D_TOOL, desColor, desiredObject, desiredScene, vpImage< Type >::display, vpDisplay::display(), display_scene(), displayDesiredObject, displayImageSimulator, displayObject, fMo, vpImage< Type >::getHeight(), vpImageSimulator::getImage(), getInternalCameraParameters(), vpImage< Type >::getWidth(), vpHomogeneousMatrix::inverse(), vpMath::maximum(), vpMath::minimum(), vpSimulatorException::notInitializedError, objectImage, px_int, py_int, vpColor::red, rotz, scene, sceneInitialized, and vpImageSimulator::setCameraPosition().

void vpWireFrameSimulator::initScene	(	vpSceneObject	obj,
		vpSceneDesiredObject	desiredObject
	)

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

Parameters

obj	: Type of scene used to display the object at the current position.
desiredObject	: Type of scene used to display the object at the desired pose (in the internal view).

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 612 of file vpWireFrameSimulator.cpp.

References camera, cameraFactor, CIRCLE, CUBE, CYLINDER, D_CIRCLE, D_STANDARD, D_TOOL, desiredObject, desiredScene, DIAMOND, displayCamera, displayDesiredObject, displayImageSimulator, displayObject, PIPE, PLAN, PLATE, POINT_CLOUD, RECTANGLE, ROAD, scene, sceneInitialized, SMALL_PLATE, SPHERE, SQUARE_10CM, THREE_LINES, THREE_PTS, TIRE, and TRAPEZOID.

Referenced by vpRobotSimulator::initScene(), and initScene().

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desiredObject
	)

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

Parameters

obj	: Path to the scene file you want to use.
desiredObject	: Path to the scene file you want to use.

Definition at line 743 of file vpWireFrameSimulator.cpp.

References camera, cameraFactor, D_STANDARD, desiredScene, displayCamera, displayDesiredObject, displayObject, scene, sceneInitialized, THREE_PTS, and vpERROR_TRACE.

void vpWireFrameSimulator::initScene ( vpSceneObject obj )

Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

Parameters

obj	: Type of scene used to display the object at the current position.

Definition at line 847 of file vpWireFrameSimulator.cpp.

References CIRCLE, CUBE, CYLINDER, DIAMOND, displayCamera, displayObject, PIPE, PLAN, PLATE, POINT_CLOUD, RECTANGLE, ROAD, scene, sceneInitialized, SMALL_PLATE, SPHERE, SQUARE_10CM, THREE_LINES, THREE_PTS, TIRE, and TRAPEZOID.

void vpWireFrameSimulator::initScene ( const char * obj )

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

Parameters

obj	: Path to the scene file you want to use.

Definition at line 946 of file vpWireFrameSimulator.cpp.

References camera, cameraFactor, displayCamera, displayObject, scene, sceneInitialized, THREE_PTS, and vpERROR_TRACE.

void vpWireFrameSimulator::initScene	(	vpSceneObject	obj,
		vpSceneDesiredObject	desiredObject,
		const std::list< vpImageSimulator > &	imObj
	)

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
desiredObject	: Type of scene used to display the object at the desired pose (in the internal view).
imObj	: A list of vpImageSimulator instances.

Definition at line 725 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desiredObject,
		const std::list< vpImageSimulator > &	imObj
	)

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
desiredObject	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 831 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

void vpWireFrameSimulator::initScene	(	vpSceneObject	obj,
		const std::list< vpImageSimulator > &	imObj
	)

Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
imObj	: A list of vpImageSimulator instances.

Definition at line 930 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const std::list< vpImageSimulator > &	imObj
	)

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 1019 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

void vpWireFrameSimulator::initScene	(	vpSceneObject	obj,
		vpSceneDesiredObject	desiredObject,
		vpList< vpImageSimulator > &	imObj
	)

Deprecated:: This method is deprecated. You should use initScene(vpSceneObject, vpSceneDesiredObject, const std::list<vpImageSimulator> &) instead.

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

It exists several default scenes you can use. Use the vpSceneObject and the vpSceneDesiredObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
desiredObject	: Type of scene used to display the object at the desired pose (in the internal view).
imObj	: A list of vpImageSimulator instances.

Definition at line 701 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, vpList< type >::front(), initScene(), vpList< type >::next(), objectImage, vpList< type >::outside(), and vpList< type >::value().

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desiredObject,
		vpList< vpImageSimulator > &	imObj
	)

Deprecated:: This method is deprecated. You should use initScene(const char*, const char*, const std::list<vpImageSimulator> &) instead.

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position and at the desired position.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
desiredObject	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 807 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, vpList< type >::front(), initScene(), vpList< type >::next(), objectImage, vpList< type >::outside(), and vpList< type >::value().

void vpWireFrameSimulator::initScene	(	vpSceneObject	obj,
		vpList< vpImageSimulator > &	imObj
	)

Deprecated:: This method is deprecated. You should use initScene(vpSceneObject, const std::list<vpImageSimulator> &) instead.

Initialize the simulator. It enables to choose the type of object which will be used to display the object at the current position. The object at the desired position is not displayed.

It exists several default scenes you can use. Use the vpSceneObject attributes to use them in this method. The corresponding files are stored in the "data" folder which is in the ViSP build directory.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Type of scene used to display the object at the current position.
imObj	: A list of vpImageSimulator instances.

Definition at line 907 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, vpList< type >::front(), initScene(), vpList< type >::next(), objectImage, vpList< type >::outside(), and vpList< type >::value().

void vpWireFrameSimulator::initScene	(	const char *	obj,
		vpList< vpImageSimulator > &	imObj
	)

Deprecated:: This method is deprecated. You should use initScene(const char*, const std::list<vpImageSimulator> &) instead.

Initialize the simulator. It enables to choose the type of scene which will be used to display the object at the current position. The object at the desired position is not displayed.

Here you can use the scene you want. You have to set the path to a .bnd or a .wrl file which is a 3D model file.

It is also possible to add a list of vpImageSimulator instances. They will be automatically projected into the image. The position of the four corners have to be given in the object frame.

Parameters

obj	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 996 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, vpList< type >::front(), initScene(), vpList< type >::next(), objectImage, vpList< type >::outside(), and vpList< type >::value().

vpHomogeneousMatrix vpWireFrameSimulator::navigation	(	vpImage< vpRGBa > &	I,
		bool &	changed
	)

protected

Enables to change the external camera position.

Definition at line 1763 of file vpWireFrameSimulator.cpp.

References blocked, blockedr, blockedt, blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpImage< Type >::getHeight(), vpDisplay::getPointerPosition(), vpImage< Type >::getWidth(), vpMath::minimum(), old_iPr, old_iPt, old_iPz, and vpMath::rad().

Referenced by vpSimulatorAfma6::getExternalImage(), vpSimulatorViper850::getExternalImage(), and getExternalImage().

vpHomogeneousMatrix vpWireFrameSimulator::navigation	(	vpImage< unsigned char > &	I,
		bool &	changed
	)

protected

Enables to change the external camera position.

Definition at line 1857 of file vpWireFrameSimulator.cpp.

References blocked, blockedr, blockedt, blockedz, vpHomogeneousMatrix::buildFrom(), vpMouseButton::button1, vpMouseButton::button2, vpMouseButton::button3, vpImagePoint::get_i(), vpImagePoint::get_j(), vpDisplay::getClick(), vpDisplay::getClickUp(), vpImage< Type >::getHeight(), vpDisplay::getPointerPosition(), vpImage< Type >::getWidth(), vpMath::minimum(), old_iPr, old_iPt, old_iPz, and vpMath::rad().

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	vpImage< vpRGBa > &	I,
		vpHomogeneousMatrix	cMo,
		vpHomogeneousMatrix	fMo
	)

protected

Project the center of the internal camera into the external camera view.

Definition at line 1952 of file vpWireFrameSimulator.cpp.

References camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

Referenced by displayTrajectory(), and getExternalImage().

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	vpImage< unsigned char > &	I,
		vpHomogeneousMatrix	cMo,
		vpHomogeneousMatrix	fMo
	)

protected

Project the center of the internal camera into the external camera view.

Definition at line 1970 of file vpWireFrameSimulator.cpp.

References camMf, vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	vpImage< vpRGBa > &	I,
		vpHomogeneousMatrix	cMo,
		vpHomogeneousMatrix	fMo,
		vpHomogeneousMatrix	cMf
	)

protected

Project the center of the internal camera into the external camera view.

Definition at line 1988 of file vpWireFrameSimulator.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

vpImagePoint vpWireFrameSimulator::projectCameraTrajectory	(	vpImage< unsigned char > &	I,
		vpHomogeneousMatrix	cMo,
		vpHomogeneousMatrix	fMo,
		vpHomogeneousMatrix	cMf
	)

protected

Project the center of the internal camera into the external camera view.

Definition at line 2006 of file vpWireFrameSimulator.cpp.

References vpMeterPixelConversion::convertPoint(), vpPoint::get_x(), vpPoint::get_y(), getExternalCameraParameters(), vpHomogeneousMatrix::inverse(), rotz, vpPoint::setWorldCoordinates(), and vpForwardProjection::track().

void vpWireFrameSimulator::set_fMo ( const vpHomogeneousMatrix & fMo )

inline

Set the pose between the object and the fixed world frame.

Parameters

fMo	: The pose between the object and the fixed world frame.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, and wireframeSimulator.cpp.

Definition at line 476 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::inverse().

void vpWireFrameSimulator::setCameraColor ( const vpColor col )

inline

Set the color used to display the camera in the external view.

Parameters

col	: The desired color.

Examples:: wireframeSimulator.cpp.

Definition at line 359 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setCameraPositionRelObj ( const vpHomogeneousMatrix cMo )

inline

Set the position of the camera relative to the object.

Parameters

cMo	: The pose of the camera.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 316 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::inverse().

void vpWireFrameSimulator::setCameraPositionRelWorld ( const vpHomogeneousMatrix fMc )

inline

Set the position of the the world reference frame relative to the camera.

Parameters

fMc	: The pose of the camera.

Definition at line 323 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::inverse().

void vpWireFrameSimulator::setCameraSizeFactor ( const float factor )

inline

Set the parameter which enables to choose the size of the main camera in the external camera views. By default this parameter is set to 1.

Parameters

factor : The ration for the camera size.

Definition at line 524 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setCameraTrajectoryColor ( const vpColor col )

inline

Set the color used to display the camera trajectory in the external view.

Parameters

col	: The desired color.

Definition at line 366 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setCameraTrajectoryDisplayType ( const vpCameraTrajectoryDisplayType camTrajType )

inline

Set the way to display the history of the main camera trajectory in the main external view. The choice is given between displaying lines and points.

Parameters

camTrajType : The chosen way to display the camera trajectory.

Definition at line 539 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setCurrentViewColor ( const vpColor col )

inline

Set the color used to display the object at the current position.

Parameters

col	: The desired color.

Examples:: wireframeSimulator.cpp.

Definition at line 373 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setDesiredCameraPosition ( const vpHomogeneousMatrix cdMo )

inline

Set the desired position of the camera relative to the object.

Parameters

cdMo	: The desired pose of the camera.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 330 of file vpWireFrameSimulator.h.

Referenced by vpRobotSimulator::setDesiredCameraPosition().

void vpWireFrameSimulator::setDesiredViewColor ( const vpColor col )

inline

Set the color used to display the object at the desired position.

Parameters

col	: The desired color.

Examples:: wireframeSimulator.cpp.

Definition at line 380 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setDisplayCameraTrajectory ( const bool displayCameraTrajectory )

inline

Enable or disable the displaying of the camera trajectory in the main external camera view.

By default the trajectory is displayed.

Parameters

displayCameraTrajectory : Set to true to display the camera trajectory.

Definition at line 389 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setExternalCameraParameters ( const vpCameraParameters cam )

inline

Set the internal camera parameters.

Parameters

cam	: The desired camera parameters.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 507 of file vpWireFrameSimulator.h.

References vpCameraParameters::get_px(), and vpCameraParameters::get_py().

Referenced by vpSimulatorAfma6::initDisplay(), and vpSimulatorViper850::initDisplay().

void vpWireFrameSimulator::setExternalCameraPosition ( const vpHomogeneousMatrix camMf )

inline

Set the external camera point of view.

Parameters

camMf : The pose of the external camera relative to the world reference frame.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 337 of file vpWireFrameSimulator.h.

References vpHomogeneousMatrix::buildFrom(), and vpHomogeneousMatrix::inverse().

Referenced by vpRobotSimulator::setExternalCameraPosition().

void vpWireFrameSimulator::setInternalCameraParameters ( const vpCameraParameters cam )

inline

Set the internal camera parameters.

Parameters

cam	: The desired camera parameters.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 497 of file vpWireFrameSimulator.h.

References vpCameraParameters::get_px(), and vpCameraParameters::get_py().

void vpWireFrameSimulator::setNbPtTrajectory ( const unsigned int nbPt )

inline

Set the maximum number of main camera's positions which are stored. Those position can be displayed in the external camera field of view. By default this parameter is set to 1000.

Parameters