ViSP  2.9.0
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vpImageSimulator Class Reference
ViSP capabilities » Image » Image simulator

#include <vpImageSimulator.h>

Public Types

enum  vpColorPlan { COLORED, GRAY_SCALED }
 
enum  vpInterpolationType { SIMPLE, BILINEAR_INTERPOLATION }
 

Public Member Functions

 vpImageSimulator (const vpColorPlan &col=COLORED)
 
 vpImageSimulator (const vpImageSimulator &text)
 
virtual ~vpImageSimulator ()
 
vpImageSimulator & operator= (const vpImageSimulator &sim)
 
void init (const vpImage< unsigned char > &I, vpColVector *X)
 
void init (const vpImage< vpRGBa > &I, vpColVector *X)
 
void init (const char *file_image, vpColVector *X)
 
void init (const vpImage< unsigned char > &I, const std::vector< vpPoint > &X)
 
void init (const vpImage< vpRGBa > &I, const std::vector< vpPoint > &X)
 
void init (const char *file_image, const std::vector< vpPoint > &X)
 
void setCameraPosition (const vpHomogeneousMatrix &cMt)
 
void setInterpolationType (const vpInterpolationType interplt)
 
void getImage (vpImage< unsigned char > &I, const vpCameraParameters &cam)
 
void getImage (vpImage< vpRGBa > &I, const vpCameraParameters &cam)
 
void getImage (vpImage< unsigned char > &I, vpImage< unsigned char > &Isrc, const vpCameraParameters &cam)
 
void getImage (vpImage< vpRGBa > &I, vpImage< vpRGBa > &Isrc, const vpCameraParameters &cam)
 
void getImage (vpImage< unsigned char > &I, const vpCameraParameters &cam, vpMatrix &zBuffer)
 
void getImage (vpImage< vpRGBa > &I, const vpCameraParameters &cam, vpMatrix &zBuffer)
 
std::vector< vpColVector > get3DcornersTextureRectangle ()
 
void setCleanPreviousImage (const bool &clean, const vpColor &color=vpColor::white)
 
void setBackGroundTexture (const vpImage< unsigned char > &Iback)
 

Static Public Member Functions

static void getImage (vpImage< unsigned char > &I, std::list< vpImageSimulator > &list, const vpCameraParameters &cam)
 
static void getImage (vpImage< vpRGBa > &I, std::list< vpImageSimulator > &list, const vpCameraParameters &cam)
 

Friends

VISP_EXPORT std::ostream & operator<< (std::ostream &os, const vpImageSimulator &)
 

Deprecated functions

static vp_deprecated void getImage (vpImage< unsigned char > &I, vpList< vpImageSimulator > &list, const vpCameraParameters &cam)
 
static vp_deprecated void getImage (vpImage< vpRGBa > &I, vpList< vpImageSimulator > &list, const vpCameraParameters &cam)
 

Detailed Description

Class which enables to project an image in the 3D space and get the view of a virtual camera.

The image is represented by a rectangular image whose corners coordinates are known in the 3D frame linked to the 3D rectangle.

The 3D rectangle is positionned relative to a virtual camera (represented by its intrinsic parameters). Indeed, the pose $ cMt $ has to be given by the user of the class.

And finally, the view of the virtual camera is given by the geImage() method.

You can use a colored or a gray scaled image.

To avoid the aliasing especially when the camera is very near from the image plane, a bilinear interpolation can be done for every pixels which have to be filled in. By default this functionality is not used because it consumes lot of time.

The following example explain how to use the class.

#include <visp/vpImage.h>
#include <visp/vpImageSimulator.h>
int main()
{
vpImage<vpRGBa> Icamera(480,640,0);
vpImage<vpRGBa> Iimage(60,60);
// Initialise the image which will be projected into the image Icamera
vpRGBa colorb(0,0,255);
vpRGBa colorw(255,255,255);
vpRGBa colorr(255,0,0);
for(int i = 0; i < 60; i++)
{
for(int j = 0; j < 20; j++)
Iimage[i][j] = colorb;
for(int j = 20; j < 40; j++)
Iimage[i][j] = colorw;
for(int j = 40; j < 60; j++)
Iimage[i][j] = colorr;
}
// Initialise the 3D coordinates of the Iimage corners
vpColVector X[4];
for (int i = 0; i < 4; i++) X[i].resize(3);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 0;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 0;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 0;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 0;
vpImageSimulator sim;
sim.init(Iimage, X);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(60),vpMath::rad(0),0));
vpCameraParameters cam(868.0, 869.0, 320, 240);
sim.getImage(Icamera,cam);
return 0;
}
Examples:
photometricVisualServoing.cpp, servoMomentImage.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu4Points.cpp, tutorial-ibvs-4pts-image-tracking.cpp, and tutorial-image-simulator.cpp.

Definition at line 140 of file vpImageSimulator.h.

Member Enumeration Documentation

enum vpImageSimulator::vpColorPlan
Enumerator
COLORED 
GRAY_SCALED 

Definition at line 143 of file vpImageSimulator.h.

enum vpImageSimulator::vpInterpolationType
Enumerator
SIMPLE 
BILINEAR_INTERPOLATION 

Definition at line 148 of file vpImageSimulator.h.

Constructor & Destructor Documentation

vpImageSimulator::vpImageSimulator ( const vpColorPlan &  col = COLORED)

Basic constructor.

You can choose if you want to use a colored or gray scaled image.

Parameters
col: Enable to choose the color space to use for the image which is projected.

By default the class uses colored images.

Definition at line 61 of file vpImageSimulator.cpp.

References vpColVector::resize().

vpImageSimulator::vpImageSimulator ( const vpImageSimulator &  text)

Copy constructor

Definition at line 99 of file vpImageSimulator.cpp.

References vpColVector::resize(), and setCameraPosition().

vpImageSimulator::~vpImageSimulator ( )
virtual

Basic destructor.

Definition at line 150 of file vpImageSimulator.cpp.

Member Function Documentation

std::vector< vpColVector > vpImageSimulator::get3DcornersTextureRectangle ( )

Definition at line 1963 of file vpImageSimulator.cpp.

void vpImageSimulator::getImage ( vpImage< unsigned char > &  I,
const vpCameraParameters &  cam 
)

Get the view of the virtual camera. Be careful, the image I is modified. The projected image is not added as an overlay!

Parameters
I: The image used to store the result.
cam: The parameters of the virtual camera.
Examples:
photometricVisualServoing.cpp, servoMomentImage.cpp, tutorial-ibvs-4pts-image-tracking.cpp, and tutorial-image-simulator.cpp.

Definition at line 195 of file vpImageSimulator.cpp.

References vpRGBa::B, vpImage< Type >::bitmap, COLORED, vpPixelMeterConversion::convertPoint(), vpRGBa::G, vpRect::getBottom(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpImage< Type >::getWidth(), GRAY_SCALED, vpRGBa::R, and vpImagePoint::set_ij().

Referenced by vpVirtualGrabber::acquire(), vpWireFrameSimulator::getExternalImage(), and vpWireFrameSimulator::getInternalImage().

void vpImageSimulator::getImage ( vpImage< vpRGBa > &  I,
const vpCameraParameters &  cam 
)

Get the view of the virtual camera. Be careful, the image I is modified. The projected image is not added as an overlay!

Parameters
I: The image used to store the result.
cam: The parameters of the virtual camera.

Definition at line 408 of file vpImageSimulator.cpp.

References vpRGBa::B, vpImage< Type >::bitmap, COLORED, vpPixelMeterConversion::convertPoint(), vpRGBa::G, vpRect::getBottom(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpImage< Type >::getWidth(), GRAY_SCALED, vpRGBa::R, and vpImagePoint::set_ij().

void vpImageSimulator::getImage ( vpImage< unsigned char > &  I,
vpImage< unsigned char > &  Isrc,
const vpCameraParameters &  cam 
)

Get the view of the virtual camera. Be careful, the image I is modified. The projected image is not added as an overlay! In this method you specify directly the image which is projected.

Parameters
I: The image used to store the result.
Isrc: The image which is projected into $ I $.
cam: The parameters of the virtual camera.

Definition at line 272 of file vpImageSimulator.cpp.

References vpRGBa::B, vpImage< Type >::bitmap, vpPixelMeterConversion::convertPoint(), vpRGBa::G, vpRect::getBottom(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpImage< Type >::getWidth(), vpRGBa::R, and vpImagePoint::set_ij().

void vpImageSimulator::getImage ( vpImage< vpRGBa > &  I,
vpImage< vpRGBa > &  Isrc,
const vpCameraParameters &  cam 
)

Get the view of the virtual camera. Be carefull, the image I is modified. The projected image is not added as an overlay! In this method you specify directly the image which is projected.

Parameters
I: The image used to store the result.
Isrc: The image which is projected into $ I $.
cam: The parameters of the virtual camera.

Definition at line 479 of file vpImageSimulator.cpp.

References vpImage< Type >::bitmap, vpPixelMeterConversion::convertPoint(), vpRect::getBottom(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpImage< Type >::getWidth(), and vpImagePoint::set_ij().

void vpImageSimulator::getImage ( vpImage< unsigned char > &  I,
const vpCameraParameters &  cam,
vpMatrix &  zBuffer 
)

Get the view of the virtual camera. Be careful, the image I is modified. The projected image is not added as an overlay!

To take into account the projection of several images, a matrix $ zBuffer $ is given as argument. This matrix contains the z coordinates of all the pixel of the image $ I $ in the camera frame. During the projection, the pixels are updated if there is no other plan between the camera and the projected image. The matrix $ zBuffer $ is updated in this case.

Parameters
I: The image used to store the result.
cam: The parameters of the virtual camera.
zBuffer: A matrix containing the z coordinates of the pixels of the image $ I $

Definition at line 330 of file vpImageSimulator.cpp.

References vpRGBa::B, vpImage< Type >::bitmap, COLORED, vpPixelMeterConversion::convertPoint(), vpRGBa::G, vpRect::getBottom(), vpMatrix::getCols(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpMatrix::getRows(), vpRect::getTop(), vpImage< Type >::getWidth(), GRAY_SCALED, vpMatrixException::incorrectMatrixSizeError, vpRGBa::R, and vpImagePoint::set_ij().

void vpImageSimulator::getImage ( vpImage< vpRGBa > &  I,
const vpCameraParameters &  cam,
vpMatrix &  zBuffer 
)

Get the view of the virtual camera. Be carefull, the image I is modified. The projected image is not added as an overlay!

To take into account the projection of several images, a matrix $ zBuffer $ is given as argument. This matrix contains the z coordinates of all the pixel of the image $ I $ in the camera frame. During the projection, the pixels are updated if there is no other plan between the camera and the projected image. The matrix $ zBuffer $ is updated in this case.

Parameters
I: The image used to store the result.
cam: The parameters of the virtual camera.
zBuffer: A matrix containing the z coordinates of the pixels of the image $ I $

Definition at line 536 of file vpImageSimulator.cpp.

References vpRGBa::B, vpImage< Type >::bitmap, COLORED, vpPixelMeterConversion::convertPoint(), vpRGBa::G, vpRect::getBottom(), vpMatrix::getCols(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpMatrix::getRows(), vpRect::getTop(), vpImage< Type >::getWidth(), GRAY_SCALED, vpMatrixException::incorrectMatrixSizeError, vpRGBa::R, and vpImagePoint::set_ij().

void vpImageSimulator::getImage ( vpImage< unsigned char > &  I,
std::list< vpImageSimulator > &  list,
const vpCameraParameters &  cam 
)
static

Get the view of the virtual camera. Be careful, the image I is modified. The projected image is not added as an overlay! With this method, a list of image is projected into the image. Thus, you have to initialise a list of vpImageSimulator. Then you store them into a vpList. And finally with this method you project them into the image $ I $. The depth of the 3D scene is managed such as an image in foreground hides an image background.

The following example shows how to use the method:

#include <list>
#include <visp/vpImage.h>
#include <visp/vpImageSimulator.h>
int main()
{
vpImage<vpRGBa> Icamera(480,640,0);
vpImage<vpRGBa> Iimage(60,60);
// Initialise the image which will be projected into the image Icamera
vpRGBa colorb(0,0,255);
vpRGBa colorw(255,255,255);
vpRGBa colorr(255,0,0);
for(int i = 0; i < 60; i++)
{
for(int j = 0; j < 20; j++)
Iimage[i][j] = colorb;
for(int j = 20; j < 40; j++)
Iimage[i][j] = colorw;
for(int j = 40; j < 60; j++)
Iimage[i][j] = colorr;
}
// Initialise the 3D coordinates of the Iimage corners
vpColVector X[4];
for (int i = 0; i < 4; i++) X[i].resize(3);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim;
sim.init(Iimage, X);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim2;
sim2.init(Iimage, X);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(30),0));
sim2.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(-30),0));
std::list<vpImageSimulator> listSim;
listSim.addRight(sim);
listSim.addRight(sim2);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(60),vpMath::rad(0),0));
vpCameraParameters cam(868.0, 869.0, 320, 240);
vpImageSimulator::getImage(Icamera,listSim,cam);
return 0;
}
Parameters
I: The image used to store the result
list: List of vpImageSimulator to project
cam: The parameters of the virtual camera

Definition at line 1128 of file vpImageSimulator.cpp.

References vpRGBa::B, vpImage< Type >::bitmap, COLORED, vpPixelMeterConversion::convertPoint(), vpRGBa::G, vpRect::getBottom(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpImage< Type >::getWidth(), GRAY_SCALED, vpRGBa::R, and vpImagePoint::set_ij().

void vpImageSimulator::getImage ( vpImage< vpRGBa > &  I,
std::list< vpImageSimulator > &  list,
const vpCameraParameters &  cam 
)
static

Get the view of the virtual camera. Be carefull, the image I is modified. The projected image is not added as an overlay!

With this method, a list of image is projected into the image. Thus, you have to initialise a list of vpImageSimulator. Then you store them into a vpList. And finally with this method you project them into the image $ I $. The depth of the 3D scene is managed such as an image in foreground hides an image background.

The following example shows how to use the method:

#include <list>
#include <visp/vpImage.h>
#include <visp/vpImageSimulator.h>
int main()
{
vpImage<vpRGBa> Icamera(480,640,0);
vpImage<vpRGBa> Iimage(60,60);
// Initialise the image which will be projected into the image Icamera
vpRGBa colorb(0,0,255);
vpRGBa colorw(255,255,255);
vpRGBa colorr(255,0,0);
for(int i = 0; i < 60; i++)
{
for(int j = 0; j < 20; j++)
Iimage[i][j] = colorb;
for(int j = 20; j < 40; j++)
Iimage[i][j] = colorw;
for(int j = 40; j < 60; j++)
Iimage[i][j] = colorr;
}
// Initialise the 3D coordinates of the Iimage corners
vpColVector X[4];
for (int i = 0; i < 4; i++) X[i].resize(3);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim;
sim.init(Iimage, X);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim2;
sim2.init(Iimage, X);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(30),0));
sim2.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(-30),0));
std::list<vpImageSimulator> listSim;
listSim.addRight(sim);
listSim.addRight(sim2);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(60),vpMath::rad(0),0));
vpCameraParameters cam(868.0, 869.0, 320, 240);
vpImageSimulator::getImage(Icamera,listSim,cam);
return 0;
}
Parameters
I: The image used to store the result
list: List of vpImageSimulator to project
cam: The parameters of the virtual camera

Definition at line 1328 of file vpImageSimulator.cpp.

References vpRGBa::B, vpImage< Type >::bitmap, COLORED, vpPixelMeterConversion::convertPoint(), vpRGBa::G, vpRect::getBottom(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpImage< Type >::getWidth(), GRAY_SCALED, vpRGBa::R, and vpImagePoint::set_ij().

void vpImageSimulator::getImage ( vpImage< unsigned char > &  I,
vpList< vpImageSimulator > &  list,
const vpCameraParameters &  cam 
)
static
Deprecated:
This method is deprecated, you should use: vpImageSimulator::getImage(vpImage<unsigned char> &, std::list<vpImageSimulator> &, const vpCameraParameters &) instead.

Get the view of the virtual camera. Be carefull, the image I is modified. The projected image is not added as an overlay!

With this method, a list of image is projected into the image. Thus, you have to initialise a list of vpImageSimulator. Then you store them into a vpList. And finally with this method you project them into the image $ I $. The depth of the 3D scene is managed such as an image in foreground hides an image background.

The following example shows how to use the method:

#include <visp/vpImage.h>
#include <visp/vpImageSimulator.h>
int main()
{
vpImage<vpRGBa> Icamera(480,640,0);
vpImage<vpRGBa> Iimage(60,60);
// Initialise the image which will be projected into the image Icamera
vpRGBa colorb(0,0,255);
vpRGBa colorw(255,255,255);
vpRGBa colorr(255,0,0);
for(int i = 0; i < 60; i++)
{
for(int j = 0; j < 20; j++)
Iimage[i][j] = colorb;
for(int j = 20; j < 40; j++)
Iimage[i][j] = colorw;
for(int j = 40; j < 60; j++)
Iimage[i][j] = colorr;
}
// Initialise the 3D coordinates of the Iimage corners
vpColVector X[4];
for (int i = 0; i < 4; i++) X[i].resize(3);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim;
sim.init(Iimage, X);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim2;
sim2.init(Iimage, X);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(30),0));
sim2.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(-30),0));
vpList<vpImageSimulator> listSim;
listSim.addRight(sim);
listSim.addRight(sim2);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(60),vpMath::rad(0),0));
vpCameraParameters cam(868.0, 869.0, 320, 240);
vpImageSimulator::getImage(Icamera,listSim,cam);
return 0;
}
Parameters
I: The image used to store the result
list: List of vpImageSimulator to project
cam: The parameters of the virtual camera

Definition at line 717 of file vpImageSimulator.cpp.

References vpRGBa::B, vpImage< Type >::bitmap, COLORED, vpPixelMeterConversion::convertPoint(), vpList< type >::front(), vpRGBa::G, vpRect::getBottom(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpImage< Type >::getWidth(), GRAY_SCALED, vpList< type >::nbElements(), vpList< type >::next(), vpRGBa::R, vpImagePoint::set_ij(), and vpList< type >::value().

void vpImageSimulator::getImage ( vpImage< vpRGBa > &  I,
vpList< vpImageSimulator > &  list,
const vpCameraParameters &  cam 
)
static
Deprecated:
This method is deprecated, you should use: vpImageSimulator::getImage(vpImage<vpRGBa> &, std::list<vpImageSimulator> &, const vpCameraParameters &) instead.

Get the view of the virtual camera. Be carefull, the image I is modified. The projected image is not added as an overlay!

With this method, a list of image is projected into the image. Thus, you have to initialise a list of vpImageSimulator. Then you store them into a vpList. And finally with this method you project them into the image $ I $. The depth of the 3D scene is managed such as an image in foreground hides an image background.

The following example shows how to use the method:

#include <visp/vpImage.h>
#include <visp/vpImageSimulator.h>
int main()
{
vpImage<vpRGBa> Icamera(480,640,0);
vpImage<vpRGBa> Iimage(60,60);
// Initialise the image which will be projected into the image Icamera
vpRGBa colorb(0,0,255);
vpRGBa colorw(255,255,255);
vpRGBa colorr(255,0,0);
for(int i = 0; i < 60; i++)
{
for(int j = 0; j < 20; j++)
Iimage[i][j] = colorb;
for(int j = 20; j < 40; j++)
Iimage[i][j] = colorw;
for(int j = 40; j < 60; j++)
Iimage[i][j] = colorr;
}
// Initialise the 3D coordinates of the Iimage corners
vpColVector X[4];
for (int i = 0; i < 4; i++) X[i].resize(3);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim;
sim.init(Iimage, X);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim2;
sim2.init(Iimage, X);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(30),0));
sim2.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(-30),0));
vpList<vpImageSimulator> listSim;
listSim.addRight(sim);
listSim.addRight(sim2);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(60),vpMath::rad(0),0));
vpCameraParameters cam(868.0, 869.0, 320, 240);
vpImageSimulator::getImage(Icamera,listSim,cam);
return 0;
}
Parameters
I: The image used to store the result
list: List of vpImageSimulator to project
cam: The parameters of the virtual camera

Definition at line 924 of file vpImageSimulator.cpp.

References vpRGBa::B, vpImage< Type >::bitmap, COLORED, vpPixelMeterConversion::convertPoint(), vpList< type >::front(), vpRGBa::G, vpRect::getBottom(), vpImage< Type >::getHeight(), vpRect::getLeft(), vpRect::getRight(), vpRect::getTop(), vpImage< Type >::getWidth(), GRAY_SCALED, vpList< type >::nbElements(), vpList< type >::next(), vpRGBa::R, vpImagePoint::set_ij(), and vpList< type >::value().

void vpImageSimulator::init ( const vpImage< unsigned char > &  I,
vpColVector *  X_ 
)

Initialise the image thanks to an image $ I $ and a table of vector containing the 3D coordinates of the image's corners.

The table must have a size of 4!

  • $ X[0] $ :Top left corner.
  • $ X[1] $ :Top right corner.
  • $ X[2] $ :Bottom right corner.
  • $ X[3] $ :Bottom left corner.
Parameters
I: The image which is projected.
X_: table of the 3D coordinates corresponding to the image corners.
Examples:
photometricVisualServoing.cpp, servoMomentImage.cpp, servoSimu4Points.cpp, tutorial-ibvs-4pts-image-tracking.cpp, and tutorial-image-simulator.cpp.

Definition at line 1539 of file vpImageSimulator.cpp.

References vpImageConvert::convert().

Referenced by vpVirtualGrabber::vpVirtualGrabber().

void vpImageSimulator::init ( const vpImage< vpRGBa > &  I,
vpColVector *  X_ 
)

Initialise the image thanks to an image $ I $ and a table of vector containing the 3D coordinates of the image's corners.

The table must have a size of 4!

  • $ X[0] $ :Top left corner.
  • $ X[1] $ :Top right corner.
  • $ X[2] $ :Bottom right corner.
  • $ X[3] $ :Bottom left corner.
Parameters
I: The image which is projected.
X_: table of the 3D coordinates corresponding to the image corners.

Definition at line 1560 of file vpImageSimulator.cpp.

References vpImageConvert::convert().

void vpImageSimulator::init ( const char *  file_image,
vpColVector *  X_ 
)

Initialise the image thanks to an image whose adress is given by $ file_image $ and a table of vector containing the 3D coordinates of the image's corners.

The table must have a size of 4!

  • $ X[0] $ :Top left corner.
  • $ X[1] $ :Top right corner.
  • $ X[2] $ :Bottom right corner.
  • $ X[3] $ :Bottom left corner.
Parameters
file_image: The adress of an image file.
X_: table of the 3D coordinates corresponding to the image corners.

Definition at line 1581 of file vpImageSimulator.cpp.

References vpImageIo::read().

void vpImageSimulator::init ( const vpImage< unsigned char > &  I,
const std::vector< vpPoint > &  X_ 
)

Initialise the image thanks to an image $ I $ and a table of vector containing the 3D coordinates of the image's corners.

Exceptions
vpException::dimensionErrorif the _X vector is not of size 4.
  • $ X[0] $ :Top left corner.
  • $ X[1] $ :Top right corner.
  • $ X[2] $ :Bottom right corner.
  • $ X[3] $ :Bottom left corner.
Parameters
I: The image which is projected.
X_: Vector of the 3D coordinates in the object frame (oX, oY, oZ) corresponding to the image corners.

Definition at line 1603 of file vpImageSimulator.cpp.

References vpImageConvert::convert(), vpException::dimensionError, and vpColVector::resize().

void vpImageSimulator::init ( const vpImage< vpRGBa > &  I,
const std::vector< vpPoint > &  X_ 
)

Initialise the image thanks to an image $ I $ and a table of vector containing the 3D coordinates of the image's corners.

Exceptions
vpException::dimensionErrorif the X_ vector is not of size 4.
  • $ X[0] $ :Top left corner.
  • $ X[1] $ :Top right corner.
  • $ X[2] $ :Bottom right corner.
  • $ X[3] $ :Bottom left corner.
Parameters
I: The image which is projected.
X_: Vector of the 3D coordinates in the object frame (oX, oY, oZ) corresponding to the image corners.

Definition at line 1635 of file vpImageSimulator.cpp.

References vpImageConvert::convert(), vpException::dimensionError, and vpColVector::resize().

void vpImageSimulator::init ( const char *  file_image,
const std::vector< vpPoint > &  X_ 
)

Initialise the image thanks to an image whose adress is given by $ file_image $ and a table of vector containing the 3D coordinates of the image's corners.

Exceptions
vpException::dimensionErrorif the X_ vector is not of size 4.
  • $ X[0] $ :Top left corner.
  • $ X[1] $ :Top right corner.
  • $ X[2] $ :Bottom right corner.
  • $ X[3] $ :Bottom left corner.
Parameters
file_image: The adress of an image file.
X_: Vector of the 3D coordinates in the object frame (oX, oY, oZ) corresponding to the image corners.

Definition at line 1667 of file vpImageSimulator.cpp.

References vpException::dimensionError, vpImageIo::read(), and vpColVector::resize().

vpImageSimulator & vpImageSimulator::operator= ( const vpImageSimulator &  sim)

Definition at line 161 of file vpImageSimulator.cpp.

References setCameraPosition().

void vpImageSimulator::setBackGroundTexture ( const vpImage< unsigned char > &  Iback)
inline

This function is to set the background to a texture instead of default black The corresponding flag is set

Parameters
IbackImage/Texture for the background

Definition at line 268 of file vpImageSimulator.h.

void vpImageSimulator::setCameraPosition ( const vpHomogeneousMatrix &  cMt_)

Enable to set the position of the 3D plane relative to the virtual camera.

Parameters
cMt_: The pose of the plane relative to the virtual camera.
Examples:
photometricVisualServoing.cpp, servoMomentImage.cpp, tutorial-ibvs-4pts-image-tracking.cpp, and tutorial-image-simulator.cpp.

Definition at line 1435 of file vpImageSimulator.cpp.

References vpTriangle::buildFrom(), vpColVector::crossProd(), vpColVector::dotProd(), vpHomogeneousMatrix::extract(), vpPoint::get_X(), vpPoint::get_Y(), vpPoint::get_Z(), vpImagePoint::set_i(), vpImagePoint::set_j(), and vpForwardProjection::track().

Referenced by vpVirtualGrabber::acquire(), vpWireFrameSimulator::getExternalImage(), vpWireFrameSimulator::getInternalImage(), operator=(), and vpImageSimulator().

void vpImageSimulator::setCleanPreviousImage ( const bool &  clean,
const vpColor &  color = vpColor::white 
)
inline

As it can be time consuming to reset all the image to a default baground value, this function enable to reset only the pixel which changed the previous time.

By default this functionality is disabled. and the background color is white.

Parameters
clean: Enable the reset method.
color: Color of the back ground.
Examples:
tutorial-ibvs-4pts-image-tracking.cpp, and tutorial-image-simulator.cpp.

Definition at line 257 of file vpImageSimulator.h.

Referenced by vpVirtualGrabber::acquire().

void vpImageSimulator::setInterpolationType ( const vpInterpolationType  interplt)
inline
Examples:
photometricVisualServoing.cpp, servoMomentImage.cpp, tutorial-ibvs-4pts-image-tracking.cpp, and tutorial-image-simulator.cpp.

Definition at line 223 of file vpImageSimulator.h.

Referenced by vpVirtualGrabber::vpVirtualGrabber().

Friends And Related Function Documentation

VISP_EXPORT std::ostream& operator<< ( std::ostream &  os,
const vpImageSimulator &   
)
friend

Definition at line 1971 of file vpImageSimulator.cpp.