#include <visp3/ar/vpSimulator.h>

Inheritance diagram for vpSimulator:

Public Types
enum	vpImageType { grayImage, colorImage }

enum	vpSimulatorViewType { INTERNAL, EXTERNAL }

Public Member Functions
	vpSimulator ()

virtual	~vpSimulator ()

virtual void	mainLoop ()

virtual void	initInternalViewer (const unsigned int nlig, const unsigned int ncol)

void	initExternalViewer (const unsigned int nlig, const unsigned int ncol)

void	initApplication (void (start_routine)(void *))

void	initApplication (void (start_routine)(void ), void data)

void	initMainApplication ()

void	closeMainApplication ()

unsigned int	getInternalWidth () const

unsigned int	getInternalHeight () const

void	addObject (SoSeparator *newObject, const vpHomogeneousMatrix &fMo)

void	redraw ()

void	load (const char *file_name)

void	load (const char *iv_filename, const vpHomogeneousMatrix &fMo)

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

void	addAbsoluteFrame (float zoom=1)

void	addFrame (const vpHomogeneousMatrix &fMo, float zoom=1)

void	setZoomFactor (const float zoom)

void	setCameraPosition (vpHomogeneousMatrix &cMf)

void	getCameraPosition (vpHomogeneousMatrix &_cMf)

void	moveInternalCamera (vpHomogeneousMatrix &cMf)

void	setInternalCameraParameters (vpCameraParameters &cam)

void	setExternalCameraParameters (vpCameraParameters &cam)

void	getExternalCameraPosition (vpHomogeneousMatrix &cMf)

void	getInternalImage (vpImage< unsigned char > &I)

void	getInternalImage (vpImage< vpRGBa > &I)

void	changeZoomFactor (const float zoom, const int index)

void	write (const char *fileName)

unsigned char *	getBufferedOffScreenRenderer ()

void	getSizeInternalView (int &width, int &height)

void	getCameraParameters (vpCameraParameters &cam)

Public Attributes
vpImageType	typeImage

GLubyte *	image_background

unsigned char *	bufferView

int	get

Protected Member Functions
void	init ()

void	kill ()

void	initSoApplication ()

void	initSceneGraph ()

void	addObject (SoSeparator object, const vpHomogeneousMatrix &fMo, SoSeparator root)

void	offScreenRendering (vpSimulatorViewType view=vpSimulator::EXTERNAL, int width=NULL, int height=NULL)

Protected Attributes
HWND	mainWindow

bool	mainWindowInitialized

vpViewer *	internalView

vpViewer *	externalView

SbThread *	mainThread

unsigned int	internal_width

unsigned int	internal_height

unsigned int	external_width

unsigned int	external_height

SoSeparator *	scene

SoSeparator *	internalRoot

SoSeparator *	externalRoot

SoPerspectiveCamera *	internalCamera

SoPerspectiveCamera *	externalCamera

SoTransform *	internalCameraPosition

SoTransform *	extrenalCameraPosition

SoSeparator *	internalCameraObject

float	zoomFactor

bool	cameraPositionInitialized

vpHomogeneousMatrix	cMf

vpCameraParameters	internalCameraParameters

vpCameraParameters	externalCameraParameters

SbTime *	realtime

SoOffscreenRenderer *	offScreenRenderer

Detailed Description

Implementation of a simulator based on Coin3d (www.coin3d.org).

The simulator uses the vpViewer class.

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

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

Definition at line 98 of file vpSimulator.h.

Member Enumeration Documentation

enum vpSimulator::vpImageType

Enumerator
grayImage
colorImage

Definition at line 127 of file vpSimulator.h.

enum vpSimulator::vpSimulatorViewType

Enumerator
INTERNAL
EXTERNAL

Definition at line 270 of file vpSimulator.h.

Constructor & Destructor Documentation

vpSimulator::vpSimulator ( )

constructor

Definition at line 325 of file vpSimulator.cpp.

References init().

vpSimulator::~vpSimulator ( )

virtual

Definition at line 347 of file vpSimulator.cpp.

References kill().

Member Function Documentation

void vpSimulator::addAbsoluteFrame ( float zoom = 1 )

Add the representation of the absolute frame.

Parameters

zoom	: Zoom factor.

Examples:: simulateCircle2DCamVelocity.cpp.

Definition at line 777 of file vpSimulator.cpp.

References scene.

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

Add the representation of a frame.

Parameters

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

Definition at line 757 of file vpSimulator.cpp.

References addObject(), and externalRoot.

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

protected

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

Add an object in a sub scene graph.

Parameters

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

Definition at line 849 of file vpSimulator.cpp.

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

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

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

Add a new object in the scene graph.

Parameters

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

Definition at line 824 of file vpSimulator.cpp.

References addObject(), scene, and vpERROR_TRACE.

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

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

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

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

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

Parameters

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

Definition at line 463 of file vpSimulator.cpp.

References scene.

void vpSimulator::closeMainApplication ( )

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

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

Definition at line 932 of file vpSimulator.cpp.

unsigned char* vpSimulator::getBufferedOffScreenRenderer ( )

inline

get the image corresponding to the internal view

Definition at line 288 of file vpSimulator.h.

void vpSimulator::getCameraParameters ( vpCameraParameters & cam )

inline

get the intrinsic parameters of the camera

Examples:: manSimu4Dots.cpp, and manSimu4Points.cpp.

Definition at line 297 of file vpSimulator.h.

void vpSimulator::getCameraPosition ( vpHomogeneousMatrix & _cMf )

inline

get the camera position (from an homogeneous matrix)

Examples:: simulateFourPoints2DCartesianCamVelocity.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 252 of file vpSimulator.h.

void vpSimulator::getExternalCameraPosition ( vpHomogeneousMatrix & cMf )

get the external camera position

Definition at line 576 of file vpSimulator.cpp.

References externalCamera, and vpHomogeneousMatrix::inverse().

unsigned int vpSimulator::getInternalHeight ( ) const

inline

Return the height of the internal view.

Returns: The height of the internal view.

Examples:: manSimu4Dots.cpp.

Definition at line 182 of file vpSimulator.h.

Referenced by vpViewer::actualRedraw().

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

get an Image of the internal view

Make a copy of the current internal view

Parameters

I	: destination image

Examples:: manSimu4Dots.cpp.

Definition at line 1087 of file vpSimulator.cpp.

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

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

get an Image of the internal view

Make a copy of the current internal view

Parameters

I	: destination image

Definition at line 1073 of file vpSimulator.cpp.

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

unsigned int vpSimulator::getInternalWidth ( ) const

inline

Return the width of the internal view.

Returns: The width of the internal view.

Examples:: manSimu4Dots.cpp.

Definition at line 176 of file vpSimulator.h.

Referenced by vpViewer::actualRedraw().

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

get the size of the internal view

Definition at line 1060 of file vpSimulator.cpp.

void vpSimulator::init ( )

protected

perform some initialization

Definition at line 273 of file vpSimulator.cpp.

References bufferView, cameraPositionInitialized, external_height, external_width, externalCamera, externalRoot, externalView, extrenalCameraPosition, grayImage, image_background, internal_height, internal_width, internalCamera, internalCameraObject, internalCameraPosition, internalRoot, internalView, mainThread, mainWindow, mainWindowInitialized, offScreenRenderer, realtime, scene, typeImage, and zoomFactor.

Referenced by vpSimulator().

void vpSimulator::initApplication ( void *(*)(void *) start_routine )

begin the main program

init the main program thread

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

Definition at line 899 of file vpSimulator.cpp.

References mainThread.

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

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

Parameters

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

Definition at line 915 of file vpSimulator.cpp.

References mainThread.

void vpSimulator::initExternalViewer	(	const unsigned int	nlig,
		const unsigned int	ncol
	)

initialize the external view

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

Definition at line 508 of file vpSimulator.cpp.

References external_height, external_width, externalRoot, vpViewer::externalView, externalView, initSceneGraph(), initSoApplication(), mainWindow, mainWindowInitialized, and vpViewer::resize().

void vpSimulator::initInternalViewer	(	const unsigned int	nlig,
		const unsigned int	ncol
	)

virtual

initialize the camera view

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

Definition at line 471 of file vpSimulator.cpp.

References bufferView, initSceneGraph(), initSoApplication(), internal_height, internal_width, internalRoot, vpViewer::internalView, internalView, mainWindow, mainWindowInitialized, and vpViewer::resize().

Referenced by vpAR::initInternalViewer().

void vpSimulator::initMainApplication ( )

perform some initialization in the main program thread

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

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

Definition at line 923 of file vpSimulator.cpp.

References vpTime::wait().

void vpSimulator::initSceneGraph ( )

protected

initialize the scene graph

Definition at line 360 of file vpSimulator.cpp.

References externalCamera, externalRoot, internalCamera, internalCameraObject, internalCameraPosition, internalRoot, realtime, scene, and zoomFactor.

Referenced by initExternalViewer(), and initInternalViewer().

void vpSimulator::initSoApplication ( )

protected

open the SoGui application

Definition at line 353 of file vpSimulator.cpp.

References mainWindow, and mainWindowInitialized.

Referenced by initExternalViewer(), and initInternalViewer().

void vpSimulator::kill ( )

protected

perform some destruction

Definition at line 313 of file vpSimulator.cpp.

References bufferView, externalView, image_background, and internalView.

Referenced by vpAR::~vpAR(), and ~vpSimulator().

void vpSimulator::load ( const char * file_name )

load an iv file

loading the virtual scene

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

Definition at line 706 of file vpSimulator.cpp.

References scene, vpERROR_TRACE, and zoomFactor.

void vpSimulator::load	(	const char *	iv_filename,
		const vpHomogeneousMatrix &	fMo
	)

load an iv file, set the location of this scene

Add a new object in the scene graph.

Parameters

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

Definition at line 788 of file vpSimulator.cpp.

References addObject(), and vpERROR_TRACE.

void vpSimulator::mainLoop ( )

virtual

activate the mainloop

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

Definition at line 683 of file vpSimulator.cpp.

References mainWindowInitialized, vpERROR_TRACE, and vpTime::wait().

void vpSimulator::moveInternalCamera ( vpHomogeneousMatrix & cMf )

modify the position of the camera in the scene graph

Definition at line 617 of file vpSimulator.cpp.

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

Referenced by redraw().

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

protected

Definition at line 953 of file vpSimulator.cpp.

References INTERNAL, offScreenRenderer, and vpERROR_TRACE.

void vpSimulator::redraw ( )

display the scene (handle with care)

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

Definition at line 652 of file vpSimulator.cpp.

References cMf, externalView, internalView, and moveInternalCamera().

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

save the scene in an iv file

Definition at line 737 of file vpSimulator.cpp.

References scene.

void vpSimulator::setCameraPosition ( vpHomogeneousMatrix & cMf )

set the camera position (from an homogeneous matrix)

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

Definition at line 611 of file vpSimulator.cpp.

References cameraPositionInitialized, and cMf.

void vpSimulator::setExternalCameraParameters ( vpCameraParameters & cam )

set external camera parameters

Examples:: simulateFourPoints2DCartesianCamVelocity.cpp, and simulateFourPoints2DPolarCamVelocity.cpp.

Definition at line 556 of file vpSimulator.cpp.

References external_height, external_width, externalCamera, externalCameraParameters, vpCameraParameters::get_px(), and vpCameraParameters::get_py().

void vpSimulator::setInternalCameraParameters ( vpCameraParameters & cam )

set internal camera parameters

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

Definition at line 537 of file vpSimulator.cpp.

References vpCameraParameters::get_px(), vpCameraParameters::get_py(), internal_height, internal_width, internalCamera, and internalCameraParameters.

void vpSimulator::setZoomFactor ( const float zoom )

set the size of the camera/frame

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

Parameters

zoom	zoom factor of the objects. By default, 1.

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

Definition at line 429 of file vpSimulator.cpp.

References scene, and zoomFactor.

void vpSimulator::write ( const char * fileName )

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

Definition at line 1030 of file vpSimulator.cpp.

References bufferView, internal_height, internal_width, vpTRACE, and vpImageIo::write().

Member Data Documentation

unsigned char* vpSimulator::bufferView

image of the internal view

Definition at line 282 of file vpSimulator.h.

Referenced by vpViewer::actualRedraw(), getInternalImage(), init(), initInternalViewer(), kill(), and write().

bool vpSimulator::cameraPositionInitialized

protected

Definition at line 240 of file vpSimulator.h.

Referenced by init(), and setCameraPosition().

vpHomogeneousMatrix vpSimulator::cMf

protected

internal camera position

Definition at line 242 of file vpSimulator.h.

Referenced by redraw(), and setCameraPosition().

unsigned int vpSimulator::external_height

protected

Definition at line 168 of file vpSimulator.h.

Referenced by init(), initExternalViewer(), and setExternalCameraParameters().

unsigned int vpSimulator::external_width

protected

Definition at line 167 of file vpSimulator.h.

Referenced by init(), initExternalViewer(), and setExternalCameraParameters().

SoPerspectiveCamera* vpSimulator::externalCamera

protected

external camera

Definition at line 196 of file vpSimulator.h.

Referenced by getExternalCameraPosition(), init(), initSceneGraph(), and setExternalCameraParameters().

vpCameraParameters vpSimulator::externalCameraParameters

protected

internal camera parameters

Definition at line 246 of file vpSimulator.h.

Referenced by setExternalCameraParameters().

SoSeparator* vpSimulator::externalRoot

protected

root node of the external view

Definition at line 191 of file vpSimulator.h.

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

vpViewer* vpSimulator::externalView

protected

view from an external camera

Definition at line 141 of file vpSimulator.h.

Referenced by init(), initExternalViewer(), kill(), and redraw().

SoTransform* vpSimulator::extrenalCameraPosition

protected

external camera position

Definition at line 202 of file vpSimulator.h.

Referenced by init().

int vpSimulator::get

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

Definition at line 285 of file vpSimulator.h.

Referenced by vpViewer::actualRedraw().

GLubyte* vpSimulator::image_background

Definition at line 133 of file vpSimulator.h.

Referenced by vpViewer::actualRedraw(), init(), vpAR::initInternalViewer(), kill(), and vpAR::setImage().

unsigned int vpSimulator::internal_height

protected

Definition at line 166 of file vpSimulator.h.

Referenced by getInternalImage(), init(), initInternalViewer(), vpAR::initInternalViewer(), vpAR::setImage(), setInternalCameraParameters(), and write().

unsigned int vpSimulator::internal_width

protected

Definition at line 165 of file vpSimulator.h.

Referenced by getInternalImage(), init(), initInternalViewer(), vpAR::initInternalViewer(), vpAR::setImage(), setInternalCameraParameters(), and write().

SoPerspectiveCamera* vpSimulator::internalCamera

protected

internal camera

Definition at line 194 of file vpSimulator.h.

Referenced by init(), initSceneGraph(), moveInternalCamera(), and setInternalCameraParameters().

SoSeparator* vpSimulator::internalCameraObject

protected

representation of the camera in the external view

Definition at line 205 of file vpSimulator.h.

Referenced by init(), and initSceneGraph().

vpCameraParameters vpSimulator::internalCameraParameters

protected

internal camera parameters

Definition at line 244 of file vpSimulator.h.

Referenced by setInternalCameraParameters().

SoTransform* vpSimulator::internalCameraPosition

protected

internal camera position

Definition at line 199 of file vpSimulator.h.

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

SoSeparator* vpSimulator::internalRoot

protected

root node of the internal view

Definition at line 189 of file vpSimulator.h.

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

vpViewer* vpSimulator::internalView

protected

view from the camera

Definition at line 139 of file vpSimulator.h.

Referenced by init(), initInternalViewer(), kill(), and redraw().

SbThread* vpSimulator::mainThread

protected

thread with the main program

Definition at line 151 of file vpSimulator.h.

Referenced by init(), and initApplication().

HWND vpSimulator::mainWindow

protected

main Widget

Definition at line 114 of file vpSimulator.h.

Referenced by init(), initExternalViewer(), initInternalViewer(), and initSoApplication().

bool vpSimulator::mainWindowInitialized

protected

Definition at line 121 of file vpSimulator.h.

Referenced by init(), initExternalViewer(), initInternalViewer(), initSoApplication(), and mainLoop().

SoOffscreenRenderer* vpSimulator::offScreenRenderer

protected

Definition at line 276 of file vpSimulator.h.

Referenced by init(), and offScreenRendering().

SbTime* vpSimulator::realtime

protected

Definition at line 275 of file vpSimulator.h.

Referenced by init(), and initSceneGraph().

SoSeparator* vpSimulator::scene

protected

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

Definition at line 187 of file vpSimulator.h.

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

vpImageType vpSimulator::typeImage

Definition at line 131 of file vpSimulator.h.

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

float vpSimulator::zoomFactor

protected

Definition at line 236 of file vpSimulator.h.

Referenced by init(), initSceneGraph(), load(), and setZoomFactor().

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation