#include <visp3/robot/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 ()

Inherited functionalities from vpWireFrameSimulator
void	deleteCameraPositionHistory ()

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

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

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

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

vpHomogeneousMatrix	getExternalCameraPosition () const

void	getExternalImage (vpImage< unsigned char > &I)

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

void	getExternalImage (vpImage< vpRGBa > &I)

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

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

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

void	getInternalImage (vpImage< unsigned char > &I)

void	getInternalImage (vpImage< vpRGBa > &I)

vpHomogeneousMatrix	get_cMo () const

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

vpHomogeneousMatrix	get_fMo () const

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

void	initScene (const vpSceneObject &obj, const vpSceneDesiredObject &desiredObject)

void	initScene (const char obj, const char desiredObject)

void	initScene (const vpSceneObject &obj)

void	initScene (const char *obj)

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

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

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

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

void	setCameraColor (const vpColor &col)

void	setCameraPositionRelObj (const vpHomogeneousMatrix &cMo_)

void	setCameraPositionRelWorld (const vpHomogeneousMatrix &fMc_)

void	setCameraSizeFactor (const float factor)

void	setCameraTrajectoryColor (const vpColor &col)

void	setCameraTrajectoryDisplayType (const vpCameraTrajectoryDisplayType &camTraj_type)

void	setCurrentViewColor (const vpColor &col)

void	setDesiredCameraPosition (const vpHomogeneousMatrix &cdMo_)

void	setDesiredViewColor (const vpColor &col)

void	setDisplayCameraTrajectory (const bool &do_display)

void	setExternalCameraParameters (const vpCameraParameters &cam)

void	setExternalCameraPosition (const vpHomogeneousMatrix &cam_Mf)

void	setGraphicsThickness (unsigned int thickness)

void	setInternalCameraParameters (const vpCameraParameters &cam)

void	setNbPtTrajectory (const unsigned int nbPt)

void	set_fMo (const vpHomogeneousMatrix &fMo_)

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

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

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

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

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

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

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

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

unsigned int	thickness_

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 information.

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 <visp3/core/vpImage.h>
#include <visp3/robot/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, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 142 of file vpWireFrameSimulator.h.

Member Enumeration Documentation

enum vpWireFrameSimulator::vpCameraTrajectoryDisplayType

Enumerator
CT_LINE
CT_POINT

Definition at line 183 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	The object displayed at the desired position is the same than the scene object defined in vpSceneObject.
D_CIRCLE	The object displayed at the desired position is a circle.
D_TOOL	A cylindrical tool is attached to the camera.

Definition at line 176 of file vpWireFrameSimulator.h.

enum vpWireFrameSimulator::vpSceneObject

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

Enumerator
THREE_PTS	A 40cm by 40cm plate with 3 points at coordinates (0,0,0), (0.1,0,0), (0,0.1,0). Each point is represented by a circle with 2cm radius.
CUBE	A 12.5cm size cube.
PLATE	A 40cm by 40cm plate with 4 points at coordinates (-0.1,-0.1,0), (0.1,-0.1,0), (0.1,0.1,0), (0.1,0.1,0). Each point is represented by a circle with 2cm radius.
SMALL_PLATE	4 points at coordinates (-0.03,-0.03,0), (0.03,-0.03,0), (0.03,0.03,0), (0.03,0.03,0). Each point is represented by a circle with 1cm radius.
RECTANGLE	A 40cm by 40cm plate with 4 points at coordinates (-0.07,-0.05,0), (0.07,0.05,0), (0.07,-0.05,0), (-0.07,-0.05,0). Each point is represented by a circle with 2cm radius.
SQUARE_10CM	A 40cm by 40cm plate with 4 points at coordinates (-0.05,0.05,0), (0.05,0.05,0), (0.05,-0.05,0), (-0.05,-0.05,0). Each point is represented by a circle with 2cm radius.
DIAMOND	A 40cm by 40cm plate with 4 points at coordinates (0,-0.1,0), (0.1,0,0), (0,0.1,0), (-0.1,0,0). Each point is represented by a circle with 2cm radius.
TRAPEZOID	A 40cm by 40cm plate with 4 points at coordinates (-0.025,-0.05,0), (-0.075,0.05,0), (0.075,0.05,0), (0.025,-0.05,0). Each point is represented by a circle with 2cm radius.
THREE_LINES	Three parallel lines with equation y=-5, y=0, y=5.
ROAD	Three parallel lines representing a road.
TIRE	A tire represented by 2 circles with radius 10cm and 15cm.
PIPE	A pipe represented by a cylinder of 25 cm length and 15cm radius.
CIRCLE	A 10cm radius circle.
SPHERE	A 15cm radius sphere.
CYLINDER	A cylinder of 80cm length and 10cm radius.
PLAN	A plane represented by a 56cm by 56cm plate with a grid of 49 squares inside.
POINT_CLOUD	A plate with 8 points at coordinates (0.05,0,0), (0.15,0.05,0), (0.2,0.2,0), (-0.05,0.2,0), (-0.15,-0.1,0), (-0.1,-0.1,0), (-0.05,0.05,0) and (0.5,0,0). ach point is represented by a circle with 2cm radius.

Definition at line 149 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 187 of file vpWireFrameSimulator.cpp.

References vpHomogeneousMatrix::buildFrom(), camera, vpIoTools::checkDirectory(), desiredScene, vpIoTools::getenv(), old_iPr, old_iPt, old_iPz, vpMath::rad(), rotz, scene, and vpIoTools::splitChain().

vpWireFrameSimulator::~vpWireFrameSimulator ( )

virtual

Basic destructor

Definition at line 244 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 261 of file vpWireFrameSimulator.h.

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

protected

Definition at line 82 of file vpWireFrameSimulator.cpp.

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

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

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

protected

Definition at line 131 of file vpWireFrameSimulator.cpp.

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

void vpWireFrameSimulator::displayTrajectory	(	const 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 reference 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 reference frame.

Definition at line 1204 of file vpWireFrameSimulator.cpp.

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

void vpWireFrameSimulator::displayTrajectory	(	const 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 reference 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 reference frame.

Definition at line 1244 of file vpWireFrameSimulator.cpp.

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

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.

Definition at line 366 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 373 of file vpWireFrameSimulator.h.

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 385 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 392 of file vpWireFrameSimulator.h.

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 276 of file vpWireFrameSimulator.h.

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

Referenced by projectCameraTrajectory().

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 295 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 312 of file vpWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::getExternalCameraPosition().

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.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 999 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(), SPHERE, and thickness_.

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

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.
cam_Mf	: 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 1140 of file vpWireFrameSimulator.cpp.

References camColor, camera, 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< 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.

Definition at line 714 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(), SPHERE, and thickness_.

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

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.
cam_Mf	: 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 857 of file vpWireFrameSimulator.cpp.

References camColor, camera, 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< 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 326 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< 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 345 of file vpWireFrameSimulator.h.

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

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.

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 921 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(), vpException::notInitialized, objectImage, px_int, py_int, vpColor::red, rotz, scene, sceneInitialized, and vpImageSimulator::setCameraPosition().

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.

Definition at line 636 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(), vpException::notInitialized, objectImage, px_int, py_int, vpColor::red, rotz, scene, sceneInitialized, and vpImageSimulator::setCameraPosition().

void vpWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const vpSceneDesiredObject &	desired_object
	)

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

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 275 of file vpWireFrameSimulator.cpp.

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

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

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

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

Definition at line 389 of file vpWireFrameSimulator.cpp.

References camera, cameraFactor, D_STANDARD, desiredObject, desiredScene, displayCamera, displayDesiredObject, displayObject, vpException::memoryAllocationError, scene, sceneInitialized, THREE_PTS, and vpERROR_TRACE.

void vpWireFrameSimulator::initScene ( const 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 481 of file vpWireFrameSimulator.cpp.

References camera, cameraFactor, CIRCLE, CUBE, CYLINDER, DIAMOND, displayCamera, displayDesiredObject, displayImageSimulator, displayObject, vpException::memoryAllocationError, 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 564 of file vpWireFrameSimulator.cpp.

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

void vpWireFrameSimulator::initScene	(	const vpSceneObject &	obj,
		const vpSceneDesiredObject &	desired_object,
		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.
desired_object	: 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 371 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

void vpWireFrameSimulator::initScene	(	const char *	obj,
		const char *	desired_object,
		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.
desired_object	: Path to the scene file you want to use.
imObj	: A list of vpImageSimulator instances.

Definition at line 465 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

void vpWireFrameSimulator::initScene	(	const 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 548 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 621 of file vpWireFrameSimulator.cpp.

References displayImageSimulator, initScene(), and objectImage.

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

protected

Enables to change the external camera position.

Definition at line 1278 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	(	const vpImage< unsigned char > &	I,
		bool &	changed
	)

protected

Enables to change the external camera position.

Definition at line 1369 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	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_
	)

protected

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

Definition at line 1461 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	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_
	)

protected

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

Definition at line 1480 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	(	const vpImage< vpRGBa > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_,
		const vpHomogeneousMatrix &	cMf
	)

protected

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

Definition at line 1500 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	(	const vpImage< unsigned char > &	I,
		const vpHomogeneousMatrix &	cMo_,
		const vpHomogeneousMatrix &	fMo_,
		const vpHomogeneousMatrix &	cMf
	)

protected

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

Definition at line 1519 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, servoSimuSphere.cpp, and wireframeSimulator.cpp.

Definition at line 526 of file vpWireFrameSimulator.h.

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 409 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, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 415 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 422 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 429 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 436 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setCameraTrajectoryDisplayType ( const vpCameraTrajectoryDisplayType & camTraj_type )

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

camTraj_type : The chosen way to display the camera trajectory.

Definition at line 443 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 450 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, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 456 of file vpWireFrameSimulator.h.

Referenced by vpRobotWireFrameSimulator::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 462 of file vpWireFrameSimulator.h.

void vpWireFrameSimulator::setDisplayCameraTrajectory ( const bool & do_display )

inline

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

By default the trajectory is displayed.

Parameters

do_display : Set to true to display the camera trajectory.

Definition at line 470 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, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 477 of file vpWireFrameSimulator.h.

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

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

void vpWireFrameSimulator::setExternalCameraPosition ( const vpHomogeneousMatrix & cam_Mf )

inline

Set the external camera point of view.

Parameters

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

Examples:: servoSimu4Points.cpp, servoSimuCylinder.cpp, servoSimuSphere.cpp, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 486 of file vpWireFrameSimulator.h.

References vpTranslationVector::buildFrom().

Referenced by vpRobotWireFrameSimulator::setExternalCameraPosition().

void vpWireFrameSimulator::setGraphicsThickness ( unsigned int thickness )

inline

Specify the thickness of the graphics drawings.

Definition at line 499 of file vpWireFrameSimulator.h.

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, tutorial-ibvs-4pts-wireframe-camera.cpp, and wireframeSimulator.cpp.

Definition at line 509 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