vpAR.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Use to display an image behind the internal view of the simulator
 * used for augmented reality application
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_COIN3D_AND_GUI

#include <visp3/ar/vpAR.h>
#include <visp3/core/vpTime.h>


/* Objets OIV. */
#include <Inventor/nodes/SoCone.h> /* Objet cone.                            */
#include <Inventor/nodes/SoCylinder.h> /* Objet cylindre.                    */
#include <Inventor/nodes/SoPointLight.h> /* Objet lumiere ponctuelle.        */
#include <Inventor/nodes/SoCoordinate3.h> /* Liste de points.                */
#include <Inventor/nodes/SoIndexedFaceSet.h> /* Liste de face.               */
#include <Inventor/nodes/SoTranslation.h> /* Trasnfo translation.            */
#include <Inventor/nodes/SoScale.h> /* Trasnfo mise a l'echelle.             */
#include <Inventor/nodes/SoRotationXYZ.h> /* Transfo rotation simple.       */

#include <Inventor/nodes/SoDirectionalLight.h> /* Objet lumiere directionnelle*/
#include <Inventor/nodes/SoMaterial.h> /* Matiere (couleur) des objets.     */
#include <Inventor/nodes/SoDrawStyle.h> /* Style de rendu.                  */
#include <Inventor/nodes/SoEnvironment.h> /* Eclairage ambiant.              */
#include <Inventor/nodes/SoGroup.h> /* Groupement de noeuds (sans separation)*/
#include <Inventor/actions/SoWriteAction.h>



vpAR::~vpAR()
{
  kill() ;
}


void
vpAR::initInternalViewer(const unsigned int width, const unsigned int height,  vpImageType type)
{

  vpSimulator::initInternalViewer(width,height) ;


  // no image is loaded
  background = false ;

  if ( image_background != NULL)
  {
    free(image_background) ;
    image_background = NULL ;
  }

  typeImage = type;
  if (typeImage == grayImage)
    image_background =(GLubyte *)
      malloc(internal_width*internal_height*sizeof(GLubyte)) ;
  else
    image_background =(GLubyte *)
      malloc(3*internal_width*internal_height*sizeof(GLubyte)) ;

}



// Grey pictures SetBackGroundImage
void
vpAR::setImage(vpImage<unsigned char> &I)
{

  if ((internal_width != I.getWidth()) ||
      (internal_height != I.getHeight()))
    {
      vpERROR_TRACE("The image size is different from the view size ");
      throw(vpException(vpException::dimensionError),"The image size is different from the view size") ;
    }


  background = true ;


  for (unsigned int i=0 ; i < I.getHeight() ; i++)
    for (unsigned int j=0 ; j < I.getWidth() ; j++)
      //le repere image open GL est en bas a gauche donc l'image serait inverse
      image_background[i*I.getWidth()+j] = I[I.getHeight()-i-1][j] ;

}



// Color pictures SetBackGroundImage
void
vpAR::setImage(vpImage<vpRGBa> &I)
{

  if ((internal_width != I.getWidth()) ||
      (internal_height != I.getHeight()))
    {
      vpERROR_TRACE("The image size is different from the view size ");
      throw(vpException(vpException::dimensionError),"The image size is different from the view size") ;
    }


  background = true ;

  for (unsigned int i=0 ; i <I.getHeight()  ; i++)
  {
    unsigned int k=0;
    for (unsigned int j=0 ; j <I.getWidth()   ; j++)
      //le repere image open GL est en bas a gauche donc l'image serait inverse
    {
      image_background[i*I.getWidth()*3+k+0]=I[I.getHeight()-i-1][j].R ;
      image_background[i*I.getWidth()*3+k+1]=I[I.getHeight()-i-1][j].G ;
      image_background[i*I.getWidth()*3+k+2]=I[I.getHeight()-i-1][j].B ;
      k+=3;
    }
  }

}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_ar.a(vpAR.cpp.o) has no symbols
void dummy_vpAR() {};
#endif