vpImageSimulator.h

/****************************************************************************
 *
 * 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: Class which enables to project an image in the 3D space 
 * and get the view of a virtual camera.
 * 
 *
 * Authors:
 * Amaury Dame
 * Nicolas Melchior
 *
 *****************************************************************************/

#ifndef vpImageSimulator_h
#define vpImageSimulator_h

#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpTriangle.h>
#include <visp3/core/vpRect.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpPoint.h>

#include <vector>
#include <list>

class VISP_EXPORT vpImageSimulator
{
  public:
    typedef enum {
      COLORED,
      GRAY_SCALED
    } vpColorPlan;
    
    typedef enum {
      SIMPLE,
      BILINEAR_INTERPOLATION
    } vpInterpolationType;
    
  private:
    vpColVector X[4];
    vpHomogeneousMatrix cMt;
    vpColVector X2[4];
    std::vector<vpPoint> pt;
    std::vector<vpPoint> ptClipped;
    
    vpInterpolationType interp;

    //normal repere objet
    vpColVector normal_obj;
    //normal repere cam
    vpColVector normal_Cam;
    //normal repere cam sous forme de pointeur sinon vpColVector prend trop de temps
    double *normal_Cam_optim;

    //distance du plan au centre de camera
    double distance;
    double visible_result;
    bool visible;


    //point 3D du plan definissant ou sera le pixel (0,0) de l'image
    double *X0_2_optim;

    //variable pour intersection algebre : vecteurs de la base 2D et leur norme
    double euclideanNorm_u,euclideanNorm_v;

    //2 vecteur 3D (typiquement deux cotes du plan) qui definissent le repere 2D u,v de l'image
    vpColVector vbase_u,vbase_v;
    //version pointeur des vecteurs de base
    double *vbase_u_optim;
    double *vbase_v_optim;

    //allocation memoire du point 3D d'intersection entre le vecteur (centre_cam - point_plan_image) et le plan
    double *Xinter_optim;

    //triangles de projection du plan
    std::vector<vpTriangle> listTriangle;
    
    //image de texture
    vpColorPlan colorI;
    vpImage<unsigned char> Ig;
    vpImage<vpRGBa> Ic;

    vpRect rect;
    bool cleanPrevImage;
    bool setBackgroundTexture;  // flag set when the background is to a texture using setBackGroundTexture()
    vpColor bgColor;
    
    vpColVector focal;

    //boolean to tell if the points in the camera frame have to be clipped
    bool needClipping;
    
  public:
    vpImageSimulator(const vpColorPlan &col = COLORED);
    vpImageSimulator(const vpImageSimulator &text);
    virtual ~vpImageSimulator();
    
    vpImageSimulator& operator=(const vpImageSimulator& sim);

    
    //creation du plan a partir de ses coordonnees 3D ds repere objet et de son image texture
    void init(const vpImage<unsigned char> &I,vpColVector* X);
    void init(const vpImage<vpRGBa> &I,vpColVector* X);
#ifdef VISP_HAVE_MODULE_IO
    void init(const char* file_image,vpColVector* X);
#endif
    void init(const vpImage<unsigned char> &I, const std::vector<vpPoint>& X);
    void init(const vpImage<vpRGBa> &I, const std::vector<vpPoint>& X);
#ifdef VISP_HAVE_MODULE_IO
    void init(const char* file_image, const std::vector<vpPoint>& X);
#endif

    //projection du plan par cMo => creation des deux triangles definissant projection du plan sur plan image (coord en metre)
    void setCameraPosition(const vpHomogeneousMatrix &cMt);
    
    void setInterpolationType (const vpInterpolationType interplt) {this->interp = 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);
    
    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);

    std::vector<vpColVector> get3DcornersTextureRectangle();

    friend VISP_EXPORT std::ostream& operator<< (std::ostream &os, const vpImageSimulator& /*ip*/);

    void setCleanPreviousImage(const bool &clean, const vpColor &color = vpColor::white) {
      cleanPrevImage = clean;
      bgColor = color;
    }

    inline void
    setBackGroundTexture(const vpImage<unsigned char>& Iback) {
        setBackgroundTexture = true;
        Ig = Iback;
    }
    
  private:
    void initPlan(vpColVector* X);
    
    //result = plan est visible.
    //ie: un plan est oriente dans si normal_plan.focal < 0 => plan est visible sinon invisible.
    bool isVisible() {return visible;}
    
    //function that project a point x,y on the plane, return true if the projection is on the limited plane
    // and in this case return the corresponding image pixel Ipixelplan
    bool getPixel(const vpImagePoint &iP,unsigned char &Ipixelplan);
    bool getPixel(const vpImagePoint &iP,vpRGBa &Ipixelplan);
    bool getPixel(vpImage<unsigned char> &Isrc, const vpImagePoint &iP,
          unsigned char &Ipixelplan);
    bool getPixel(vpImage<vpRGBa> &Isrc, const vpImagePoint &iP,
          vpRGBa &Ipixelplan);
    bool getPixelDepth(const vpImagePoint &iP, double &Zpixelplan);
    bool getPixelVisibility(const vpImagePoint &iP, double &Zpixelplan);
    
        //operation 3D de base :
    void project(const vpColVector &_vin, const vpHomogeneousMatrix &_cMt,
         vpColVector &_vout);
    //donne coordonnes homogenes de _v;
    void getHomogCoord(const vpColVector &_v, vpColVector &_vH);
    //donne coordonnes _v en fction coord homogenes _vH;
    void getCoordFromHomog(const vpColVector &_vH, vpColVector &_v);
    
    void getRoi(const unsigned int &Iwidth, const unsigned int &Iheight, 
        const vpCameraParameters &cam, const std::vector<vpPoint> &point, vpRect &rect);
};


#endif

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */