Visual Servoing Platform
version 3.2.0 under development (2019-01-22)
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Public Member Functions | |
vpVirtualGrabber (const std::string &filename, const vpCameraParameters &cam) | |
void | acquire (vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo) |
Given an image of a target, this class provided virtual framegrabbing capabilities in order to retrieve an image of a virtual camera depending on its 3D position.
Definition at line 19 of file tutorial-ibvs-4pts-image-tracking.cpp.
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inline |
Initialize the grabber with a target.
filename | : File name corresponding to an image of a target. |
cam | : Intrinsic camera parameters. |
Definition at line 27 of file tutorial-ibvs-4pts-image-tracking.cpp.
References vpImageSimulator::BILINEAR_INTERPOLATION, vpImageSimulator::init(), vpImageIo::read(), and vpImageSimulator::setInterpolationType().
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inline |
Compute the image of the virtual camera from its position with respect to the object.
I | : Image provided by the virtual camera. |
cMo | : Pose of the camera with respect to the object frame. |
Definition at line 63 of file tutorial-ibvs-4pts-image-tracking.cpp.
References acquire(), vpServo::addFeature(), vpRobot::CAMERA_FRAME, vpServo::computeControlLaw(), vpFeatureBuilder::create(), vpServo::CURRENT, vpServoDisplay::display(), vpDisplay::display(), vpDisplay::displayLine(), vpDisplay::displayText(), vpServo::EYEINHAND_CAMERA, vpDisplay::flush(), vpDisplay::getClick(), vpImage< Type >::getHeight(), vpImageSimulator::getImage(), vpSimulatorCamera::getPosition(), vpRobotSimulator::getSamplingTime(), vpImage< Type >::getWidth(), vpColor::green, vpHomogeneousMatrix::inverse(), vpServo::kill(), vpMath::rad(), vpColor::red, vpFeaturePoint::set_Z(), vpImageSimulator::setCameraPosition(), vpImageSimulator::setCleanPreviousImage(), vpServo::setInteractionMatrixType(), vpServo::setLambda(), vpRobotSimulator::setSamplingTime(), vpServo::setServo(), vpSimulatorCamera::setVelocity(), and vpTime::wait().
Referenced by acquire().