vpVirtualGrabber Class Reference

Public Member Functions
	vpVirtualGrabber (const std::string &filename, const vpCameraParameters &cam)
void	acquire (vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo)

Detailed Description

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.

Examples:

tutorial-ibvs-4pts-image-tracking.cpp.

Definition at line 19 of file tutorial-ibvs-4pts-image-tracking.cpp.

Constructor & Destructor Documentation

vpVirtualGrabber::vpVirtualGrabber ( const std::string &  filename, const vpCameraParameters &  cam  )

inline

Initialize the grabber with a target.

Parameters

filename	: File name corresponding to an image of a target.
cam	: Intrinsic camera parameters.

Examples:

tutorial-ibvs-4pts-image-tracking.cpp.

Definition at line 27 of file tutorial-ibvs-4pts-image-tracking.cpp.

References vpImageSimulator::BILINEAR_INTERPOLATION, vpImageSimulator::init(), vpImageIo::read(), and vpImageSimulator::setInterpolationType().

Member Function Documentation

void vpVirtualGrabber::acquire ( vpImage< unsigned char > &  I, const vpHomogeneousMatrix &  cMo  )

inline

Compute the image of the virtual camera from its position with respect to the object.

Parameters

I	: Image provided by the virtual camera.
cMo	: Pose of the camera with respect to the object frame.

Examples:

tutorial-ibvs-4pts-image-tracking.cpp.

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(), 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().