Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
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::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

◆ acquire()

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 vpImageSimulator::getImage(), vpImageSimulator::setCameraPosition(), and vpImageSimulator::setCleanPreviousImage().