Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpAR.cpp
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3  * ViSP, open source Visual Servoing Platform software.
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20  * Inria Rennes - Bretagne Atlantique
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Use to display an image behind the internal view of the simulator
33  * used for augmented reality application
34  *
35  * Authors:
36  * Eric Marchand
37  * Fabien Spindler
38  *
39  *****************************************************************************/
40 
47 #include <visp3/core/vpConfig.h>
48 
49 #ifdef VISP_HAVE_COIN3D_AND_GUI
50 
51 #include <visp3/ar/vpAR.h>
52 #include <visp3/core/vpTime.h>
53 
54 /* Objets OIV. */
55 #include <Inventor/nodes/SoCone.h> /* Objet cone. */
56 #include <Inventor/nodes/SoCoordinate3.h> /* Liste de points. */
57 #include <Inventor/nodes/SoCylinder.h> /* Objet cylindre. */
58 #include <Inventor/nodes/SoIndexedFaceSet.h> /* Liste de face. */
59 #include <Inventor/nodes/SoPointLight.h> /* Objet lumiere ponctuelle. */
60 #include <Inventor/nodes/SoRotationXYZ.h> /* Transfo rotation simple. */
61 #include <Inventor/nodes/SoScale.h> /* Trasnfo mise a l'echelle. */
62 #include <Inventor/nodes/SoTranslation.h> /* Trasnfo translation. */
63 
64 #include <Inventor/actions/SoWriteAction.h>
65 #include <Inventor/nodes/SoDirectionalLight.h> /* Objet lumiere directionnelle*/
66 #include <Inventor/nodes/SoDrawStyle.h> /* Style de rendu. */
67 #include <Inventor/nodes/SoEnvironment.h> /* Eclairage ambiant. */
68 #include <Inventor/nodes/SoGroup.h> /* Groupement de noeuds (sans separation)*/
69 #include <Inventor/nodes/SoMaterial.h> /* Matiere (couleur) des objets. */
70 
75 vpAR::~vpAR() { kill(); }
76 
84 void vpAR::initInternalViewer(unsigned int width, unsigned int height, vpImageType type)
85 {
86 
87  vpSimulator::initInternalViewer(width, height);
88 
89  // no image is loaded
90  background = false;
91 
92  if (image_background != NULL) {
93  free(image_background);
94  image_background = NULL;
95  }
96 
97  typeImage = type;
98  if (typeImage == grayImage)
99  image_background = (GLubyte *)malloc(internal_width * internal_height * sizeof(GLubyte));
100  else
101  image_background = (GLubyte *)malloc(3 * internal_width * internal_height * sizeof(GLubyte));
102 }
103 
109 // Grey pictures SetBackGroundImage
111 {
112 
113  if ((internal_width != I.getWidth()) || (internal_height != I.getHeight())) {
114  vpERROR_TRACE("The image size is different from the view size ");
115  throw(vpException(vpException::dimensionError), "The image size is different from the view size");
116  }
117 
118  background = true;
119 
120  for (unsigned int i = 0; i < I.getHeight(); i++)
121  for (unsigned int j = 0; j < I.getWidth(); j++)
122  // le repere image open GL est en bas a gauche donc l'image serait
123  // inverse
124  image_background[i * I.getWidth() + j] = I[I.getHeight() - i - 1][j];
125 }
126 
132 // Color pictures SetBackGroundImage
134 {
135 
136  if ((internal_width != I.getWidth()) || (internal_height != I.getHeight())) {
137  vpERROR_TRACE("The image size is different from the view size ");
138  throw(vpException(vpException::dimensionError), "The image size is different from the view size");
139  }
140 
141  background = true;
142 
143  for (unsigned int i = 0; i < I.getHeight(); i++) {
144  unsigned int k = 0;
145  for (unsigned int j = 0; j < I.getWidth(); j++)
146  // le repere image open GL est en bas a gauche donc l'image serait inverse
147  {
148  image_background[i * I.getWidth() * 3 + k + 0] = I[I.getHeight() - i - 1][j].R;
149  image_background[i * I.getWidth() * 3 + k + 1] = I[I.getHeight() - i - 1][j].G;
150  image_background[i * I.getWidth() * 3 + k + 2] = I[I.getHeight() - i - 1][j].B;
151  k += 3;
152  }
153  }
154 }
155 
156 #elif !defined(VISP_BUILD_SHARED_LIBS)
157 // Work arround to avoid warning: libvisp_ar.a(vpAR.cpp.o) has no symbols
158 void dummy_vpAR(){};
159 #endif
void setImage(vpImage< unsigned char > &I)
Definition: vpAR.cpp:110
virtual ~vpAR()
Definition: vpAR.cpp:75
void kill()
perform some destruction
#define vpERROR_TRACE
Definition: vpDebug.h:393
error that can be emited by ViSP classes.
Definition: vpException.h:71
void initInternalViewer(unsigned int width, unsigned int height, vpImageType type=grayImage)
Definition: vpAR.cpp:84
vpImageType typeImage
Definition: vpSimulator.h:129
GLubyte * image_background
Definition: vpSimulator.h:131
virtual void initInternalViewer(unsigned int nlig, unsigned int ncol)
initialize the camera view
unsigned int getHeight() const
Definition: vpImage.h:188
unsigned int internal_width
Definition: vpSimulator.h:163
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int internal_height
Definition: vpSimulator.h:164