Visual Servoing Platform version 3.6.0
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vpAR.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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*****************************************************************************/
36
43#include <visp3/core/vpConfig.h>
44
45#ifdef VISP_HAVE_COIN3D_AND_GUI
46
47#include <visp3/ar/vpAR.h>
48#include <visp3/core/vpTime.h>
49
50/* Objets OIV. */
51#include <Inventor/nodes/SoCone.h> /* Objet cone. */
52#include <Inventor/nodes/SoCoordinate3.h> /* Liste de points. */
53#include <Inventor/nodes/SoCylinder.h> /* Objet cylindre. */
54#include <Inventor/nodes/SoIndexedFaceSet.h> /* Liste de face. */
55#include <Inventor/nodes/SoPointLight.h> /* Objet lumiere ponctuelle. */
56#include <Inventor/nodes/SoRotationXYZ.h> /* Transfo rotation simple. */
57#include <Inventor/nodes/SoScale.h> /* Trasnfo mise a l'echelle. */
58#include <Inventor/nodes/SoTranslation.h> /* Trasnfo translation. */
59
60#include <Inventor/actions/SoWriteAction.h>
61#include <Inventor/nodes/SoDirectionalLight.h> /* Objet lumiere directionnelle*/
62#include <Inventor/nodes/SoDrawStyle.h> /* Style de rendu. */
63#include <Inventor/nodes/SoEnvironment.h> /* Eclairage ambiant. */
64#include <Inventor/nodes/SoGroup.h> /* Groupement de noeuds (sans separation)*/
65#include <Inventor/nodes/SoMaterial.h> /* Matiere (couleur) des objets. */
66
72
80void vpAR::initInternalViewer(unsigned int width, unsigned int height, vpImageType type)
81{
82
84
85 // no image is loaded
86 background = false;
87
88 if (image_background != NULL) {
89 free(image_background);
90 image_background = NULL;
91 }
92
93 typeImage = type;
94 if (typeImage == grayImage)
95 image_background = (GLubyte *)malloc(internal_width * internal_height * sizeof(GLubyte));
96 else
97 image_background = (GLubyte *)malloc(3 * internal_width * internal_height * sizeof(GLubyte));
98}
99
105// Grey pictures SetBackGroundImage
107{
108
109 if ((internal_width != I.getWidth()) || (internal_height != I.getHeight())) {
110 vpERROR_TRACE("The image size is different from the view size ");
111 throw(vpException(vpException::dimensionError), "The image size is different from the view size");
112 }
113
114 background = true;
115
116 for (unsigned int i = 0; i < I.getHeight(); i++)
117 for (unsigned int j = 0; j < I.getWidth(); j++)
118 // le repere image open GL est en bas a gauche donc l'image serait
119 // inverse
120 image_background[i * I.getWidth() + j] = I[I.getHeight() - i - 1][j];
121}
122
128// Color pictures SetBackGroundImage
130{
131
132 if ((internal_width != I.getWidth()) || (internal_height != I.getHeight())) {
133 vpERROR_TRACE("The image size is different from the view size ");
134 throw(vpException(vpException::dimensionError), "The image size is different from the view size");
135 }
136
137 background = true;
138
139 for (unsigned int i = 0; i < I.getHeight(); i++) {
140 unsigned int k = 0;
141 for (unsigned int j = 0; j < I.getWidth(); j++)
142 // le repere image open GL est en bas a gauche donc l'image serait inverse
143 {
144 image_background[i * I.getWidth() * 3 + k + 0] = I[I.getHeight() - i - 1][j].R;
145 image_background[i * I.getWidth() * 3 + k + 1] = I[I.getHeight() - i - 1][j].G;
146 image_background[i * I.getWidth() * 3 + k + 2] = I[I.getHeight() - i - 1][j].B;
147 k += 3;
148 }
149 }
150}
151
152#elif !defined(VISP_BUILD_SHARED_LIBS)
153// Work around to avoid warning: libvisp_ar.a(vpAR.cpp.o) has no symbols
154void dummy_vpAR(){};
155#endif
void setImage(vpImage< unsigned char > &I)
Definition vpAR.cpp:106
void initInternalViewer(unsigned int width, unsigned int height, vpImageType type=grayImage)
Definition vpAR.cpp:80
virtual ~vpAR()
Definition vpAR.cpp:71
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ dimensionError
Bad dimension.
Definition vpException.h:83
Definition of the vpImage class member functions.
Definition vpImage.h:135
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
unsigned int internal_height
GLubyte * image_background
void kill()
perform some destruction
unsigned int internal_width
vpImageType typeImage
virtual void initInternalViewer(unsigned int nlig, unsigned int ncol)
initialize the camera view
#define vpERROR_TRACE
Definition vpDebug.h:388