/*!
Get the view of the virtual camera. Be carefull, the image I is modified. The projected image is not added as an overlay!
With this method, a list of image is projected into the image. Thus, you have to initialise a list of vpImageSimulator. Then you store them into a vpList. And finally with this method you project them into the image \f$ I \f$. The depth of the 3D scene is managed such as an image in foreground hides an image background.
The following example shows how to use the method:
\code
#include <visp/vpImage.h>
#include <visp/vpImageSimulator.h>
int main()
{
vpImage<vpRGBa> Icamera(480,640,0);
vpImage<vpRGBa> Iimage(60,60);
// Initialise the image which will be projected into the image Icamera
vpRGBa colorb(0,0,255);
vpRGBa colorw(255,255,255);
vpRGBa colorr(255,0,0);
for(int i = 0; i < 60; i++)
{
for(int j = 0; j < 20; j++)
Iimage[i][j] = colorb;
for(int j = 20; j < 40; j++)
Iimage[i][j] = colorw;
for(int j = 40; j < 60; j++)
Iimage[i][j] = colorr;
}
// Initialise the 3D coordinates of the Iimage corners
vpColVector X[4];
for (int i = 0; i < 4; i++) X[i].resize(3);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim;
sim.init(Iimage, X);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim2;
sim2.init(Iimage, X);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(30),0));
sim2.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(-30),0));
vpList<vpImageSimulator> listSim;
listSim.addRight(sim);
listSim.addRight(sim2);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(60),vpMath::rad(0),0));
vpCameraParameters cam(868.0, 869.0, 320, 240);
vpImageSimulator::getImage(Icamera,listSim,cam);
return 0;
}
\endcode
\param I : The image used to store the result
\param list : List of vpImageSimulator to project
\param cam : The parameters of the virtual camera
*/
void
vpImageSimulator::getImage(vpImage<vpRGBa> &I, vpList<vpImageSimulator> &list, const vpCameraParameters cam)
{
unsigned int width = I.getWidth();
unsigned int height = I.getHeight();
int nbsimList = list.nbElements();
if (nbsimList < 1)
return;
vpImageSimulator** simList = new vpImageSimulator* [nbsimList];
double topFinal = height+1;;
double bottomFinal = -1;
double leftFinal = width+1;
double rightFinal = -1;
list.front();
int unvisible = 0;
for (int i = 0; i < nbsimList; i++)
{
vpImageSimulator* sim = &(list.value());
list.next();
if (sim->visible)
simList[i] = sim;
else
unvisible++;
}
nbsimList = nbsimList - unvisible;
if (nbsimList < 1)
{
delete[] simList;
return;
}
for (int i = 0; i < nbsimList; i++)
{
simList[i]->getRoi(width,height,cam,simList[i]->pt,simList[i]->rect);
if (topFinal > simList[i]->rect.getTop()) topFinal = simList[i]->rect.getTop();
if (bottomFinal < simList[i]->rect.getBottom()) bottomFinal = simList[i]->rect.getBottom();
if (leftFinal > simList[i]->rect.getLeft()) leftFinal = simList[i]->rect.getLeft();
if (rightFinal < simList[i]->rect.getRight()) rightFinal = simList[i]->rect.getRight();
}
double zmin = -1;
int indice = -1;
vpRGBa *bitmap = I.bitmap;
vpImagePoint ip;
for (int i = (int)topFinal; i < (int)bottomFinal; i++)
{
for (int j = (int)leftFinal; j < (int)rightFinal; j++)
{
zmin = -1;
double x=0,y=0;
ip.set_ij(i,j);
vpPixelMeterConversion::convertPoint(cam,ip, x,y);
ip.set_ij(y,x);
for (int k = 0; k < nbsimList; k++)
{
double z = 0;
if(simList[k]->getPixelDepth(ip,z))
{
if (z < zmin || zmin < 0)
{
zmin = z;
indice = k;
}
}
}
if (indice >= 0)
{
if (simList[indice]->colorI == GRAY_SCALED)
{
unsigned char Ipixelplan = 255;
simList[indice]->getPixel(ip,Ipixelplan);
vpRGBa pixelcolor;
pixelcolor.R = Ipixelplan;
pixelcolor.G = Ipixelplan;
pixelcolor.B = Ipixelplan;
*(bitmap+i*width+j) = pixelcolor;
}
else if (simList[indice]->colorI == COLORED)
{
vpRGBa Ipixelplan(255,255,255);
simList[indice]->getPixel(ip,Ipixelplan);
//unsigned char pixelgrey = 0.2126 * Ipixelplan.R + 0.7152 * Ipixelplan.G + 0.0722 * Ipixelplan.B;
*(bitmap+i*width+j)=Ipixelplan;
}
}
}
}
delete[] simList;
}
/*!
Get the view of the virtual camera. Be careful, the image I is modified. The projected image is not added as an overlay!
With this method, a list of image is projected into the image. Thus, you have to initialise a list of vpImageSimulator. Then you store them into a vpList. And finally with this method you project them into the image \f$ I \f$. The depth of the 3D scene is managed such as an image in foreground hides an image background.
The following example shows how to use the method:
\code
#include <list>
#include <visp3/core/vpImage.h>
#include <visp3/robot/vpImageSimulator.h>
int main()
{
vpImage<vpRGBa> Icamera(480,640,0);
vpImage<vpRGBa> Iimage(60,60);
// Initialise the image which will be projected into the image Icamera
vpRGBa colorb(0,0,255);
vpRGBa colorw(255,255,255);
vpRGBa colorr(255,0,0);
for(int i = 0; i < 60; i++)
{
for(int j = 0; j < 20; j++)
Iimage[i][j] = colorb;
for(int j = 20; j < 40; j++)
Iimage[i][j] = colorw;
for(int j = 40; j < 60; j++)
Iimage[i][j] = colorr;
}
// Initialise the 3D coordinates of the Iimage corners
vpColVector X[4];
for (int i = 0; i < 4; i++) X[i].resize(3);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim;
sim.init(Iimage, X);
// Top left corner
X[0][0] = -1;
X[0][1] = -1;
X[0][2] = 1;
// Top right corner
X[1][0] = 1;
X[1][1] = -1;
X[1][2] = 1;
// Bottom right corner
X[2][0] = 1;
X[2][1] = 1;
X[2][2] = 1;
//Bottom left corner
X[3][0] = -1;
X[3][1] = 1;
X[3][2] = 1;
vpImageSimulator sim2;
sim2.init(Iimage, X);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(30),0));
sim2.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(0),vpMath::rad(-30),0));
std::list<vpImageSimulator> listSim;
listSim.addRight(sim);
listSim.addRight(sim2);
sim.setCameraPosition(vpHomogeneousMatrix(0,0,5,vpMath::rad(60),vpMath::rad(0),0));
vpCameraParameters cam(868.0, 869.0, 320, 240);
vpImageSimulator::getImage(Icamera,listSim,cam);
return 0;
}
\endcode
\param I : The image used to store the result
\param list : List of vpImageSimulator to project
\param cam : The parameters of the virtual camera
*/
void
vpImageSimulator::getImage(vpImage<unsigned char> &I,
std::list<vpImageSimulator> &list,
const vpCameraParameters &cam)
{
unsigned int width = I.getWidth();
unsigned int height = I.getHeight();
unsigned int nbsimList = (unsigned int)list.size();
if (nbsimList < 1)
return;
vpImageSimulator** simList = new vpImageSimulator* [nbsimList];
double topFinal = height+1;;
double bottomFinal = -1;
double leftFinal = width+1;
double rightFinal = -1;
unsigned int unvisible = 0;
unsigned int indexSimu=0;
for(std::list<vpImageSimulator>::iterator it=list.begin(); it!=list.end(); ++it, ++indexSimu){
vpImageSimulator* sim = &(*it);
if (sim->visible)
simList[indexSimu] = sim;
else
unvisible++;
}
nbsimList = nbsimList - unvisible;
if (nbsimList < 1)
{
delete[] simList;
return;
}
for (unsigned int i = 0; i < nbsimList; i++)
{
if(!simList[i]->needClipping)
simList[i]->getRoi(width,height,cam,simList[i]->pt,simList[i]->rect);
else
simList[i]->getRoi(width,height,cam,simList[i]->ptClipped,simList[i]->rect);
if (topFinal > simList[i]->rect.getTop()) topFinal = simList[i]->rect.getTop();
if (bottomFinal < simList[i]->rect.getBottom()) bottomFinal = simList[i]->rect.getBottom();
if (leftFinal > simList[i]->rect.getLeft()) leftFinal = simList[i]->rect.getLeft();
if (rightFinal < simList[i]->rect.getRight()) rightFinal = simList[i]->rect.getRight();
}
double zmin = -1;
int indice = -1;
unsigned char *bitmap = I.bitmap;
vpImagePoint ip;
for (unsigned int i = (unsigned int)topFinal; i < (unsigned int)bottomFinal; i++)
{
for (unsigned int j = (unsigned int)leftFinal; j < (unsigned int)rightFinal; j++)
{
zmin = -1;
double x=0,y=0;
ip.set_ij(i,j);
vpPixelMeterConversion::convertPoint(cam,ip, x,y);
ip.set_ij(y,x);
for (int k = 0; k < (int)nbsimList; k++)
{
double z = 0;
if(simList[k]->getPixelDepth(ip,z))
{
if (z < zmin || zmin < 0)
{
zmin = z;
indice = k;
}
}
}
if (indice >= 0)
{
if (simList[indice]->colorI == GRAY_SCALED)
{
unsigned char Ipixelplan = 255;
simList[indice]->getPixel(ip,Ipixelplan);
*(bitmap+i*width+j)=Ipixelplan;
}
else if (simList[indice]->colorI == COLORED)
{
vpRGBa Ipixelplan(255,255,255);
simList[indice]->getPixel(ip,Ipixelplan);
unsigned char pixelgrey = (unsigned char)(0.2126 * Ipixelplan.R + 0.7152 * Ipixelplan.G + 0.0722 * Ipixelplan.B);
*(bitmap+i*width+j)=pixelgrey;
}
}
}
}
delete[] simList;
}
