/*!
Get the view of the virtual camera. Be careful, the image I is modified. The projected image is not added as an overlay! In this method you specify directly the image which is projected.
\param I : The image used to store the result.
\param Isrc : The image which is projected into \f$ I \f$.
\param cam : The parameters of the virtual camera.
*/
void
vpImageSimulator::getImage(vpImage<unsigned char> &I,
vpImage<unsigned char> &Isrc,
const vpCameraParameters &cam)
{
if (cleanPrevImage)
{
unsigned char col = (unsigned char)(0.2126 * bgColor.R + 0.7152 * bgColor.G + 0.0722 * bgColor.B);
for (unsigned int i = 0; i < I.getHeight(); i++)
{
for (unsigned int j = 0; j < I.getWidth(); j++)
{
I[i][j] = col;
}
}
}
if(visible)
{
if(!needClipping)
getRoi(I.getWidth(),I.getHeight(),cam,pt,rect);
else
getRoi(I.getWidth(),I.getHeight(),cam,ptClipped,rect);
double top = rect.getTop();
double bottom = rect.getBottom();
double left = rect.getLeft();
double right= rect.getRight();
unsigned char *bitmap = I.bitmap;
unsigned int width = I.getWidth();
vpImagePoint ip;
int nb_point_dessine = 0;
for (unsigned int i = (unsigned int)top; i < (unsigned int)bottom; i++)
{
for (unsigned int j = (unsigned int)left; j < (unsigned int)right; j++)
{
double x=0,y=0;
ip.set_ij(i,j);
vpPixelMeterConversion::convertPoint(cam,ip, x,y);
ip.set_ij(y,x);
unsigned char Ipixelplan = 0;
if(getPixel(Isrc,ip,Ipixelplan))
{
*(bitmap+i*width+j)=Ipixelplan;
nb_point_dessine++;
}
}
}
}
}
/*!
Get the view of the virtual camera. Be carefull, the image I is modified. The projected image is not added as an overlay!
\param I : The image used to store the result.
\param cam : The parameters of the virtual camera.
*/
void
vpImageSimulator::getImage(vpImage<unsigned char> &I, const vpCameraParameters cam)
{
int nb_point_dessine = 0;
if (cleanPrevImage)
{
unsigned char col = (unsigned char)(0.2126 * bgColor.R + 0.7152 * bgColor.G + 0.0722 * bgColor.B);
for (int i = (int)rect.getTop(); i < (int)rect.getBottom(); i++)
{
for (int j = (int)rect.getLeft(); j < (int)rect.getRight(); j++)
{
I[i][j] = col;
}
}
}
if(visible)
{
getRoi(I.getWidth(),I.getHeight(),cam,pt,rect);
double top = rect.getTop();
double bottom = rect.getBottom();
double left = rect.getLeft();
double right= rect.getRight();
unsigned char *bitmap = I.bitmap;
unsigned int width = I.getWidth();
vpImagePoint ip;
for (int i = (int)top; i < (int)bottom; i++)
{
for (int j = (int)left; j < (int)right; j++)
{
double x=0,y=0;
ip.set_ij(i,j);
vpPixelMeterConversion::convertPoint(cam,ip, x,y);
ip.set_ij(y,x);
if (colorI == GRAY_SCALED)
{
unsigned char Ipixelplan = 0;
if(getPixel(ip,Ipixelplan))
{
*(bitmap+i*width+j)=Ipixelplan;
nb_point_dessine++;
}
}
else if (colorI == COLORED)
{
vpRGBa Ipixelplan;
if(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;
nb_point_dessine++;
}
}
}
}
}
}
/*!
Get the view of the virtual camera. Be carefull, the image I is modified. The projected image is not added as an overlay! In this method you specify directly the image which is projected.
\param I : The image used to store the result.
\param Isrc : The image which is projected into \f$ I \f$.
\param cam : The parameters of the virtual camera.
*/
void
vpImageSimulator::getImage(vpImage<vpRGBa> &I, vpImage<vpRGBa> &Isrc, const vpCameraParameters cam)
{
int nb_point_dessine = 0;
if (cleanPrevImage)
{
for (int i = (int)rect.getTop(); i < (int)rect.getBottom(); i++)
{
for (int j = (int)rect.getLeft(); j < (int)rect.getRight(); j++)
{
I[i][j] = bgColor;
}
}
}
if(visible)
{
getRoi(I.getWidth(),I.getHeight(),cam,pt,rect);
double top = rect.getTop();
double bottom = rect.getBottom();
double left = rect.getLeft();
double right= rect.getRight();
vpRGBa *bitmap = I.bitmap;
unsigned int width = I.getWidth();
vpImagePoint ip;
for (int i = (int)top; i < (int)bottom; i++)
{
for (int j = (int)left; j < (int)right; j++)
{
double x=0,y=0;
ip.set_ij(i,j);
vpPixelMeterConversion::convertPoint(cam,ip, x,y);
ip.set_ij(y,x);
vpRGBa Ipixelplan;
if(getPixel(Isrc,ip,Ipixelplan))
{
*(bitmap+i*width+j) = Ipixelplan;
nb_point_dessine++;
}
}
}
}
}
/*!
Get the view of the virtual camera. Be carefull, the image I is modified. The projected image is not added as an overlay!
To take into account the projection of several images, a matrix \f$ zBuffer \f$ is given as argument. This matrix contains the z coordinates of all the pixel of the image \f$ I \f$ in the camera frame. During the projection, the pixels are updated if there is no other plan between the camera and the projected image. The matrix \f$ zBuffer \f$ is updated in this case.
\param I : The image used to store the result.
\param cam : The parameters of the virtual camera.
\param zBuffer : A matrix containing the z coordinates of the pixels of the image \f$ I \f$
*/
void
vpImageSimulator::getImage(vpImage<vpRGBa> &I, const vpCameraParameters cam, vpMatrix &zBuffer)
{
if (I.getWidth() != (unsigned int)zBuffer.getCols() || I.getHeight() != (unsigned int)zBuffer.getRows())
throw (vpMatrixException(vpMatrixException::incorrectMatrixSizeError, " zBuffer must have the same size as the image I ! "));
int nb_point_dessine = 0;
if (cleanPrevImage)
{
for (int i = (int)rect.getTop(); i < (int)rect.getBottom(); i++)
{
for (int j = (int)rect.getLeft(); j < (int)rect.getRight(); j++)
{
I[i][j] = bgColor;
}
}
}
if(visible)
{
getRoi(I.getWidth(),I.getHeight(),cam,pt,rect);
double top = rect.getTop();
double bottom = rect.getBottom();
double left = rect.getLeft();
double right= rect.getRight();
vpRGBa *bitmap = I.bitmap;
unsigned int width = I.getWidth();
vpImagePoint ip;
for (int i = (int)top; i < (int)bottom; i++)
{
for (int j = (int)left; j < (int)right; j++)
{
double x=0,y=0;
ip.set_ij(i,j);
vpPixelMeterConversion::convertPoint(cam,ip, x,y);
ip.set_ij(y,x);
if (colorI == GRAY_SCALED)
{
unsigned char Ipixelplan;
if(getPixel(ip,Ipixelplan))
{
if (Xinter_optim[2] < zBuffer[i][j] || zBuffer[i][j] < 0)
{
vpRGBa pixelcolor;
pixelcolor.R = Ipixelplan;
pixelcolor.G = Ipixelplan;
pixelcolor.B = Ipixelplan;
*(bitmap+i*width+j) = pixelcolor;
nb_point_dessine++;
zBuffer[i][j] = Xinter_optim[2];
}
}
}
else if (colorI == COLORED)
{
vpRGBa Ipixelplan;
if(getPixel(ip,Ipixelplan))
{
if (Xinter_optim[2] < zBuffer[i][j] || zBuffer[i][j] < 0)
{
*(bitmap+i*width+j) = Ipixelplan;
nb_point_dessine++;
zBuffer[i][j] = Xinter_optim[2];
}
}
}
}
}
}
}
/*!
Get the view of the virtual camera. Be careful, the image I is modified. The projected image is not added as an overlay!
\param I : The image used to store the result.
\param cam : The parameters of the virtual camera.
*/
void
vpImageSimulator::getImage(vpImage<vpRGBa> &I, const vpCameraParameters &cam)
{
if (cleanPrevImage)
{
for (unsigned int i = 0; i < I.getHeight(); i++)
{
for (unsigned int j = 0; j < I.getWidth(); j++)
{
I[i][j] = bgColor;
}
}
}
if(visible)
{
if(!needClipping)
getRoi(I.getWidth(),I.getHeight(),cam,pt,rect);
else
getRoi(I.getWidth(),I.getHeight(),cam,ptClipped,rect);
double top = rect.getTop();
double bottom = rect.getBottom();
double left = rect.getLeft();
double right= rect.getRight();
vpRGBa *bitmap = I.bitmap;
unsigned int width = I.getWidth();
vpImagePoint ip;
int nb_point_dessine = 0;
for (unsigned int i = (unsigned int)top; i < (unsigned int)bottom; i++)
{
for (unsigned int j = (unsigned int)left; j < (unsigned int)right; j++)
{
double x=0,y=0;
ip.set_ij(i,j);
vpPixelMeterConversion::convertPoint(cam,ip, x,y);
ip.set_ij(y,x);
if (colorI == GRAY_SCALED)
{
unsigned char Ipixelplan;
if(getPixel(ip,Ipixelplan))
{
vpRGBa pixelcolor;
pixelcolor.R = Ipixelplan;
pixelcolor.G = Ipixelplan;
pixelcolor.B = Ipixelplan;
*(bitmap+i*width+j) = pixelcolor;
nb_point_dessine++;
}
}
else if (colorI == COLORED)
{
vpRGBa Ipixelplan;
if(getPixel(ip,Ipixelplan))
{
*(bitmap+i*width+j) = Ipixelplan;
nb_point_dessine++;
}
}
}
}
}
}
/*!
Get the region of interest in the image.
\param cam : camera parameters.
\param cMo : pose.
\return Image point corresponding to the region of interest.
*/
std::vector<vpImagePoint>
vpPolygon3D::getRoi(const vpCameraParameters &cam, const vpHomogeneousMatrix &cMo)
{
changeFrame(cMo);
return getRoi(cam);
}
