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Visual Servoing Platform
version 3.2.0
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#include <vpAROgre.h>
Public Member Functions | |
vpAROgre (const vpCameraParameters &cam=vpCameraParameters(), unsigned int width=0, unsigned int height=0, const char *resourcePath=VISP_HAVE_OGRE_RESOURCES_PATH, const char *pluginsPath=VISP_HAVE_OGRE_PLUGINS_PATH) | |
virtual | ~vpAROgre (void) |
void | addResource (const std::string &resourceLocation) |
void | addRotation (const std::string &sceneName, const vpRotationMatrix &wRo) |
bool | continueRendering (void) |
virtual bool | customframeStarted (const Ogre::FrameEvent &evt) |
virtual bool | customframeEnded (const Ogre::FrameEvent &evt) |
virtual void | display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMw) |
virtual void | display (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMw) |
Ogre::Camera * | getCamera () |
double | getFarClippingDistance () const |
double | getNearClippingDistance () const |
vpTranslationVector | getPosition (const std::string &sceneName) const |
void | getRenderingOutput (vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo) |
Ogre::SceneManager * | getSceneManager () |
virtual void | init (vpImage< unsigned char > &I, bool bufferedKeys=false, bool hidden=false) |
virtual void | init (vpImage< vpRGBa > &I, bool bufferedKeys=false, bool hidden=false) |
bool | isWindowHidden () |
virtual bool | keyPressed (const OIS::KeyEvent &) |
virtual bool | keyReleased (const OIS::KeyEvent &) |
void | load (const std::string &entityName, const std::string &model) |
bool | renderOneFrame (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMw) |
bool | renderOneFrame (const vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMw) |
void | setCameraParameters (const vpCameraParameters &cameraP) |
void | setFarClippingDistance (const double &dist) |
void | setNearClippingDistance (const double &dist) |
void | setPluginsPath (const char *pluginsPath) |
void | setPosition (const std::string &sceneName, const vpTranslationVector &wTo) |
void | setPosition (const std::string &sceneName, const vpHomogeneousMatrix &wMo) |
void | setResourcePath (const char *resourcePath) |
void | setRotation (const std::string &sceneName, const vpRotationMatrix &wRo) |
void | setScale (const std::string &sceneName, const float factorx, const float factory, const float factorz) |
void | setShowConfigDialog (const bool showConfigDialog) |
void | setVisibility (const std::string &sceneName, bool isVisible) |
void | setWindowName (const Ogre::String &n) |
void | setWindowPosition (const unsigned int win_x, const unsigned int win_y) |
virtual void | windowClosed (Ogre::RenderWindow *rw) |
Protected Member Functions | |
virtual void | init (bool bufferedKeys=false, bool hidden=false) |
virtual void | createCamera (void) |
virtual void | createScene (void) |
virtual void | closeOIS (void) |
virtual bool | updateScene (const Ogre::FrameEvent &) |
virtual bool | processInputEvent (const Ogre::FrameEvent &) |
virtual bool | destroyScene (void) |
virtual void | updateCameraParameters (const vpHomogeneousMatrix &cMo) |
virtual void | updateCameraProjection (void) |
virtual void | updateBackgroundTexture (const vpImage< unsigned char > &I) |
virtual void | updateBackgroundTexture (const vpImage< vpRGBa > &I) |
Protected Attributes | |
Ogre::String | name |
Ogre::Root * | mRoot |
Ogre::Camera * | mCamera |
Ogre::SceneManager * | mSceneMgr |
Ogre::RenderWindow * | mWindow |
Ogre::String | mResourcePath |
Ogre::String | mPluginsPath |
OIS::InputManager * | mInputManager |
OIS::Keyboard * | mKeyboard |
bool | keepOn |
vpImage< vpRGBa > | mImageRGBA |
vpImage< unsigned char > | mImage |
Ogre::HardwarePixelBufferSharedPtr | mPixelBuffer |
Ogre::Rectangle2D * | mBackground |
unsigned int | mBackgroundHeight |
unsigned int | mBackgroundWidth |
unsigned int | mWindowHeight |
unsigned int | mWindowWidth |
bool | windowHidden |
double | mNearClipping |
double | mFarClipping |
vpCameraParameters | mcam |
bool | mshowConfigDialog |
std::list< std::string > | mOptionnalResourceLocation |
Implementation of an augmented reality viewer using Ogre3D 3rd party.
Thus to be enabled this class requires Ogre3D 3rd party installation. Installation instructions are provided here https://visp.inria.fr/3rd_ogre.
This class provides methods to show a 3D scene in a real world. To do that you will need to initialise it with the parameters of your camera, then each frame you will need to compute a pose for your camera and give it to the application. With that information and the image to be shown in background it will set up the 3D scene correspondingly.
Definition at line 89 of file vpAROgre.h.
vpAROgre::vpAROgre | ( | const vpCameraParameters & | cam = vpCameraParameters() , |
unsigned int | width = 0 , |
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unsigned int | height = 0 , |
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const char * | resourcePath = VISP_HAVE_OGRE_RESOURCES_PATH , |
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const char * | pluginsPath = VISP_HAVE_OGRE_PLUGINS_PATH |
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) |
Constructor.
cam | : Camera parameters. |
width | : Width of the window. |
height | : Height of the window. |
resourcePath | : Path to the resources.cfg file telling Ogre where to look for resources. |
pluginsPath | : Path to the plugins.cfg of plugins_d.cfg files telling Ogre where to look for renderer plugins. |
Definition at line 72 of file vpAROgre.cpp.
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Destructor.
Definition at line 453 of file vpAROgre.cpp.
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Add optional resource location. Since a resource file cannot be always sufficient to manage multiple location media (depending on the computer and the executable path), this method may be used to add such paths.
resourceLocation | : The resource location (it may be a folder or a zip file). |
Definition at line 125 of file vpAROgre.h.
void vpAROgre::addRotation | ( | const std::string & | sceneName, |
const vpRotationMatrix & | wRo | ||
) |
Add a rotation to a SceneNode.
sceneName | : Name of the SceneNode to rotate. |
wRo | : The rotation matrix representing the rotation to apply. |
Definition at line 711 of file vpAROgre.cpp.
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Close the OIS based input manager.
Definition at line 919 of file vpAROgre.cpp.
bool vpAROgre::continueRendering | ( | void | ) |
Ask the program if we can continue to render.
Definition at line 646 of file vpAROgre.cpp.
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Create the Ogre camera.
Definition at line 769 of file vpAROgre.cpp.
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Build the 3D scene Override this to show what you want
Definition at line 298 of file vpAROgre.h.
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Function telling what to do after each frame.
evt | : Frame event to process. |
Definition at line 559 of file vpAROgre.cpp.
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Function telling what to do before each frame. This method is called before every frame rendered by Ogre.
evt | : Frame event to process |
Definition at line 539 of file vpAROgre.cpp.
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Display a frame.
I | : Grey level image to show in background. |
cMw | : Camera pose as an homogeneous matrix. |
Definition at line 617 of file vpAROgre.cpp.
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Display a frame.
I | : RGBa image to show in background. |
cMw | : Camera pose as an homogeneous matrix. |
Definition at line 632 of file vpAROgre.cpp.
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Definition at line 142 of file vpAROgre.h.
Referenced by vpMbHiddenFaces< vpMbtPolygon >::isVisibleOgre().
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Get the far distance for clipping.
Definition at line 149 of file vpAROgre.h.
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Get the near distance for clipping.
Definition at line 156 of file vpAROgre.h.
vpTranslationVector vpAROgre::getPosition | ( | const std::string & | sceneName | ) | const |
Get position of a SceneNode.
sceneName | : Name of the SceneNode in the scene graph. |
Definition at line 683 of file vpAROgre.cpp.
void vpAROgre::getRenderingOutput | ( | vpImage< vpRGBa > & | I, |
const vpHomogeneousMatrix & | cMo | ||
) |
Get the result of the rendering loop.
I | : The image on which to copy the result of the rendering loop. |
cMo | : The desired camera pose. |
Definition at line 1036 of file vpAROgre.cpp.
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Definition at line 162 of file vpAROgre.h.
Referenced by vpMbHiddenFaces< vpMbtPolygon >::isVisibleOgre().
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Initialisation of Ogre.
Load the plugins that are specified in the plugins.cfg or plugins_d.cfg files. These files are located in VISP_HAVE_OGRE_PLUGINS_PATH folder that is defined in vpConfig.h. Note that plugins.cfg file is always considered under Unix platforms. The file plugins_d.cfg is only considered under Windows when the build type is Debug.
Load also the resources that are defined in the resources.cfg file. This file is located in VISP_HAVE_OGRE_RESOURCES_PATH folder that is defined in vpConfig.h.
bufferedKeys | : If true, use of buffered input for the keyboard (see Ogre documentation). Note that this parameter is only useful if OIS is used. |
hidden | : If true, the created window will be hidden. Note that this functionnality requires Ogre3D 1.8.1 at least. |
vpException::ioError | : If the required plugins.cfg / plugins_d.cfg or resources.cfg files are not accessible. |
Definition at line 210 of file vpAROgre.cpp.
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Initialisation of Ogre with a grey level background.
Load the plugins that are specified in the plugins.cfg or plugins_d.cfg files. These files are located in VISP_HAVE_OGRE_PLUGINS_PATH folder that is defined in vpConfig.h. Note that plugins.cfg file is always considered under Unix platforms. The file plugins_d.cfg is only considered under Windows when the build type is Debug.
Load also the resources that are defined in the resources.cfg file. This file is located in VISP_HAVE_OGRE_RESOURCES_PATH folder that is defined in vpConfig.h.
Create also the grey level background used to display the image.
I | : Image that is displayed in the background. |
bufferedKeys | : If true, use of buffered input for the keyboard (see Ogre documentation). Note that this parameter is only useful if OIS is used. |
hidden | : If true, the created window will be hidden. Note that this functionnality requires Ogre3D 1.8.1 at least. |
vpException::ioError | : If the required plugins.cfg / plugins_d.cfg or resources.cfg files are not accessible. |
Definition at line 114 of file vpAROgre.cpp.
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Initialisation of Ogre with a color background.
Load the plugins that are specified in the plugins.cfg or plugins_d.cfg files. These files are located in VISP_HAVE_OGRE_PLUGINS_PATH folder that is defined in vpConfig.h. Note that plugins.cfg file is always considered under Unix platforms. The file plugins_d.cfg is only considered under Windows when the build type is Debug.
Load also the resources that are defined in the resources.cfg file. This file is located in VISP_HAVE_OGRE_RESOURCES_PATH folder that is defined in vpConfig.h.
Create also a color background used to display the image.
I | : Image that is displayed in the background. |
bufferedKeys | : If true, use of buffered input for the keyboard (see Ogre documentation). Note that this parameter is only useful if OIS is used. |
hidden | : If true, the created window will be hidden. Note that this functionnality requires Ogre3D 1.8.1 at least. |
vpException::ioError | : If the required plugins.cfg / plugins_d.cfg or resources.cfg files are not accessible. |
Definition at line 164 of file vpAROgre.cpp.
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Test if the window is hidden or not.
Definition at line 172 of file vpAROgre.h.
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Default event handler
Definition at line 178 of file vpAROgre.h.
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Default event handler
Definition at line 182 of file vpAROgre.h.
void vpAROgre::load | ( | const std::string & | entityName, |
const std::string & | model | ||
) |
Load a mesh in the 3D world.
entityName | : Name of the Entity and SceneNode to create. |
model | : 3D model to load. |
Definition at line 658 of file vpAROgre.cpp.
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Check for keyboard, mouse and joystick inputs.
Definition at line 314 of file vpAROgre.h.
bool vpAROgre::renderOneFrame | ( | const vpImage< unsigned char > & | I, |
const vpHomogeneousMatrix & | cMw | ||
) |
Render one frame.
I | : Grey level image to show in background. |
cMw | : Camera pose as an homogeneous matrix. |
Definition at line 583 of file vpAROgre.cpp.
bool vpAROgre::renderOneFrame | ( | const vpImage< vpRGBa > & | I, |
const vpHomogeneousMatrix & | cMw | ||
) |
Render one frame.
I | : RGBa image to show in background. |
cMw | : Camera pose as an homogeneous matrix. |
Definition at line 600 of file vpAROgre.cpp.
void vpAROgre::setCameraParameters | ( | const vpCameraParameters & | cameraP | ) |
Set the camera intrinsic parameters
Definition at line 651 of file vpAROgre.cpp.
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Set the far distance for clipping.
dist | : Far clipping value. |
Definition at line 198 of file vpAROgre.h.
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Set the near distance for clipping.
dist | : Near clipping value. |
Definition at line 209 of file vpAROgre.h.
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Set the plugins path used to locate the plugins.cfg file.
By default, this path is set to VISP_HAVE_OGRE_PLUGINS_PATH defined in vpConfig.h
pluginsPath | : The new plugins path (must not have a terminate /). |
Definition at line 226 of file vpAROgre.h.
void vpAROgre::setPosition | ( | const std::string & | sceneName, |
const vpHomogeneousMatrix & | wMo | ||
) |
Set the position and the orientation of a SceneNode.
sceneName | : Name of the SceneNode to rotate. |
wMo | : The homogeneous matrix representing the rotation and translation to apply. |
Definition at line 729 of file vpAROgre.cpp.
void vpAROgre::setPosition | ( | const std::string & | sceneName, |
const vpTranslationVector & | wTo | ||
) |
Change position of a ScneneNode.
sceneName | : Name of the SceneNode to move. |
wTo | : New position of the node (translation between object frame and world frame). |
Definition at line 671 of file vpAROgre.cpp.
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Set the resource path used to locate the resource.cfg file.
By default, this path is set to VISP_HAVE_OGRE_RESOURCES_PATH defined in vpConfig.h
resourcePath | : The new resource path (must not have a terminate /). |
Definition at line 242 of file vpAROgre.h.
void vpAROgre::setRotation | ( | const std::string & | sceneName, |
const vpRotationMatrix & | wRo | ||
) |
Set the orientation of a SceneNode.
sceneName | : Name of the SceneNode to rotate. |
wRo | : The rotation matrix representing the rotation to apply. |
Definition at line 694 of file vpAROgre.cpp.
void vpAROgre::setScale | ( | const std::string & | sceneName, |
const float | factorx, | ||
const float | factory, | ||
const float | factorz | ||
) |
Scale a SceneNode.
sceneName | : Name of the SceneNode. |
factorx | : Scale factor along the x-axis. |
factory | : Scale factor along the x-axis. |
factorz | : Scale factor along the x-axis. |
Definition at line 758 of file vpAROgre.cpp.
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Enable/Disable the appearance of the config dialog on startup.
showConfigDialog | : if true, shows the dialog window (used to set the display options) |
Definition at line 257 of file vpAROgre.h.
void vpAROgre::setVisibility | ( | const std::string & | sceneName, |
bool | isVisible | ||
) |
Tell if a SceneNode is shown on the screen or not.
sceneName | : Name of the SceneNode. |
isVisible | : If true we show the node, if false we don't. |
Definition at line 746 of file vpAROgre.cpp.
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Set the name of the window.
n | : Name of the window. |
Definition at line 268 of file vpAROgre.h.
Referenced by vpMbDepthDenseTracker::setOgreVisibilityTest(), vpMbDepthNormalTracker::setOgreVisibilityTest(), vpMbDepthDenseTracker::vpMbDepthDenseTracker(), vpMbDepthNormalTracker::vpMbDepthNormalTracker(), vpMbEdgeKltTracker::vpMbEdgeKltTracker(), and vpMbKltTracker::vpMbKltTracker().
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Set the window position in the screen.
vpException::notInitialised | if the window has not been created (using the init() method). |
win_x | : x coordinate of the new top left corner of the window in the screen. |
win_y | : y coordinate of the new top left corner of the window in the screen. |
Definition at line 280 of file vpAROgre.h.
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Update the texture we see in background with a grey level image.
Definition at line 959 of file vpAROgre.cpp.
Update the texture we see in background with a RGBa image.
Definition at line 979 of file vpAROgre.cpp.
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Update Camera parameters from a pose calculation.
Definition at line 1016 of file vpAROgre.cpp.
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Update the projection parameters of the camera.
Definition at line 936 of file vpAROgre.cpp.
References vpCameraParameters::get_px(), vpCameraParameters::get_py(), vpCameraParameters::get_u0(), vpCameraParameters::get_v0(), mBackgroundHeight, mBackgroundWidth, mcam, mCamera, mFarClipping, and mNearClipping.
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Unattach OIS (Object-oriented Input System library) before window shutdown (very important under Linux).
rw | : RenderWindow to close. |
Definition at line 571 of file vpAROgre.cpp.
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Definition at line 369 of file vpAROgre.h.
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Pointer to the pixel buffer
Definition at line 374 of file vpAROgre.h.
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Height of the acquired image
Definition at line 376 of file vpAROgre.h.
Referenced by updateCameraProjection().
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Far Clipping Distance
Definition at line 384 of file vpAROgre.h.
Referenced by updateCameraProjection().
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Application's root
Definition at line 356 of file vpAROgre.h.
Referenced by updateCameraProjection().
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Near Clipping Distance
Definition at line 383 of file vpAROgre.h.
Referenced by updateCameraProjection().
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vpImage to store grabbed image
Definition at line 372 of file vpAROgre.h.
Has the application received a signal to stop(false) or not (true)
Definition at line 371 of file vpAROgre.h.
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Path to plugins.cfg
Definition at line 364 of file vpAROgre.h.
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Definition at line 365 of file vpAROgre.h.
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if true, shows the dialog window (used to set the display options)
Definition at line 389 of file vpAROgre.h.
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vpImage to store grabbed image
Definition at line 373 of file vpAROgre.h.
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Path to resources.cfg
Definition at line 360 of file vpAROgre.h.
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Display window
Definition at line 359 of file vpAROgre.h.
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Name of th Window
Definition at line 355 of file vpAROgre.h.
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Camera
Definition at line 357 of file vpAROgre.h.
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The intrinsic camera parameters
Definition at line 386 of file vpAROgre.h.
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Scene manager
Definition at line 358 of file vpAROgre.h.
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Width of the acquired image
Definition at line 377 of file vpAROgre.h.
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Height of the window
Definition at line 378 of file vpAROgre.h.
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Definition at line 352 of file vpAROgre.h.
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Width of the window
Definition at line 379 of file vpAROgre.h.