50 #include <visp/vpConfig.h>
52 #if defined(VISP_HAVE_OGRE) && defined(VISP_HAVE_DISPLAY)
54 #if defined(VISP_HAVE_X11) && ! defined(APPLE)
59 # include <visp/vpDisplayX.h>
61 #include <visp/vpDisplayGTK.h>
62 #include <visp/vpDisplayGDI.h>
63 #include <visp/vpDisplayOpenCV.h>
64 #include <visp/vpDisplayD3D.h>
65 #include <visp/vpPose.h>
66 #include <visp/vpPoint.h>
67 #include <visp/vpImagePoint.h>
68 #include <visp/vpDot2.h>
69 #include <visp/vpPixelMeterConversion.h>
70 #include <visp/vpVideoReader.h>
71 #include <visp/vpParseArgv.h>
72 #include <visp/vpIoTools.h>
73 #include <visp/vpDebug.h>
74 #include <visp/vpAROgre.h>
77 #define GETOPTARGS "ci:p:h"
89 void usage(
const char *name,
const char *badparam, std::string ipath, std::string ppath)
92 Test augmented reality using the vpAROgre class.\n\
95 %s [-i <test image path>] [-p <personal image path>]\n\
100 -i <input image path> %s\n\
101 Set image input path.\n\
102 From this path read images \n\
103 \"ViSP-images/mire-2/image.%%04d.pgm\". These \n\
104 images come from ViSP-images-x.y.z.tar.gz available \n\
105 on the ViSP website.\n\
106 Setting the VISP_INPUT_IMAGE_PATH environment\n\
107 variable produces the same behaviour than using\n\
110 -p <personal image path> %s\n\
111 Specify a personal sequence containing images \n\
113 By image sequence, we mean one file per image.\n\
114 The following image file formats PNM (PGM P5, PPM P6)\n\
115 are supported. The format is selected by analysing \n\
116 the filename extension.\n\
117 Example : \"/Temp/ViSP-images/cube/image.%%04d.pgm\"\n\
118 %%04d is for the image numbering.\n\
121 Disable the mouse click. Useful to automaze the \n\
122 execution of this program without humain intervention.\n\
126 ipath.c_str(), ppath.c_str());
129 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
144 bool getOptions(
int argc,
const char **argv, std::string &ipath,
145 std::string &ppath,
bool &click_allowed)
152 case 'c': click_allowed =
false;
break;
153 case 'i': ipath = optarg;
break;
154 case 'p': ppath = optarg;
break;
155 case 'h': usage(argv[0], NULL, ipath, ppath);
159 usage(argv[0], optarg, ipath, ppath);
164 if ((c == 1) || (c == -1)) {
166 usage(argv[0], NULL, ipath, ppath);
167 std::cerr <<
"ERROR: " << std::endl;
168 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
182 const bool &opt_click_allowed)
187 bool opt_display =
true;
189 #if defined(VISP_HAVE_X11) && ! defined(APPLE)
195 #elif defined VISP_HAVE_GTK
197 #elif defined VISP_HAVE_GDI
199 #elif defined VISP_HAVE_OPENCV
201 #elif defined VISP_HAVE_D3D9
205 for (
unsigned int i=0 ; i < 4 ; i++)
218 display.
init(I,100,100,
"Preliminary Pose Calculation");
236 std::cout<<
"************************************************************************************"<<std::endl;
237 std::cout<<
"*************************** Preliminary Pose Calculation ***************************"<<std::endl;
238 std::cout<<
"****************************** Click on the 4 dots *******************************"<<std::endl;
239 std::cout<<
"********Dot1 : (-x,-y,0), Dot2 : (x,-y,0), Dot3 : (x,y,0), Dot4 : (-x,y,0)**********"<<std::endl;
240 std::cout<<
"************************************************************************************"<<std::endl;
244 if (! opt_click_allowed) {
255 for(
unsigned int i=0;i<4;i++) {
265 for(
unsigned int j = 0;j<i;j++)
271 if (opt_click_allowed) {
318 for (
unsigned int i=0 ; i < 4 ; i++)
341 for (
unsigned int i=0 ; i < 4 ; i++)
357 for (
unsigned int i=0 ; i < 4 ; i++)
382 int main(
int argc,
const char **argv)
384 std::string env_ipath;
385 std::string opt_ipath;
387 std::string opt_ppath;
389 std::string filename;
390 bool opt_click_allowed =
true;
393 char *ptenv = getenv(
"VISP_INPUT_IMAGE_PATH");
398 if (! env_ipath.empty())
403 if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed) ==
false) {
408 if (!opt_ipath.empty())
413 if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
414 if (ipath != env_ipath) {
415 std::cout << std::endl
416 <<
"WARNING: " << std::endl;
417 std::cout <<
" Since -i <visp image path=" << ipath <<
"> "
418 <<
" is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
419 <<
" we skip the environment variable." << std::endl;
424 if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
425 usage(argv[0], NULL, ipath, opt_ppath);
426 std::cerr << std::endl
427 <<
"ERROR:" << std::endl;
428 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
430 <<
" environment variable to specify the location of the " << std::endl
431 <<
" image path where test images are located." << std::endl
432 <<
" Use -p <personal image path> option if you want to "<<std::endl
433 <<
" use personal images." << std::endl
445 std::ostringstream s;
448 if (opt_ppath.empty()){
454 s.setf(std::ios::right, std::ios::adjustfield);
455 s <<
"image.%04d.pgm";
456 filename = dirname + s.str();
459 filename = opt_ppath;
492 vpCTRACE <<
"Load: " << filename << std::endl;
493 grabber.
open(Idisplay);
497 computeInitialPose(&mcamTmp, Idisplay, &mPose, md, mcog, &cmo, mP,
512 std::cerr << std::endl
513 <<
"ERROR:" << std::endl;
514 std::cerr <<
" Cannot read " << filename << std::endl;
515 std::cerr <<
" Check your -i " << ipath <<
" option " << std::endl
516 <<
" or VISP_INPUT_IMAGE_PATH environment variable."
525 ogre.load(
"Robot",
"robot.mesh");
526 ogre.setScale(
"Robot", 0.001f,0.001f,0.001f);
532 while(ogre.continueRendering()){
545 for (
int i=0 ; i < 4 ; i++)
548 md[i].
track(I, mcog[i]) ;
574 ogre.display(IC,cmo);
582 catch (Ogre::Exception& e)
584 std::cerr <<
"Exception:\n";
585 std::cerr << e.getFullDescription().c_str() <<
"\n";
590 std::cerr <<
"Exception: " <<
"\n";
596 #else // VISP_HAVE_OGRE && VISP_HAVE_DISPLAY
600 std::cout <<
"You should install Ogre3D to run this example..." << std::endl;
void setFirstFrameIndex(const long firstFrame)
void set_j(const double j)
void init()
basic initialization with the default parameters
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
Display for windows using GDI (available on any windows 32 platform).
Define the X11 console to display images.
void set_i(const double i)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
error that can be emited by ViSP classes.
void set_x(const double x)
Set the point x coordinate in the image plane.
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Point coordinates conversion from pixel coordinates to normalized coordinates in meter...
Implementation of an augmented reality viewer.
static int wait(double t0, double t)
This tracker is meant to track a blob (connex pixels with same gray level) on a vpImage.
void track(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines what is a point.
The vpRotationMatrix considers the particular case of a rotation matrix.
vpImagePoint getCog() const
void open(vpImage< vpRGBa > &I)
Display for windows using Direct3D.
void setGrayLevelPrecision(const double &grayLevelPrecision)
static void display(vpImage< unsigned char > &I, vpHomogeneousMatrix &cMo, vpCameraParameters &cam, double size, vpColor col=vpColor::none)
virtual void init(vpImage< unsigned char > &I, bool bufferedKeys=false, bool hidden=false)
unsigned int getWidth() const
Return the number of columns in the image.
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void displayCross(const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)=0
Class used for pose computation from N points (pose from point only).
Generic class defining intrinsic camera parameters.
void set_y(const double y)
Set the point y coordinate in the image plane.
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
void acquire(vpImage< vpRGBa > &I)
void setFileName(const char *filename)
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
void display(const vpImage< unsigned char > &I, vpColor color=vpColor::red, unsigned int thickness=1)
void setSizePrecision(const double &sizePrecision)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
Class that consider the case of the Euler angle using the x-y-z convention, where are respectively ...
void computePose(vpPoseMethodType methode, vpHomogeneousMatrix &cMo)
compute the pose for a given method
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
void addPoint(const vpPoint &P)
Add a new point in this array.
unsigned int getHeight() const
Return the number of rows in the image.
void setGraphics(const bool activate)
void setWorldCoordinates(const double ox, const double oy, const double oz)
Set the point world coordinates. We mean here the coordinates of the point in the object frame...
void clearPoint()
suppress all the point in the array of point