50 #include <visp/vpConfig.h>
54 #if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK))
56 #if defined(VISP_HAVE_X11) && ! defined(APPLE)
61 # include <visp/vpDisplayX.h>
63 #include <visp/vpDisplayGTK.h>
64 #include <visp/vpDisplayGDI.h>
65 #include <visp/vpDisplayOpenCV.h>
66 #include <visp/vpDisplayD3D.h>
67 #include <visp/vpPose.h>
68 #include <visp/vpPoint.h>
69 #include <visp/vpImagePoint.h>
70 #include <visp/vpDot2.h>
71 #include <visp/vpPixelMeterConversion.h>
72 #include <visp/vpVideoReader.h>
73 #include <visp/vpParseArgv.h>
74 #include <visp/vpIoTools.h>
75 #include <visp/vpDebug.h>
76 #include <visp/vpAROgre.h>
79 #define GETOPTARGS "ci:p:h"
92 void usage(
const char *name,
const char *badparam, std::string ipath, std::string ppath)
95 Test augmented reality using the vpAROgre class.\n\
98 %s [-i <test image path>] [-p <personal image path>]\n\
103 -i <input image path> %s\n\
104 Set image input path.\n\
105 From this path read images \n\
106 \"ViSP-images/mire-2/image.%%04d.pgm\". These \n\
107 images come from ViSP-images-x.y.z.tar.gz available \n\
108 on the ViSP website.\n\
109 Setting the VISP_INPUT_IMAGE_PATH environment\n\
110 variable produces the same behaviour than using\n\
113 -p <personal image path> %s\n\
114 Specify a personal sequence containing images \n\
116 By image sequence, we mean one file per image.\n\
117 The following image file formats PNM (PGM P5, PPM P6)\n\
118 are supported. The format is selected by analysing \n\
119 the filename extension.\n\
120 Example : \"/Temp/ViSP-images/cube/image.%%04d.pgm\"\n\
121 %%04d is for the image numbering.\n\
124 Disable the mouse click. Useful to automaze the \n\
125 execution of this program without humain intervention.\n\
129 ipath.c_str(), ppath.c_str());
132 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
147 bool getOptions(
int argc,
const char **argv, std::string &ipath,
148 std::string &ppath,
bool &click_allowed)
155 case 'c': click_allowed =
false;
break;
156 case 'i': ipath = optarg;
break;
157 case 'p': ppath = optarg;
break;
158 case 'h': usage(argv[0], NULL, ipath, ppath);
162 usage(argv[0], optarg, ipath, ppath);
167 if ((c == 1) || (c == -1)) {
169 usage(argv[0], NULL, ipath, ppath);
170 std::cerr <<
"ERROR: " << std::endl;
171 std::cerr <<
" Bad argument " << optarg << std::endl << std::endl;
179 #ifndef DOXYGEN_SHOULD_SKIP_THIS
181 class vpAROgreExample :
public vpAROgre
186 unsigned int width = 640,
unsigned int height = 480,
187 const char *resourcePath=NULL)
190 if (resourcePath) mResourcePath = resourcePath;
191 std::cout <<
"mResourcePath: " << mResourcePath<< std::endl;
192 vecDevant = Ogre::Vector3(0,-1,0);
199 Ogre::Vector3 vecDevant;
201 Ogre::AnimationState * mAnimationState;
209 mSceneMgr->setAmbientLight(Ogre::ColourValue((
float)0.6,(
float)0.6,(
float)0.6));
210 Ogre::Light * light = mSceneMgr->createLight();
211 light->setDiffuseColour(1.0,1.0,1.0);
212 light->setSpecularColour(1.0,1.0,1.0);
214 light->setPosition(-5, -5, 10);
215 light->setType(Ogre::Light::LT_POINT);
216 light->setAttenuation((Ogre::Real)100, (Ogre::Real)1.0, (Ogre::Real)0.045, (Ogre::Real)0.0075);
218 light->setCastShadows(
true);
221 robot = mSceneMgr->createEntity(
"Robot",
"robot.mesh");
223 Ogre::SceneNode* RobotNode = mSceneMgr->getRootSceneNode()->createChildSceneNode(
"Robot");
224 RobotNode->attachObject(robot);
225 RobotNode->scale((Ogre::Real)0.001,(Ogre::Real)0.001,(Ogre::Real)0.001);
226 RobotNode->pitch(Ogre::Degree(90));
227 RobotNode->yaw(Ogre::Degree(-90));
228 robot->setCastShadows(
true);
229 mSceneMgr->setShadowTechnique(Ogre::SHADOWTYPE_STENCIL_MODULATIVE);
233 mAnimationState = robot->getAnimationState(
"Idle" );
235 mAnimationState->setLoop(
true );
237 mAnimationState->setEnabled(
true );
242 plan.normal = Ogre::Vector3::UNIT_Z;
243 Ogre::MeshManager::getSingleton().createPlane(
"sol",Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, plan, (Ogre::Real)0.22, (Ogre::Real)0.16, 10, 10,
true, 1, 1, 1);
244 Ogre::Entity* ent = mSceneMgr->createEntity(
"Entitesol",
"sol");
245 Ogre::SceneNode* PlaneNode = mSceneMgr->getRootSceneNode()->createChildSceneNode(
"Entitesol");
246 PlaneNode->attachObject(ent);
247 ent->setMaterialName(
"Examples/GrassFloor");
253 mAnimationState->addTime( evt.timeSinceLastFrame );
259 mKeyboard->capture();
261 double angle = -M_PI/8;
262 if(mKeyboard->isKeyDown(OIS::KC_ESCAPE))
268 if(mKeyboard->isKeyDown(OIS::KC_Z) || mKeyboard->isKeyDown(OIS::KC_UP)){
269 mSceneMgr->getSceneNode(
"Robot")->setPosition(mSceneMgr->getSceneNode(
"Robot")->getPosition()+(Ogre::Real)0.003*vecDevant);
272 if(mKeyboard->isKeyDown(OIS::KC_S) || mKeyboard->isKeyDown(OIS::KC_DOWN)){
273 mSceneMgr->getSceneNode(
"Robot")->setPosition(mSceneMgr->getSceneNode(
"Robot")->getPosition()-(Ogre::Real)0.003*vecDevant);
276 if(mKeyboard->isKeyDown(OIS::KC_Q) || mKeyboard->isKeyDown(OIS::KC_LEFT)){
277 rotmy = Ogre::Matrix3((Ogre::Real)cos(-angle), (Ogre::Real)sin(-angle), 0,
278 (Ogre::Real)(-sin(-angle)), (Ogre::Real)cos(-angle),0,
280 vecDevant=vecDevant*rotmy;
281 mSceneMgr->getSceneNode(
"Robot")->yaw(Ogre::Radian((Ogre::Real)(-angle)));
284 if(mKeyboard->isKeyDown(OIS::KC_D) || mKeyboard->isKeyDown(OIS::KC_RIGHT)){
285 rotmy = Ogre::Matrix3((Ogre::Real)cos(angle), (Ogre::Real)sin(angle), 0,
286 (Ogre::Real)(-sin(angle)), (Ogre::Real)cos(angle),0,
288 vecDevant=vecDevant*rotmy;
289 mSceneMgr->getSceneNode(
"Robot")->yaw(Ogre::Radian((Ogre::Real)angle));
295 mAnimationState = robot->getAnimationState(
"Walk");
297 else mAnimationState = robot->getAnimationState(
"Idle" );
300 mAnimationState->setLoop(
true );
302 mAnimationState->setEnabled(
true );
316 const bool &opt_click_allowed)
321 bool opt_display =
true;
323 #if defined(VISP_HAVE_X11) && ! defined(APPLE)
329 #elif defined VISP_HAVE_GTK
331 #elif defined VISP_HAVE_GDI
333 #elif defined VISP_HAVE_OPENCV
335 #elif defined VISP_HAVE_D3D9
339 for (
unsigned int i=0 ; i < 4 ; i++)
352 display.
init(I,100,100,
"Preliminary Pose Calculation");
370 std::cout<<
"************************************************************************************"<<std::endl;
371 std::cout<<
"*************************** Preliminary Pose Calculation ***************************"<<std::endl;
372 std::cout<<
"****************************** Click on the 4 dots *******************************"<<std::endl;
373 std::cout<<
"********Dot1 : (-x,-y,0), Dot2 : (x,-y,0), Dot3 : (x,y,0), Dot4 : (-x,y,0)**********"<<std::endl;
374 std::cout<<
"************************************************************************************"<<std::endl;
378 if (! opt_click_allowed) {
388 for(
unsigned int i=0;i<4;i++) {
398 for(
unsigned int j = 0;j<i;j++)
404 if (opt_click_allowed)
448 for (
unsigned int i=0 ; i < 4 ; i++)
471 for (
unsigned int i=0 ; i < 4 ; i++)
487 for (
unsigned int i=0 ; i < 4 ; i++)
513 int main(
int argc,
const char **argv)
515 std::string env_ipath;
516 std::string opt_ipath;
518 std::string opt_ppath;
520 std::string filename;
521 bool opt_click_allowed =
true;
524 char *ptenv = getenv(
"VISP_INPUT_IMAGE_PATH");
529 if (! env_ipath.empty())
534 if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed) ==
false) {
539 if (!opt_ipath.empty())
544 if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
545 if (ipath != env_ipath) {
546 std::cout << std::endl
547 <<
"WARNING: " << std::endl;
548 std::cout <<
" Since -i <visp image path=" << ipath <<
"> "
549 <<
" is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
550 <<
" we skip the environment variable." << std::endl;
555 if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty() ){
556 usage(argv[0], NULL, ipath, opt_ppath);
557 std::cerr << std::endl
558 <<
"ERROR:" << std::endl;
559 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
561 <<
" environment variable to specify the location of the " << std::endl
562 <<
" image path where test images are located." << std::endl
563 <<
" Use -p <personal image path> option if you want to "<<std::endl
564 <<
" use personal images." << std::endl
570 std::ostringstream s;
572 if (opt_ppath.empty()){
578 s.setf(std::ios::right, std::ios::adjustfield);
579 s <<
"image.%04d.pgm";
580 filename = dirname + s.str();
583 filename = opt_ppath;
616 vpCTRACE <<
"Load: " << filename << std::endl;
617 grabber.
open(Idisplay);
621 computeInitialPose(&mcamTmp, Idisplay, &mPose, md, mcog, &cmo, mP,
636 std::cerr << std::endl
637 <<
"ERROR:" << std::endl;
638 std::cerr <<
" Cannot read " << filename << std::endl;
639 std::cerr <<
" Check your -i " << ipath <<
" option " << std::endl
640 <<
" or VISP_INPUT_IMAGE_PATH environment variable."
646 vpAROgreExample ogre(mcam, (
unsigned int)grabber.
getWidth(), (
unsigned int)grabber.
getHeight());
655 while(ogre.continueRendering() && !grabber.
end()){
668 for (
int i=0 ; i < 4 ; i++)
671 md[i].
track(I, mcog[i]) ;
697 ogre.display(IC,cmo);
701 std::cout <<
"\r> " << 1000 / (t1 - t0) <<
" fps" ;
707 catch (Ogre::Exception& e)
709 std::cerr <<
"Exception:\n";
710 std::cerr << e.getFullDescription().c_str() <<
"\n";
715 std::cerr <<
"Exception: " <<
"\n";
721 #else // VISP_HAVE_OGRE && VISP_HAVE_DISPLAY
725 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...
virtual bool customframeEnded(const Ogre::FrameEvent &evt)
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 double measureTimeMs()
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.
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)
unsigned int getWidth() const
Return the number of columns in the image.
virtual bool processInputEvent(const Ogre::FrameEvent &)
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)
virtual void createScene(void)
void initTracking(const vpImage< unsigned char > &I, unsigned int size=0)
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