HelloWorldOgre.cpp

Example that shows how to exploit the vpAROgre class.

/****************************************************************************
 *
 * $Id: HelloWorldOgre.cpp 4574 2014-01-09 08:48:51Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Ogre example.
 *
 * Authors:
 * Bertrand Delabarre
 *
 *****************************************************************************/
#include <iostream>

#include <visp/vpOpenCVGrabber.h>
#include <visp/vpV4l2Grabber.h>
#include <visp/vp1394TwoGrabber.h>
#include <visp/vpDirectShowGrabber.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImage.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpAROgre.h>

int main()
{
  try {
#if defined(VISP_HAVE_OGRE) 
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394_2) || defined(VISP_HAVE_DIRECTSHOW) || defined(VISP_HAVE_OPENCV)

    // Now we try to find an available framegrabber
#if defined(VISP_HAVE_V4L2)
    // Video for linux 2 grabber
    vpV4l2Grabber grabber;
#elif defined(VISP_HAVE_DC1394_2)
    // libdc1394-2
    vp1394TwoGrabber grabber;
#elif defined(VISP_HAVE_DIRECTSHOW)
    // OpenCV to gather images
    vpDirectShowGrabber grabber;
#elif defined(VISP_HAVE_OPENCV)
    // OpenCV to gather images
    vpOpenCVGrabber grabber;
#endif

    // Image to stock gathered data
    // Here we acquire a color image. The consequence will be that
    // the background texture used in Ogre renderer will be also in color.
    vpImage<vpRGBa> I;
    // Open frame grabber
    // Here we acquire an image from an available framegrabber to update
    // the image size
    grabber.open(I);
    grabber.acquire(I);

    // Parameters of our camera
    double px = 565;
    double py = 565;
    double u0 = grabber.getWidth() / 2;
    double v0 = grabber.getHeight() / 2;
    vpCameraParameters cam(px,py,u0,v0);
    // The matrix with our pose
    // Defines the pose of the object in the camera frame
    vpHomogeneousMatrix cMo;

    // Our object
    // A simulator with the camera parameters defined above,
    // a grey level background image and of the good size
    vpAROgre ogre(cam, (unsigned int)grabber.getWidth(), (unsigned int)grabber.getHeight());
    // Initialisation
    // Here we load the requested plugins specified in the "plugins.cfg" file
    // and the resources specified in the "resources.cfg" file
    // These two files can be found respectively in ViSP_HAVE_OGRE_PLUGINS_PATH
    // and ViSP_HAVE_OGRE_RESOURCES_PATH folders
    ogre.init(I);

    // Create a basic scene
    // -----------------------------------
    //            Loading things
    // -----------------------------------
    //  As you will see in section 5, our
    //  application knows locations where
    //  it can search for medias.
    //  Here we use a mesh included in
    //  the installation files : a robot.
    // -----------------------------------
    // Here we load the "robot.mesh" model that is found thanks to the resources locations
    // specified in the "resources.cfg" file
    ogre.load("Robot", "robot.mesh");
    ogre.setPosition("Robot", vpTranslationVector(-0.3, 0.2, 0));
    ogre.setScale("Robot", 0.001f,0.001f,0.001f);
    ogre.setRotation("Robot", vpRotationMatrix(vpRxyzVector(M_PI, 0, 0)));

    cMo[2][3] = 1.; // Z = 1 meter

    std::cout << "cMo:\n" << cMo << std::endl;

    // Rendering loop, ended with on escape
    while(ogre.continueRendering()){
      // Image Acquisition
      // Acquire a new image
      grabber.acquire(I);
      //Pose computation
      // ...
      // cMo updated
      // Display the robot at the position specified by cMo with vpAROgre
      ogre.display(I,cMo);
    }
    // Release video device
    grabber.close();
#else
    std::cout << "You need an available framegrabber to run this example" << std::endl;
#endif
#else
    std::cout << "You need Ogre3D to run this example" << std::endl;
#endif
    return 0;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
  catch(...) {
    std::cout << "Catch an exception " << std::endl;
    return 1;
  }
}