2 #include <visp3/core/vpConfig.h> 3 #ifdef VISP_HAVE_MODULE_AR 4 #include <visp3/ar/vpAROgre.h> 6 #include <visp3/robot/vpSimulatorCamera.h> 7 #include <visp3/visual_features/vpFeatureBuilder.h> 8 #include <visp3/vs/vpServo.h> 23 #if defined(VISP_HAVE_OGRE) 28 vpCameraParameters cam(840, 840, background.getWidth() / 2, background.getHeight() / 2);
35 ogre.setCameraParameters(cam);
36 ogre.addResource(
"./");
37 ogre.init(background,
false,
true);
41 std::vector<std::string> name(4);
42 for (
unsigned int i = 0; i < 4; i++) {
46 ogre.load(name[i],
"Sphere.mesh");
47 ogre.setScale(name[i], 0.02f, 0.02f,
50 ogre.setPosition(name[i],
vpTranslationVector(point[i].get_oX(), point[i].get_oY(), point[i].get_oZ()));
54 Ogre::Light *light = ogre.getSceneManager()->createLight();
55 light->setDiffuseColour(1, 1, 1);
56 light->setSpecularColour(1, 1, 1);
57 light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
58 light->setType(Ogre::Light::LT_POINT);
67 for (
int i = 0; i < 4; i++) {
81 for (
unsigned int iter = 0; iter < 150; iter++) {
84 for (
int i = 0; i < 4; i++) {
88 #if defined(VISP_HAVE_OGRE) 90 ogre.display(background, cMo);
98 std::cout <<
"Catch an exception: " << e << std::endl;
100 std::cout <<
"Catch an exception " << std::endl;
VISP_EXPORT int wait(double t0, double t)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
void setShowConfigDialog(const bool showConfigDialog)
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
error that can be emited by ViSP classes.
void track(const vpHomogeneousMatrix &cMo)
vpHomogeneousMatrix inverse() const
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Implementation of an augmented reality viewer using Ogre3D 3rd party.
vpHomogeneousMatrix getPosition() const
Class that defines what is a point.
virtual void setSamplingTime(const double &delta_t)
vpColVector computeControlLaw()
Generic class defining intrinsic camera parameters.
double getSamplingTime() const
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
void setWorldCoordinates(const double oX, const double oY, const double oZ)
Implementation of column vector and the associated operations.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
void setServo(const vpServoType &servo_type)
Class that consider the case of a translation vector.