Very simple example of augmented reality based on Ogre3D.
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_OGRE) && \
(defined(VISP_HAVE_OPENCV) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_D3D9) || defined(VISP_HAVE_GTK) || \
(defined(VISP_HAVE_X11) && !(defined(__APPLE__) && defined(__MACH__))))
#if defined(VISP_HAVE_X11) && !(defined(__APPLE__) && defined(__MACH__))
#include <visp3/gui/vpDisplayX.h>
#endif
#include <visp3/ar/vpAROgre.h>
#include <visp3/blob/vpDot2.h>
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpPoint.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/vision/vpPose.h>
#define GETOPTARGS "ci:p:h"
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath)
{
fprintf(stdout, "\n\
Test augmented reality using the vpAROgre class.\n\
\n\
SYNOPSIS\n\
%s [-i <test image path>] [-p <personal image path>]\n\
[-c] [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <input image path> %s\n\
Set image input path.\n\
From this path read images \n\
\"mire-2/image.%%04d.pgm\". These \n\
images come from ViSP-images-x.y.z.tar.gz available \n\
on the ViSP website.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-p <personal image path> %s\n\
Specify a personal sequence containing images \n\
to process.\n\
By image sequence, we mean one file per image.\n\
The following image file formats PNM (PGM P5, PPM P6)\n\
are supported. The format is selected by analysing \n\
the filename extension.\n\
Example : \"/Temp/ViSP-images/cube/image.%%04d.pgm\"\n\
%%04d is for the image numbering.\n\
\n\
-c\n\
Disable the mouse click. Useful to automaze the \n\
execution of this program without humain intervention.\n\
\n\
-h\n\
Print the help.\n", ipath.c_str(), ppath.c_str());
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, bool &click_allowed)
{
const char *optarg;
int c;
switch (c) {
case 'c':
click_allowed = false;
break;
case 'i':
ipath = optarg;
break;
case 'p':
ppath = optarg;
break;
case 'h':
usage(argv[0], NULL, ipath, ppath);
return false;
break;
default:
usage(argv[0], optarg, ipath, ppath);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
usage(argv[0], NULL, ipath, ppath);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg << std::endl << std::endl;
return false;
}
return true;
}
{
bool opt_display = true;
#if defined(VISP_HAVE_X11) && !(defined(__APPLE__) && defined(__MACH__))
#elif defined VISP_HAVE_GTK
#elif defined VISP_HAVE_GDI
#elif defined VISP_HAVE_OPENCV
#elif defined VISP_HAVE_D3D9
#endif
for (unsigned int i = 0; i < 4; i++) {
if (opt_display) {
} else {
}
}
if (opt_display) {
try {
display.
init(I, 100, 100,
"Preliminary Pose Calculation");
} catch (...) {
return;
}
}
std::cout << "*************************************************************"
"***********************"
<< std::endl;
std::cout << "*************************** Preliminary Pose Calculation "
"***************************"
<< std::endl;
std::cout << "****************************** Click on the 4 dots "
"*******************************"
<< std::endl;
std::cout << "********Dot1 : (-x,-y,0), Dot2 : (x,-y,0), Dot3 : (x,y,0), "
"Dot4 : (-x,y,0)**********"
<< std::endl;
std::cout << "*************************************************************"
"***********************"
<< std::endl;
try {
if (!opt_click_allowed) {
}
for (unsigned int i = 0; i < 4; i++) {
for (unsigned int j = 0; j < i; j++)
md[j].display(I);
try {
if (opt_click_allowed) {
} else {
}
} catch (...) {
}
if (opt_display) {
}
}
return;
}
if (opt_display) {
for (unsigned int i = 0; i < 4; i++)
}
double l = 0.06;
double L = 0.07;
for (unsigned int i = 0; i < 4; i++) {
double x = 0, y = 0;
}
for (unsigned int i = 0; i < 4; i++) {
}
if (opt_display) {
}
}
int main(int argc, const char **argv)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string opt_ppath;
std::string dirname;
std::string filename;
bool opt_click_allowed = true;
if (!env_ipath.empty())
ipath = env_ipath;
if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_click_allowed) == false) {
exit(-1);
}
if (!opt_ipath.empty())
ipath = opt_ipath;
if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl << "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()) {
usage(argv[0], NULL, ipath, opt_ppath);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< " Use -p <personal image path> option if you want to " << std::endl
<< " use personal images." << std::endl
<< std::endl;
exit(-1);
}
std::ostringstream s;
if (opt_ppath.empty()) {
s.setf(std::ios::right, std::ios::adjustfield);
s << "image.%04d.pgm";
} else {
filename = opt_ppath;
}
try {
vpCTRACE <<
"Load: " << filename << std::endl;
computeInitialPose(&mcamTmp, Idisplay, &mPose, md, mcog, &cMo, mP, opt_click_allowed);
} catch (...) {
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot read " << filename << std::endl;
std::cerr << " Check your -i " << ipath << " option " << std::endl
<< " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
exit(-1);
}
ogre.load("Robot", "robot.mesh");
ogre.setScale("Robot", 0.001f, 0.001f, 0.001f);
Ogre::Light *light = ogre.getSceneManager()->createLight();
light->setDiffuseColour(1, 1, 1);
light->setSpecularColour(1, 1, 1);
light->setPosition(-5, -5, 10);
light->setType(Ogre::Light::LT_POINT);
while (ogre.continueRendering() && !grabber.
end()) {
for (int i = 0; i < 4; i++) {
{
double x = 0, y = 0;
}
}
ogre.display(IC, cMo);
}
return EXIT_SUCCESS;
std::cout << "Catch a ViSP exception: " << e << std::endl;
return EXIT_FAILURE;
} catch (Ogre::Exception &e) {
std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
return EXIT_FAILURE;
} catch (...) {
std::cout << "Catch an exception " << std::endl;
return EXIT_FAILURE;
}
}
#else // VISP_HAVE_OGRE && VISP_HAVE_DISPLAY
int main()
{
#if (!(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI)))
std::cout << "You do not have X11, or GTK, or GDI (Graphical Device Interface) functionalities to display images..." << std::endl;
std::cout << "Tip if you are on a unix-like system:" << std::endl;
std::cout << "- Install X11, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "Tip if you are on a windows-like system:" << std::endl;
std::cout << "- Install GDI, configure again ViSP using cmake and build again this example" << std::endl;
#else
std::cout << "You do not have Ogre functionalities" << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install Ogre3D, configure again ViSP using cmake and build again this example" << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif