#include <iostream>
#include <visp3/ar/vpAROgre.h>
#include <visp3/core/vpCameraParameters.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpOpenCVGrabber.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#if defined(VISP_HAVE_OGRE)
#ifndef DOXYGEN_SHOULD_SKIP_THIS
class vpAROgreAdvanced :
public vpAROgre {
private:
Ogre::AnimationState *mAnimationState;
public:
unsigned int height = 480)
{
mAnimationState = NULL;
}
protected:
{
Ogre::Entity *robot = mSceneMgr->createEntity("Robot", "robot.mesh");
Ogre::SceneNode *RobotNode = mSceneMgr->getRootSceneNode()->createChildSceneNode("Robot");
RobotNode->attachObject(robot);
RobotNode->scale((Ogre::Real)0.001, (Ogre::Real)0.001, (Ogre::Real)0.001);
RobotNode->pitch(Ogre::Degree(180));
RobotNode->yaw(Ogre::Degree(-90));
mAnimationState = robot->getAnimationState("Idle");
mAnimationState->setLoop(true);
mAnimationState->setEnabled(true);
}
{
mAnimationState->addTime(evt.timeSinceLastFrame);
return true;
}
};
#endif
#endif
int main()
{
try {
#if defined(VISP_HAVE_OGRE)
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || (VISP_HAVE_OPENCV_VERSION >= 0x020100)
#if defined(VISP_HAVE_V4L2)
#elif defined(VISP_HAVE_DC1394)
#elif defined(VISP_HAVE_OPENCV)
cv::VideoCapture grabber(0);
if (!grabber.isOpened()) {
std::cout << "Failed to open the camera" << std::endl;
return -1;
}
cv::Mat frame;
grabber >> frame;
#endif
double px = 565;
double py = 565;
cMo[2][3] = 0.5;
while (ogre.continueRendering()) {
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394)
grabber.acquire(I);
#elif defined(VISP_HAVE_OPENCV)
grabber >> frame;
#endif
ogre.display(I, cMo);
}
#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 EXIT_SUCCESS;
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
} catch (...) {
std::cout << "Catch an exception " << std::endl;
return EXIT_FAILURE;
}
}