#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>
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;
ogre.load("Robot", "robot.mesh");
ogre.setScale("Robot", 0.001f, 0.001f, 0.001f);
cMo[2][3] = 0.5;
std::cout << "cMo:\n" << cMo << std::endl;
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;
}
}