HelloWorldOgreAdvanced.cpp

Example that shows how to exploit the vpAROgre class.

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * 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 https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * 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.
 */
 
#include <iostream>
 
#include <visp3/core/vpConfig.h>
 
// Comment / uncomment following lines to use the specific 3rd party compatible with your camera
// #undef VISP_HAVE_V4L2
// #undef VISP_HAVE_DC1394
// #undef HAVE_OPENCV_HIGHGUI
// #undef HAVE_OPENCV_VIDEOIO
 
#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/vpV4l2Grabber.h>
 
#if (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
#include <opencv2/highgui/highgui.hpp> // for cv::VideoCapture
#elif (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio/videoio.hpp> // for cv::VideoCapture
#endif
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
#if defined(VISP_HAVE_OGRE)
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
class vpAROgreAdvanced : public vpAROgre
{
private:
  // Animation attribute
  Ogre::AnimationState *mAnimationState;
 
public:
  vpAROgreAdvanced(const vpCameraParameters &cam = vpCameraParameters(), unsigned int width = 640,
                   unsigned int height = 480)
    : vpAROgre(cam, width, height)
  {
    mAnimationState = nullptr;
  }
 
protected:
  void createScene()
  {
    mSceneMgr->setAmbientLight(Ogre::ColourValue((float)0.6, (float)0.6, (float)0.6)); // Default value of lightning
    Ogre::Light *light = mSceneMgr->createLight();
    light->setDiffuseColour(1.0, 1.0, 1.0);  // scaled RGB values
    light->setSpecularColour(1.0, 1.0, 1.0); // scaled RGB values
    // Lumiere ponctuelle
#if (VISP_HAVE_OGRE_VERSION < (1 << 16 | 10 << 8 | 0))
    light->setPosition(-5, -5, 10);
#else
    Ogre::SceneNode *spotLightNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
    spotLightNode->attachObject(light);
    spotLightNode->setPosition(Ogre::Vector3(-5, -5, 10));
#endif
    light->setType(Ogre::Light::LT_POINT);
    light->setAttenuation((Ogre::Real)100, (Ogre::Real)1.0, (Ogre::Real)0.045, (Ogre::Real)0.0075);
    // Ombres
    light->setCastShadows(true);
 
    // Create the Entity
    Ogre::Entity *robot = mSceneMgr->createEntity("Robot", "robot.mesh");
    // Attach robot to scene graph
    Ogre::SceneNode *RobotNode = mSceneMgr->getRootSceneNode()->createChildSceneNode("Robot");
    // RobotNode->setPosition((Ogre::Real)-0.3, (Ogre::Real)0.2,
    // (Ogre::Real)0);
    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));
    robot->setCastShadows(true);
    mSceneMgr->setShadowTechnique(Ogre::SHADOWTYPE_STENCIL_MODULATIVE);
 
    // The animation
    // Set the good animation
    mAnimationState = robot->getAnimationState("Idle");
    // Start over when finished
    mAnimationState->setLoop(true);
    // Animation enabled
    mAnimationState->setEnabled(true);
  }
 
  bool customframeEnded(const Ogre::FrameEvent &evt)
  {
    // Update animation
    // To move, we add it the time since last frame
    mAnimationState->addTime(evt.timeSinceLastFrame);
    return true;
  }
}; // End of vpAROgreAdvanced class definition
#endif
 
#endif
 
int main()
{
  try {
#if defined(VISP_HAVE_OGRE)
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || \
  ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
  ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
 
    // Image to store gathered data
    // Here we acquire a grey level image. The consequence will be that
    // the background texture used in Ogre renderer will be also in grey
    // level.
    vpImage<unsigned char> I;
 
    // Now we try to find an available framegrabber
#if defined(VISP_HAVE_V4L2)
    // Video for linux 2 grabber
    vpV4l2Grabber grabber;
    // Open frame grabber
    // Here we acquire an image from an available framegrabber to update
    // the image size
    grabber.open(I);
    grabber.acquire(I);
#elif defined(VISP_HAVE_DC1394)
    // libdc1394-2
    vp1394TwoGrabber grabber;
    // Open frame grabber
    // Here we acquire an image from an available framegrabber to update
    // the image size
    grabber.open(I);
    grabber.acquire(I);
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
    // OpenCV to gather images
    cv::VideoCapture grabber(0); // open the default camera
    if (!grabber.isOpened()) {   // check if we succeeded
      std::cout << "Failed to open the camera" << std::endl;
      return EXIT_FAILURE;
    }
    cv::Mat frame;
    grabber >> frame; // get a new frame from camera
    vpImageConvert::convert(frame, I);
#endif
 
    // Parameters of our camera
    double px = 565;
    double py = 565;
    double u0 = I.getWidth() / 2;
    double v0 = I.getHeight() / 2;
    vpCameraParameters cam(px, py, u0, v0);
    // The matrix with our pose
    vpHomogeneousMatrix cMo;
    cMo[2][3] = 0.5; // Z = 0.5 meter
 
    // Our object
    vpAROgreAdvanced ogre(cam, I.getWidth(), I.getHeight());
    // Initialisation
    ogre.init(I);
 
    // Rendering loop
    while (ogre.continueRendering()) {
      // Acquire a new image
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394)
      grabber.acquire(I);
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
      grabber >> frame;
      vpImageConvert::convert(frame, I);
#endif
      // Pose computation
      // ...
      // cMo updated
      // Display with vpAROgre
      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;
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
  catch (...) {
    std::cout << "Catch an exception " << std::endl;
    return EXIT_FAILURE;
  }
}