Visual Servoing Platform  version 3.6.1 under development (2024-05-20)

Example that shows how to exploit the vpAROgre class.

* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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 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
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* Description:
* Ogre example.
#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/vpV4l2Grabber.h>
#include <opencv2/videoio.hpp>
int main()
try {
#if defined(VISP_HAVE_OGRE)
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(HAVE_OPENCV_VIDEOIO)
// Image to stock gathered data
// Here we acquire a color image. The consequence will be that
// the background texture used in Ogre renderer will be also in color.
// Now we try to find an available framegrabber
#if defined(VISP_HAVE_V4L2)
// Video for linux 2 grabber
vpV4l2Grabber grabber;;
#elif defined(VISP_HAVE_DC1394)
// libdc1394-2;
#elif 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;
cv::Mat frame;
grabber >> frame; // get a new frame from camera
// 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
// Defines the pose of the object in the camera frame
// Our object
// A simulator with the camera parameters defined above,
// a grey level background image and of the good size
vpAROgre ogre(cam, I.getWidth(), I.getHeight());
// Initialisation
// Here we load the requested plugins specified in the "plugins.cfg" file
// and the resources specified in the "resources.cfg" file
// These two files can be found respectively in
// Create a basic scene
// -----------------------------------
// Loading things
// -----------------------------------
// As you will see in section 5, our
// application knows locations where
// it can search for medias.
// Here we use a mesh included in
// the installation files : a robot.
// -----------------------------------
// Here we load the "robot.mesh" model that is found thanks to the
// resources locations specified in the "resources.cfg" file
ogre.load("Robot", "robot.mesh");
// Modify robot scale and orientation
// - downscale the size to have something completly visible in the image
// - rotation of 180 deg along robot x axis to have head over feet
// - rotation of -90 deg along y axis to have robot facing the camera
ogre.setScale("Robot", 0.001f, 0.001f, 0.001f);
ogre.setRotation("Robot", vpRotationMatrix(vpRxyzVector(M_PI, -M_PI / 2, 0)));
// Update projection matrix
cMo[2][3] = 0.5; // Z = 0.5 meter
std::cout << "cMo:\n" << cMo << std::endl;
// Rendering loop, ended with on escape
while (ogre.continueRendering()) {
// Acquire a new image
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394)
#elif defined(HAVE_OPENCV_VIDEOIO)
grabber >> frame;
// Pose computation
// ...
// cMo updated
// Display the robot at the position specified by cMo with vpAROgre
ogre.display(I, cMo);
std::cout << "You need an available framegrabber to run this example" << std::endl;
std::cout << "You need Ogre3D to run this example" << std::endl;
catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
catch (...) {
std::cout << "Catch an exception " << std::endl;
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Implementation of an augmented reality viewer using Ogre3D 3rd party.
Definition: vpAROgre.h:96
bool continueRendering(void)
Definition: vpAROgre.cpp:651
void setRotation(const std::string &sceneName, const vpRotationMatrix &wRo)
Definition: vpAROgre.cpp:699
virtual void init(vpImage< unsigned char > &I, bool bufferedKeys=false, bool hidden=false)
Definition: vpAROgre.cpp:115
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMw)
Definition: vpAROgre.cpp:622
void load(const std::string &entityName, const std::string &model)
Definition: vpAROgre.cpp:663
void setScale(const std::string &sceneName, float factorx, float factory, float factorz)
Definition: vpAROgre.cpp:763
Generic class defining intrinsic camera parameters.
error that can be emitted by ViSP classes.
Definition: vpException.h:59
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
unsigned int getWidth() const
Definition: vpImage.h:245
unsigned int getHeight() const
Definition: vpImage.h:184
Implementation of a rotation matrix and operations on such kind of matrices.
Implementation of a rotation vector as Euler angle minimal representation.
Definition: vpRxyzVector.h:176
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void open(vpImage< unsigned char > &I)
void acquire(vpImage< unsigned char > &I)