2 #include <visp3/core/vpConfig.h>
3 #ifdef VISP_HAVE_MODULE_AR
4 #include <visp3/ar/vpAROgre.h>
6 #include <visp3/blob/vpDot2.h>
7 #include <visp3/gui/vpDisplayGDI.h>
8 #include <visp3/gui/vpDisplayOpenCV.h>
9 #include <visp3/gui/vpDisplayX.h>
10 #include <visp3/robot/vpSimulatorCamera.h>
11 #include <visp3/vision/vpPose.h>
12 #include <visp3/visual_features/vpFeatureBuilder.h>
13 #include <visp3/vs/vpServo.h>
14 #include <visp3/vs/vpServoDisplay.h>
16 void display_trajectory(
const vpImage<unsigned char> &I,
const std::vector<vpDot2> &dot,
unsigned int thickness);
17 #if defined(VISP_HAVE_OGRE)
22 void display_trajectory(
const vpImage<unsigned char> &I,
const std::vector<vpDot2> &dot,
unsigned int thickness)
24 static std::vector<vpImagePoint> traj[4];
25 for (
unsigned int i = 0; i < 4; i++) {
26 traj[i].push_back(dot[i].getCog());
28 for (
unsigned int i = 0; i < 4; i++) {
29 for (
unsigned int j = 1; j < traj[i].size(); j++) {
35 #if defined(VISP_HAVE_OGRE)
53 #if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
55 unsigned int thickness = 3;
67 std::vector<vpPoint> point;
68 point.push_back(
vpPoint(-0.1, -0.1, 0));
69 point.push_back(
vpPoint(0.1, -0.1, 0));
70 point.push_back(
vpPoint(0.1, 0.1, 0));
71 point.push_back(
vpPoint(-0.1, 0.1, 0));
80 ogre.
init(background,
false,
true);
85 std::vector<std::string> name(4);
86 for (
unsigned int i = 0; i < 4; i++) {
90 ogre.
load(name[i],
"Sphere.mesh");
100 light->setDiffuseColour(1, 1, 1);
101 light->setSpecularColour(1, 1, 1);
102 light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
103 light->setType(Ogre::Light::LT_POINT);
114 ogre_get_render_image(ogre, background, cdMo, I);
117 #if defined(VISP_HAVE_X11)
118 vpDisplayX d(I, 0, 0,
"Camera view at desired position");
119 #elif defined(VISP_HAVE_GDI)
120 vpDisplayGDI d(I, 0, 0,
"Camera view at desired position");
121 #elif defined(HAVE_OPENCV_HIGHGUI)
124 std::cout <<
"No image viewer is available..." << std::endl;
131 std::vector<vpDot2> dot(4);
134 for (
unsigned int i = 0; i < 4; i++) {
136 dot[i].setGraphics(
true);
137 dot[i].setGraphicsThickness(thickness);
138 dot[i].initTracking(I);
144 ogre_get_render_image(ogre, background, cMo, I);
152 for (
unsigned int i = 0; i < 4; i++) {
161 dot[i].setGraphics(
true);
162 dot[i].initTracking(I);
167 for (
unsigned int i = 0; i < 4; i++) {
170 point[i].changeFrame(cMo, cP);
178 robot.setSamplingTime(0.040);
179 robot.getPosition(wMc);
185 robot.getPosition(wMc);
189 ogre_get_render_image(ogre, background, cMo, I);
193 for (
unsigned int i = 0; i < 4; i++) {
198 for (
unsigned int i = 0; i < 4; i++) {
201 point[i].changeFrame(cMo, cP);
207 display_trajectory(I, dot, thickness);
218 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
221 std::cout <<
"Catch an exception " << std::endl;
Implementation of an augmented reality viewer using Ogre3D 3rd party.
void setCameraParameters(const vpCameraParameters &cameraP)
void setShowConfigDialog(bool showConfigDialog)
void getRenderingOutput(vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo)
void setRotation(const std::string &sceneName, const vpRotationMatrix &wRo)
void addResource(const std::string &resourceLocation)
Ogre::SceneManager * getSceneManager()
virtual void init(vpImage< unsigned char > &I, bool bufferedKeys=false, bool hidden=false)
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMw)
void load(const std::string &entityName, const std::string &model)
void setPosition(const std::string &sceneName, const vpTranslationVector &wTo)
void setScale(const std::string &sceneName, float factorx, float factory, float factorz)
Generic class defining intrinsic camera parameters.
Implementation of column vector and the associated operations.
static const vpColor green
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1, bool segment=true)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
unsigned int getWidth() const
unsigned int getHeight() const
static double rad(double deg)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
Implementation of a rotation matrix and operations on such kind of matrices.
static void display(const vpServo &s, const vpCameraParameters &cam, const vpImage< unsigned char > &I, vpColor currentColor=vpColor::green, vpColor desiredColor=vpColor::red, unsigned int thickness=1)
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void setServo(const vpServoType &servo_type)
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.
Class that consider the case of a translation vector.
VISP_EXPORT int wait(double t0, double t)