2 #include <visp3/core/vpConfig.h> 3 #ifdef VISP_HAVE_MODULE_AR 4 #include <visp3/ar/vpAROgre.h> 6 #include <visp3/gui/vpDisplayX.h> 7 #include <visp3/gui/vpDisplayOpenCV.h> 8 #include <visp3/gui/vpDisplayGDI.h> 9 #include <visp3/visual_features/vpFeatureBuilder.h> 10 #include <visp3/vision/vpPose.h> 11 #include <visp3/vs/vpServo.h> 12 #include <visp3/vs/vpServoDisplay.h> 13 #include <visp3/robot/vpSimulatorCamera.h> 14 #include <visp3/blob/vpDot2.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) 45 vpImageTools::binarise(I, (
unsigned char)254, (
unsigned char)255, (
unsigned char)0, (
unsigned char)255, (
unsigned char)255);
51 #if defined(VISP_HAVE_OGRE) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) 53 unsigned int thickness = 3;
65 std::vector<vpPoint> point;
66 point.push_back(
vpPoint(-0.1,-0.1, 0) );
67 point.push_back(
vpPoint( 0.1,-0.1, 0) );
68 point.push_back(
vpPoint( 0.1, 0.1, 0) );
69 point.push_back(
vpPoint(-0.1, 0.1, 0) );
78 ogre.
init(background,
false,
true);
83 std::vector<std::string> name(4);
84 for (
unsigned int i=0; i<4; i++) {
85 std::ostringstream s; s <<
"Sphere" << i; name[i] = s.str();
86 ogre.
load(name[i],
"Sphere.mesh");
87 ogre.
setScale(name[i], 0.02f, 0.02f, 0.02f);
95 light->setDiffuseColour(1, 1, 1);
96 light->setSpecularColour(1, 1, 1);
97 light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
98 light->setType(Ogre::Light::LT_POINT);
109 ogre_get_render_image(ogre, background, cdMo, I);
112 #if defined(VISP_HAVE_X11) 113 vpDisplayX d(I, 0, 0,
"Camera view at desired position");
114 #elif defined(VISP_HAVE_GDI) 115 vpDisplayGDI d(I, 0, 0,
"Camera view at desired position");
116 #elif defined(VISP_HAVE_OPENCV) 119 std::cout <<
"No image viewer is available..." << std::endl;
126 std::vector<vpDot2> dot(4);
129 for (
unsigned int i = 0 ; i < 4 ; i++) {
131 dot[i].setGraphics(
true);
132 dot[i].setGraphicsThickness(thickness);
133 dot[i].initTracking(I);
139 ogre_get_render_image(ogre, background, cMo, I);
146 for (
unsigned int i = 0 ; i < 4 ; i++) {
155 dot[i].setGraphics(
true);
156 dot[i].initTracking(I);
161 for (
unsigned int i = 0 ; i < 4 ; i++) {
164 point[i].changeFrame(cMo, cP) ;
182 ogre_get_render_image(ogre, background, cMo, I);
186 for (
unsigned int i = 0 ; i < 4 ; i++) {
191 for (
unsigned int i = 0 ; i < 4 ; i++) {
194 point[i].changeFrame(cMo, cP) ;
200 display_trajectory(I, dot, thickness);
213 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
216 std::cout <<
"Catch an exception " << std::endl;
void setRotation(const std::string &sceneName, const vpRotationMatrix &wRo)
VISP_EXPORT int wait(double t0, double t)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
Implementation of an homogeneous matrix and operations on such kind of matrices.
Class that defines the simplest robot: a free flying camera.
Display for windows using GDI (available on any windows 32 platform).
void setShowConfigDialog(const bool showConfigDialog)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
void addFeature(vpBasicFeature &s, vpBasicFeature &s_star, const unsigned int select=vpBasicFeature::FEATURE_ALL)
error that can be emited by ViSP classes.
vpHomogeneousMatrix inverse() const
Class that defines a 2D point visual feature which is composed by two parameters that are the cartes...
Implementation of an augmented reality viewer using Ogre3D 3rd party.
vpHomogeneousMatrix getPosition() const
static const vpColor green
static void flush(const vpImage< unsigned char > &I)
Ogre::SceneManager * getSceneManager()
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMw)
Class that defines what is a point.
Implementation of a rotation matrix and operations on such kind of matrices.
virtual void setSamplingTime(const double &delta_t)
vpColVector computeControlLaw()
virtual void init(vpImage< unsigned char > &I, bool bufferedKeys=false, bool hidden=false)
static void display(const vpImage< unsigned char > &I)
void setCameraParameters(const vpCameraParameters &cameraP)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void setScale(const std::string &sceneName, const float factorx, const float factory, const float factorz)
Generic class defining intrinsic camera parameters.
void getRenderingOutput(vpImage< vpRGBa > &I, const vpHomogeneousMatrix &cMo)
void load(const std::string &entityName, const std::string &model)
double getSamplingTime() const
void setInteractionMatrixType(const vpServoIteractionMatrixType &interactionMatrixType, const vpServoInversionType &interactionMatrixInversion=PSEUDO_INVERSE)
static double rad(double deg)
unsigned int getHeight() const
Implementation of column vector and the associated operations.
void setPosition(const std::string &sceneName, const vpTranslationVector &wTo)
void addResource(const std::string &resourceLocation)
void set_Z(const double Z)
static void displayLine(const vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, const vpColor &color, unsigned int thickness=1)
static void create(vpFeaturePoint &s, const vpCameraParameters &cam, const vpDot &d)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
unsigned int getWidth() const
void setServo(const vpServoType &servo_type)
Class that consider the case of a translation vector.
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)