59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
#include <opencv2/calib3d.hpp>
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#include <opencv2/videoio.hpp>
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#include <opencv2/ovis.hpp>
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#include <iostream>
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#define KEY_ESCAPE 27
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using namespace cv;
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int main()
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{
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Mat R;
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Vec3d t;
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const Size2i imsize(800, 600);
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const double focal_length = 800.0;
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//add some external resources
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ovis::addResourceLocation("packs/Sinbad.zip"); // shipped with Ogre
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//camera intrinsics
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Mat1d K = Mat1d::zeros(3, 3); // init empty matrix
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K.at<double>(0, 0) = focal_length; // f_x
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K.at<double>(1, 1) = focal_length; // f_y
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K.at<double>(0, 2) = 400; // t_x
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K.at<double>(1, 2) = 500; // t_y
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K.at<double>(2, 2) = 1; // f_z
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//observer scene
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Ptr<ovis::WindowScene> owin = ovis::createWindow(String("VR"), imsize);
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ovis::createGridMesh("ground", Size2i(10, 10), Size2i(10, 10));
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owin->createEntity("ground", "ground", Vec3f(1.57, 0, 0));
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owin->createCameraEntity("cam", K, imsize, 5);
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owin->createEntity("sinbad", "Sinbad.mesh", Vec3i(0, 0, 5), Vec3f(CV_PI/2.0, 0.0, 0.0)); // externally defined mesh
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owin->createLightEntity("sun", Vec3i(0, 0, -100));
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// setup and play idle animation
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owin->setEntityProperty("sinbad", ovis::EntityProperty::ENTITY_ANIMBLEND_MODE, Scalar(1)); // 1 = cumulative
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owin->playEntityAnimation("sinbad", "IdleBase");
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owin->playEntityAnimation("sinbad", "IdleTop");
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//interaction scene
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Ptr<ovis::WindowScene> iwin = ovis::createWindow(String("AR"), imsize, ovis::SCENE_SEPARATE | ovis::SCENE_INTERACTIVE);
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iwin->createEntity("sinbad", "Sinbad.mesh", Vec3i(0, -5, 0), Vec3f(CV_PI, 0.0, 0.0));
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iwin->createLightEntity("sun", Vec3i(0, 0, -100));
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iwin->setCameraIntrinsics(K, imsize);
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std::cout << "Press ESCAPE to exit demo" << std::endl;
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while (ovis::waitKey(1) != KEY_ESCAPE) {
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iwin->getCameraPose(R, t);
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owin->setEntityPose("cam", t, R);
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}
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return 1;
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}
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