2 #include <visp/vpAROgre.h>
3 #include <visp/vpFeatureBuilder.h>
4 #include <visp/vpServo.h>
5 #include <visp/vpSimulatorCamera.h>
19 #if defined(VISP_HAVE_OGRE)
31 ogre.setCameraParameters(cam);
32 ogre.addResource(
"./");
33 ogre.init(background,
false,
true);
37 std::vector<std::string> name(4);
38 for (
int i=0; i<4; i++) {
39 std::ostringstream s; s <<
"Sphere" << i; name[i] = s.str();
40 ogre.load(name[i],
"Sphere.mesh");
41 ogre.setScale(name[i], 0.02f, 0.02f, 0.02f);
43 ogre.setPosition(name[i],
vpTranslationVector(point[i].get_oX(), point[i].get_oY(), point[i].get_oZ()));
47 Ogre::Light * light = ogre.getSceneManager()->createLight();
48 light->setDiffuseColour(1, 1, 1);
49 light->setSpecularColour(1, 1, 1);
50 light->setPosition((Ogre::Real)cdMo[0][3], (Ogre::Real)cdMo[1][3], (Ogre::Real)(-cdMo[2][3]));
51 light->setType(Ogre::Light::LT_POINT);
60 for (
int i = 0 ; i < 4 ; i++) {
74 for (
unsigned int iter=0; iter < 150; iter ++) {
77 for (
int i = 0 ; i < 4 ; i++) {
81 #if defined(VISP_HAVE_OGRE)
83 ogre.display(background, cMo);