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