C++ Technique::createPass方法代码示例

GPUSurfFeatureDetector::GPUSurfFeatureDetector(Ogre::Cuda::Root* root, int nbOctave, int nbFeatureMax)
: mCudaRoot(root)
{
	mOgreIsAllocated = false;
	mCudaIsAllocated = false;

	mWidth          = 0;
	mHeight         = 0;
	mNbFeatureMax   = nbFeatureMax;
	mNbOctave       = nbOctave;
	mThreshold      = 0.003f;

	mNbFeatureFound = 0;
	mGPGPURoot = new Ogre::GPGPU::Root;

	mWebcamTexture = Ogre::TextureManager::getSingleton().createManual("WebcamVideoTexture", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D, 640,  480,  0, Ogre::PF_R8G8B8, Ogre::TU_RENDERTARGET);

	//Create Webcam Material
	Ogre::MaterialPtr material = Ogre::MaterialManager::getSingleton().create("WebcamVideoMaterial", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
	Ogre::Technique *technique = material->createTechnique();
	technique->createPass();
	material->getTechnique(0)->getPass(0)->setLightingEnabled(false);
	material->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
	material->getTechnique(0)->getPass(0)->createTextureUnitState("WebcamVideoTexture");
}

	//--------------------------------------------------------------------------------
	void MaterialUtil::updateSelectedVersion(const MaterialPtr& _material)
	{
		String name = _material->getName();
		String selName = getSelectedVersionName(name);
		MaterialPtr material, selectedMaterial;
		if(selName == name)
		{
			name = getUnselectedVersionName(selName);
			selectedMaterial = _material;
			material = MaterialManager::getSingleton().getByName(name);
		}
		else
		{
			material = _material;
			selectedMaterial = MaterialManager::getSingleton().getByName(selName);
		}
		
		if(!material.isNull() && !selectedMaterial.isNull())
		{
			material->copyDetailsTo(selectedMaterial);
			Ogre::Technique* technique = selectedMaterial->getBestTechnique();
			Pass* pass0 = technique->getPass(0);
			Pass* passNew = technique->createPass();
			passNew->setDiffuse(1, 1, 1, 1);
			passNew->setPolygonMode(Ogre::PM_WIREFRAME);

			if(pass0->getNumTextureUnitStates() != 0)
			{
				Ogre::TextureUnitState* tu = pass0->getTextureUnitState(0);
				tu->setColourOperationEx(Ogre::LBX_MODULATE, 
					Ogre::LBS_TEXTURE, Ogre::LBS_MANUAL,
					ColourValue::White, ColourValue(1, 0.6f, 0.6f, 1));
			}
		}
	}

bool Simple::compileMaterial(Ogre::MaterialPtr material)
{
	material->removeAllTechniques();
	Ogre::Technique* technique = material->createTechnique();
	for (SurfaceLayerStore::const_iterator I = mTerrainPageSurfaces.begin(); I != mTerrainPageSurfaces.end(); ++I) {
		const TerrainPageSurfaceLayer* surfaceLayer = I->second;
		if (I == mTerrainPageSurfaces.begin()) {
			Ogre::Pass* pass = technique->createPass();
			pass->setLightingEnabled(false);
			//add the first layer of the terrain, no alpha or anything
			Ogre::TextureUnitState * textureUnitState = pass->createTextureUnitState();
			textureUnitState->setTextureScale(1.0f / surfaceLayer->getScale(), 1.0f / surfaceLayer->getScale());
			textureUnitState->setTextureName(surfaceLayer->getDiffuseTextureName());
			textureUnitState->setTextureCoordSet(0);
		} else {
			if (surfaceLayer->intersects(*mGeometry)) {
				addPassToTechnique(*mGeometry, technique, surfaceLayer);
			}
		}
	}
	if (mTerrainPageShadow) {
		addShadow(technique, mTerrainPageShadow, material);
	}
	material->load();
	if (material->getNumSupportedTechniques() == 0) {
		S_LOG_WARNING("The material '" << material->getName() << "' has no supported techniques. The reason for this is: \n" << material->getUnsupportedTechniquesExplanation());
		return false;
	}
	return true;
}

bool Simple::compileMaterial(Ogre::MaterialPtr material, std::set<std::string>& managedTextures) const
{
	material->removeAllTechniques();
	Ogre::Technique* technique = material->createTechnique();
	if (!mTerrainPageSurfaces.empty()) {
		//First add a base pass
		auto surfaceLayer = mTerrainPageSurfaces.begin()->second;
		Ogre::Pass* pass = technique->createPass();
		pass->setLightingEnabled(false);
		Ogre::TextureUnitState * textureUnitState = pass->createTextureUnitState();
		textureUnitState->setTextureScale(1.0f / surfaceLayer->getScale(), 1.0f / surfaceLayer->getScale());
		textureUnitState->setTextureName(surfaceLayer->getDiffuseTextureName());
		textureUnitState->setTextureCoordSet(0);

		for (auto& layer : mLayers) {
			addPassToTechnique(*mGeometry, technique, layer, managedTextures);
		}
	}
	if (mTerrainPageShadow) {
		addShadow(technique, mTerrainPageShadow, material, managedTextures);
	}

//	addLightingPass(technique, managedTextures);

	material->load();
	if (material->getNumSupportedTechniques() == 0) {
		S_LOG_WARNING("The material '" << material->getName() << "' has no supported techniques. The reason for this is: \n" << material->getUnsupportedTechniquesExplanation());
		return false;
	}
	return true;
}

bool OgreARAppLogic::initAR()
{
	//INIT Realidad aumentada
	if ( !userInit(this) ) return false; // user defined function to init AR
	if(mWidth==0 || mHeight==0 || mBuffer==0) {
		std::cout << "Image size or buffer not defined in user-defined init function" << std::endl;
		return false;
	}

	// create background texture
	mPixelBox = Ogre::PixelBox(mWidth, mHeight, 1, Ogre::PF_R8G8B8, mBuffer);
	// Create Texture
	mTexture = Ogre::TextureManager::getSingleton().createManual(
			"CameraTexture",
			Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
			Ogre::TEX_TYPE_2D,
			mWidth,
			mHeight,
			0,
			Ogre::PF_R8G8B8,
			Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE);	

	//Create Camera Material
	MaterialPtr material = MaterialManager::getSingleton().create("CameraMaterial", ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
	Ogre::Technique *technique = material->createTechnique();
	technique->createPass();
	material->getTechnique(0)->getPass(0)->setLightingEnabled(false);
	material->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
	material->getTechnique(0)->getPass(0)->createTextureUnitState("CameraTexture");
	return true;
}

//-----------------------------------------------------------------------
Ogre::TextureUnitState* MaterialTab::forceCreateFirstTexture(const Ogre::String textureName)
{
	// Ignore some materials because they result in a crash while unloading
	wxString materialName = mMaterialListBox->GetStringSelection();
	if (materialName == wxT("DefaultSettings"))
		return 0;

	Ogre::Technique* technique = 0;
	Ogre::TextureUnitState* texture = 0;
	Ogre::Pass* pass = getFirstPass();
	if (pass)
	{
		// There is a pass, check for textures or create one
		if (pass->getNumTextureUnitStates() > 0)
		{
			pass->removeAllTextureUnitStates();
		}
		texture = pass->createTextureUnitState(textureName);
	}
	else
	{
		// There is no pass
		wxString materialName = mMaterialListBox->GetStringSelection();
		Ogre::String name = wx2ogre(materialName);
		Ogre::MaterialPtr material = Ogre::MaterialManager::getSingleton().getByName(name);
		if (!material.isNull())
		{
			material->load();
			if (material->getNumTechniques() > 0)
			{
				technique = material->getBestTechnique(); // Get the best technique
				pass = technique->createPass();
				texture = pass->createTextureUnitState(textureName);
			}
			else
			{
				// There is no technique, no pass and no textureunitstate
				technique = material->createTechnique();
				pass = technique->createPass();
				texture = pass->createTextureUnitState(textureName);
			}
		}
	}

	return texture;
}

Ogre::Technique* GBufferSchemeHandler::handleSchemeNotFound(unsigned short schemeIndex, 
		const Ogre::String& schemeName, Ogre::Material* originalMaterial, unsigned short lodIndex, 
		const Ogre::Renderable* rend)
{
	Ogre::MaterialManager& matMgr = Ogre::MaterialManager::getSingleton();
	Ogre::String curSchemeName = matMgr.getActiveScheme();
	matMgr.setActiveScheme(Ogre::MaterialManager::DEFAULT_SCHEME_NAME);
	Ogre::Technique* originalTechnique = originalMaterial->getBestTechnique(lodIndex, rend);
	matMgr.setActiveScheme(curSchemeName);

	Ogre::Technique* gBufferTech = originalMaterial->createTechnique();
	gBufferTech->removeAllPasses();
	gBufferTech->setSchemeName(schemeName);

	Ogre::Technique* noGBufferTech = originalMaterial->createTechnique();
	noGBufferTech->removeAllPasses();
	noGBufferTech->setSchemeName("NoGBuffer");

	for (unsigned short i=0; i<originalTechnique->getNumPasses(); i++)
	{
		Ogre::Pass* originalPass = originalTechnique->getPass(i);
		PassProperties props = inspectPass(originalPass, lodIndex, rend);
		
		if (!props.isDeferred)
		{
			//Just copy the technique so it gets rendered regularly
			Ogre::Pass* clonePass = noGBufferTech->createPass();
			*clonePass = *originalPass;
			continue;
		}

		Ogre::Pass* newPass = gBufferTech->createPass();
		MaterialGenerator::Perm perm = getPermutation(props);

		const Ogre::MaterialPtr& templateMat = mMaterialGenerator.getMaterial(perm);
    	
		//We assume that the GBuffer technique contains only one pass. But its true.
		*newPass = *(templateMat->getTechnique(0)->getPass(0));
		fillPass(newPass, originalPass, props);    
	}
    
	return gBufferTech;
}

void OgreAppLogic::initTracking(int width, int height)
{
	mWebcamBufferL8 = new unsigned char[width*height];
	mTrackingSystem->init(width, height);

	//Create Webcam Material
	MaterialPtr material = MaterialManager::getSingleton().create("WebcamMaterial", ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
	Ogre::Technique *technique = material->createTechnique();
	technique->createPass();
	material->getTechnique(0)->getPass(0)->setLightingEnabled(false);
	material->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
	material->getTechnique(0)->getPass(0)->createTextureUnitState(colorTextureName);
}

void MaterialEditor::OnNewPass(wxCommandEvent &e)
{
	if(mMaterial.isNull())
		return;
	Ogre::Technique* pTechinque = m_MaterialTree->getSelecteTechnique();
	if(pTechinque)
	{
		Ogre::Pass* pPass = pTechinque->createPass();
		m_Frame->GetEffectObjectProperty()->InitMaterialEditor(mMaterial,mMaterialName);
		m_MaterialTree->DeleteAllItems();
		m_MaterialTree->AddMaterialToTree(mMaterial,mMaterialName);
		m_MaterialTree->SelectePassItem(pPass);
	}
}

void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
{
  ROS_ASSERT(new_message->type == visualization_msgs::Marker::MESH_RESOURCE);

  // flag indicating if the mesh material color needs to be updated
  bool update_color = false;

  scene_node_->setVisible(false);

  if (!entity_ ||
      old_message->mesh_resource != new_message->mesh_resource ||
      old_message->mesh_use_embedded_materials != new_message->mesh_use_embedded_materials)
  {
    reset();

    if (new_message->mesh_resource.empty())
    {
      return;
    }

    if (loadMeshFromResource(new_message->mesh_resource).isNull())
    {
      std::stringstream ss;
      ss << "Mesh resource marker [" << getStringID() << "] could not load [" << new_message->mesh_resource << "]";
      if (owner_)
      {
        owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
      }
      ROS_DEBUG("%s", ss.str().c_str());
      return;
    }

    static uint32_t count = 0;
    std::stringstream ss;
    ss << "mesh_resource_marker_" << count++;
    std::string id = ss.str();
    entity_ = context_->getSceneManager()->createEntity(id, new_message->mesh_resource);
    scene_node_->attachObject(entity_);

    // create a default material for any sub-entities which don't have their own.
    ss << "Material";
    Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create(ss.str(), ROS_PACKAGE_NAME);
    default_material->setReceiveShadows(false);
    default_material->getTechnique(0)->setLightingEnabled(true);
    default_material->getTechnique(0)->setAmbient(0.5, 0.5, 0.5);
    materials_.insert(default_material);

    if (new_message->mesh_use_embedded_materials)
    {
      // make clones of all embedded materials so selection works correctly
      S_MaterialPtr materials = getMaterials();

      S_MaterialPtr::iterator it;
      for (it = materials.begin(); it != materials.end(); it++)
      {
        if ((*it)->getName() != "BaseWhiteNoLighting")
        {
          Ogre::MaterialPtr new_material = (*it)->clone(id + (*it)->getName());
          materials_.insert(new_material);
        }
      }

      // make sub-entities use cloned materials
      for (uint32_t i = 0; i < entity_->getNumSubEntities(); ++i)
      {
        std::string mat_name = entity_->getSubEntity(i)->getMaterialName();
        if (mat_name != "BaseWhiteNoLighting")
        {
          entity_->getSubEntity(i)->setMaterialName(id + mat_name);
        }
        else
        {
          // BaseWhiteNoLighting is the default material Ogre uses
          // when it sees a mesh with no material.  Here we replace
          // that with our default_material which gets colored with
          // new_message->color.
          entity_->getSubEntity(i)->setMaterial(default_material);
        }
      }
    }
    else
    {
      entity_->setMaterial(default_material);
    }

    // add a pass to every material to perform the color tinting
    S_MaterialPtr::iterator material_it;
    for (material_it = materials_.begin(); material_it != materials_.end(); material_it++)
    {
      Ogre::Technique* technique = (*material_it)->getTechnique(0);
      color_tint_passes_.push_back(technique->createPass());
    }

    // always update color on resource change
    update_color = true;

    handler_.reset(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
    handler_->addTrackedObject(entity_);
  }
  else
//.........这里部分代码省略.........

    Ogre::MaterialPtr MaterialGenerator::create(bool renderCompositeMap, bool displayCompositeMap)
    {
        assert(!renderCompositeMap || !displayCompositeMap);

        static int count = 0;
        std::stringstream name;
        name << "terrain/mat" << count++;

        if (!mShaders)
        {
            Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(name.str(),
                                                               Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
            Ogre::Technique* technique = mat->getTechnique(0);
            technique->removeAllPasses();

            if (displayCompositeMap)
            {
                Ogre::Pass* pass = technique->createPass();
                pass->setVertexColourTracking(Ogre::TVC_AMBIENT|Ogre::TVC_DIFFUSE);
                pass->createTextureUnitState(mCompositeMap)->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
            }
            else
            {
                assert(mLayerList.size() == mBlendmapList.size()+1);
                std::vector<Ogre::TexturePtr>::iterator blend = mBlendmapList.begin();
                for (std::vector<LayerInfo>::iterator layer = mLayerList.begin(); layer != mLayerList.end(); ++layer)
                {
                    Ogre::Pass* pass = technique->createPass();
                    pass->setLightingEnabled(false);
                    pass->setVertexColourTracking(Ogre::TVC_NONE);
                    // TODO: How to handle fog?
                    pass->setFog(true, Ogre::FOG_NONE);

                    bool first = (layer == mLayerList.begin());

                    Ogre::TextureUnitState* tus;

                    if (!first)
                    {
                        pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
                        pass->setDepthFunction(Ogre::CMPF_EQUAL);

                        tus = pass->createTextureUnitState((*blend)->getName());
                        tus->setAlphaOperation(Ogre::LBX_BLEND_TEXTURE_ALPHA,
                                               Ogre::LBS_TEXTURE,
                                               Ogre::LBS_TEXTURE);
                        tus->setColourOperationEx(Ogre::LBX_BLEND_DIFFUSE_ALPHA,
                                                  Ogre::LBS_TEXTURE,
                                                  Ogre::LBS_TEXTURE);
                        tus->setIsAlpha(true);
                        tus->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);

                        float scale = (16/(16.f+1.f));
                        tus->setTextureScale(1.f/scale,1.f/scale);
                    }

                    // Add the actual layer texture on top of the alpha map.
                    tus = pass->createTextureUnitState(layer->mDiffuseMap);
                    if (!first)
                        tus->setColourOperationEx(Ogre::LBX_BLEND_DIFFUSE_ALPHA,
                                                  Ogre::LBS_TEXTURE,
                                                  Ogre::LBS_CURRENT);

                    tus->setTextureScale(1/16.f,1/16.f);

                    if (!first)
                        ++blend;
                }

                if (!renderCompositeMap)
                {
                    Ogre::Pass* lightingPass = technique->createPass();
                    lightingPass->setSceneBlending(Ogre::SBT_MODULATE);
                    lightingPass->setVertexColourTracking(Ogre::TVC_AMBIENT|Ogre::TVC_DIFFUSE);
                    lightingPass->setFog(true, Ogre::FOG_NONE);
                }
            }

            return mat;
        }
#if TERRAIN_USE_SHADER
        else
        {
            sh::MaterialInstance* material = sh::Factory::getInstance().createMaterialInstance (name.str());
            material->setProperty ("allow_fixed_function", sh::makeProperty<sh::BooleanValue>(new sh::BooleanValue(false)));

            if (displayCompositeMap)
            {
                sh::MaterialInstancePass* p = material->createPass ();

                p->setProperty ("vertex_program", sh::makeProperty<sh::StringValue>(new sh::StringValue("terrain_vertex")));
                p->setProperty ("fragment_program", sh::makeProperty<sh::StringValue>(new sh::StringValue("terrain_fragment")));
                p->mShaderProperties.setProperty ("is_first_pass", sh::makeProperty(new sh::BooleanValue(true)));
                p->mShaderProperties.setProperty ("render_composite_map", sh::makeProperty(new sh::BooleanValue(false)));
                p->mShaderProperties.setProperty ("display_composite_map", sh::makeProperty(new sh::BooleanValue(true)));
                p->mShaderProperties.setProperty ("num_layers", sh::makeProperty (new sh::StringValue("0")));
                p->mShaderProperties.setProperty ("num_blendmaps", sh::makeProperty (new sh::StringValue("0")));
                p->mShaderProperties.setProperty ("normal_map_enabled", sh::makeProperty (new sh::BooleanValue(false)));
                p->mShaderProperties.setProperty ("parallax_enabled", sh::makeProperty (new sh::BooleanValue(false)));
                p->mShaderProperties.setProperty ("normal_maps",
//.........这里部分代码省略.........

//.........这里部分代码省略.........
        mNodeEditor->addNode(mMaterialNode);
    }
}

//****************************************************************************/
void EditorDockWidget::doTechniqueHToolbarAction(void)
{
    // Add a technique node
    Magus::QtNodeTechnique* techniqueNode = new Magus::QtNodeTechnique(NODE_TITLE_TECHNIQUE);
    mNodeEditor->addNode(techniqueNode);
}

//****************************************************************************/
void EditorDockWidget::doPassHToolbarAction(void)
{
    // Add a pass node
    Magus::QtNodePass* passNode = new Magus::QtNodePass(NODE_TITLE_PASS);
    mNodeEditor->addNode(passNode);
}

//****************************************************************************/
void EditorDockWidget::doTextureHToolbarAction(void)
{
    // Add a texture unit node
    Magus::QtNodeTextureUnit* textureUnitNode = new Magus::QtNodeTextureUnit(NODE_TITLE_TEXTURE_UNIT);
    mNodeEditor->addNode(textureUnitNode);
}

//****************************************************************************/
void EditorDockWidget::doCogHToolbarAction(void)
{
    if (!mMaterialNode)
        return;

    if (mMaterialNode->getMaterialName().isEmpty())
        return;

    // ---------------------------------------- Create a material ----------------------------------------
    Ogre::LogManager* logManager = Ogre::LogManager::getSingletonPtr();
    Ogre::MaterialManager* materialManager = Ogre::MaterialManager::getSingletonPtr();
    Ogre::String materialName = mMaterialNode->getMaterialName().toStdString(); // Convert to std format
    logManager->logMessage("SME: create Ogre material: " + materialName);
    Ogre::MaterialPtr material = materialManager->create(materialName, "General");

    // Remark: Sceneblending is done for each pass individually, although it is defined on material level

    // ---------------------------------------- Add the technique ----------------------------------------
    Magus::QtNode* node = mMaterialNode->getNodeConnectedToPort(PORT_TECHNIQUE_OUT);
    if (!node)
    {
        logManager->logMessage("SME: No technique node available");
        return;
    }

    Magus::QtNodeTechnique* techniqueNode = static_cast<Magus::QtNodeTechnique*>(node);
    material->removeAllTechniques();
    Ogre::Technique* technique = material->createTechnique();
    technique->removeAllPasses();
    logManager->logMessage("SME: Technique created" + Ogre::StringConverter::toString(material->getNumTechniques()));

    // ---------------------------------------- Add the passes ----------------------------------------
    Magus::QtNodePass* passNode;
    Magus::QtNodeTextureUnit* textureUnitNode;
    Ogre::Pass* pass;
    Ogre::TextureUnitState* textureUnit;
    for (unsigned int i = 1; i < 5; ++i)
    {
        node = techniqueNode->getNodeConnectedToPort(PORT_PASS_OUT, i); // node with the same name
        if (node)
        {
            passNode = static_cast<Magus::QtNodePass*>(node);
            pass = technique->createPass();
            pass->removeAllTextureUnitStates();
            logManager->logMessage("SME: Pass on port nr. " + Ogre::StringConverter::toString(i) + " created");
            propagatePassNodeData(passNode, pass);

            // ---------------------------------------- Add the texture units ----------------------------------------
            for (unsigned int j = 1; j < 9; ++j)
            {
                node = passNode->getNodeConnectedToPort(PORT_TEXTURE_OUT, j);
                if (node)
                {
                    logManager->logMessage("SME: Texture unit on port nr. " +
                                           Ogre::StringConverter::toString(j) +
                                           " of Pass port nr. " +
                                           Ogre::StringConverter::toString(i) +
                                           " created");
                    textureUnitNode = static_cast<Magus::QtNodeTextureUnit*>(node);
                    textureUnit = pass->createTextureUnitState();
                    propagateTextureUnitNodeData(textureUnitNode, textureUnit);
                }
            }
        }
    }

    // Assign the material to the ogrehead
    material->compile();
    material->load();
    mParent->getOgreManager()->getOgreWidget(1)->mEntity->setMaterial(material);
}

//.........这里部分代码省略.........
							{
								case visualization_msgs::Marker::CUBE_LIST:
									tAM->publishStatus(Gadget::OKAY, "Successfully added cube list marker");
									break;
								case visualization_msgs::Marker::SPHERE_LIST:
									tAM->publishStatus(Gadget::OKAY, "Successfully added sphere list marker");
									break;
							}
						}
					}
					
					break;
					
				case visualization_msgs::Marker::POINTS:
					{
						
						unsigned int i;
						unsigned int N;
						
						if (renew)
						{
							tAM->subGraphicNode = tAM->graphicNode->createChildSceneNode();
							
							if (marker.points.size() > 0)
							{
								string materialName = name + "PointMat";

								tAM->material = Ogre::MaterialManager::getSingleton().create(materialName.c_str(), 
									Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
								tAM->material->setPointSize(marker.scale.x);
								Ogre::Technique* pT = tAM->material->getTechnique( 0 );
									if( NULL == pT ) pT = tAM->material->createTechnique();
								Ogre::Pass* pP = pT->getPass( 0 );
								if( NULL == pP ) pP = pT->createPass();

								// set parameters
								pP->setVertexColourTracking(Ogre::TVC_AMBIENT);
								pP->setLightingEnabled(false);
								//pP->setDepthCheckEnabled(true);
								//pP->setDepthWriteEnabled(false);
								//pP->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
							
								tAM->manual = tAM->scene->createManualObject(tAM->name + "_manual");
								
								tAM->subGraphicNode->attachObject(tAM->manual);
								
								tAM->manual->setDynamic(true);
								tAM->manual->estimateVertexCount(1000);
								tAM->manual->begin(materialName.c_str(), Ogre::RenderOperation::OT_POINT_LIST);
							}
							else
							{
								tAM->publishStatus(Gadget::WARNING, "No data in message");
							}
						}
						else
						{
							if (marker.points.size() > 0)
							{
								tAM->material->setPointSize(marker.scale.x);
								tAM->manual->beginUpdate(0);
							}
							else
							{
								tAM->publishStatus(Gadget::WARNING, "No data in message");
							}

int initOgreAR(aruco::CameraParameters camParams, unsigned char* buffer, std::string resourcePath)
{
	/// INIT OGRE FUNCTIONS
#ifdef _WIN32
  	root = new Ogre::Root(resourcePath + "plugins_win.cfg", resourcePath + "ogre_win.cfg");
#elif __x86_64__ || __ppc64__
	root = new Ogre::Root(resourcePath + "plugins_x64.cfg", resourcePath + "ogre.cfg");
#else
	root = new Ogre::Root(resourcePath + "plugins.cfg", resourcePath + "ogre.cfg");
#endif
  	if (!root->showConfigDialog()) return -1;
	Ogre::SceneManager* smgr = root->createSceneManager(Ogre::ST_GENERIC);


	/// CREATE WINDOW, CAMERA AND VIEWPORT
    Ogre::RenderWindow* window = root->initialise(true);
	Ogre::Camera *camera;
	Ogre::SceneNode* cameraNode;
	camera = smgr->createCamera("camera");
	camera->setNearClipDistance(0.01f);
	camera->setFarClipDistance(10.0f);
	camera->setProjectionType(Ogre::PT_ORTHOGRAPHIC);
	camera->setPosition(0, 0, 0);
	camera->lookAt(0, 0, 1);
	double pMatrix[16];
	camParams.OgreGetProjectionMatrix(camParams.CamSize,camParams.CamSize, pMatrix, 0.05,10, false);
	Ogre::Matrix4 PM(pMatrix[0], pMatrix[1], pMatrix[2] , pMatrix[3],
			pMatrix[4], pMatrix[5], pMatrix[6] , pMatrix[7],
			pMatrix[8], pMatrix[9], pMatrix[10], pMatrix[11],
			pMatrix[12], pMatrix[13], pMatrix[14], pMatrix[15]);
	camera->setCustomProjectionMatrix(true, PM);
	camera->setCustomViewMatrix(true, Ogre::Matrix4::IDENTITY);
	window->addViewport(camera);
	cameraNode = smgr->getRootSceneNode()->createChildSceneNode("cameraNode");
	cameraNode->attachObject(camera);


	/// CREATE BACKGROUND FROM CAMERA IMAGE
	int width = camParams.CamSize.width;
	int height = camParams.CamSize.height;
	// create background camera image
	mPixelBox = Ogre::PixelBox(width, height, 1, Ogre::PF_R8G8B8, buffer);
	// Create Texture
	mTexture = Ogre::TextureManager::getSingleton().createManual("CameraTexture",Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
		      Ogre::TEX_TYPE_2D,width,height,0,Ogre::PF_R8G8B8,Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE);

	//Create Camera Material
	Ogre::MaterialPtr material = Ogre::MaterialManager::getSingleton().create("CameraMaterial", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
	Ogre::Technique *technique = material->createTechnique();
	technique->createPass();
	material->getTechnique(0)->getPass(0)->setLightingEnabled(false);
	material->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
	material->getTechnique(0)->getPass(0)->createTextureUnitState("CameraTexture");

	Ogre::Rectangle2D* rect = new Ogre::Rectangle2D(true);
	rect->setCorners(-1.0, 1.0, 1.0, -1.0);
	rect->setMaterial("CameraMaterial");

	// Render the background before everything else
	rect->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND);

	// Hacky, but we need to set the bounding box to something big, use infinite AAB to always stay visible
	Ogre::AxisAlignedBox aabInf;
	aabInf.setInfinite();
	rect->setBoundingBox(aabInf);

	// Attach background to the scene
	Ogre::SceneNode* node = smgr->getRootSceneNode()->createChildSceneNode("Background");
	node->attachObject(rect);


	/// CREATE SIMPLE OGRE SCENE
	// add sinbad.mesh
	Ogre::ResourceGroupManager::getSingleton().addResourceLocation(resourcePath + "Sinbad.zip", "Zip", "Popular");
 	Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
	for(int i=0; i<MAX_MARKERS; i++) {
	  Ogre::String entityName = "Marker_" + Ogre::StringConverter::toString(i);
	  Ogre::Entity* ogreEntity = smgr->createEntity(entityName, "Sinbad.mesh");
	  Ogre::Real offset = ogreEntity->getBoundingBox().getHalfSize().y;
	  ogreNode[i] = smgr->getRootSceneNode()->createChildSceneNode();
	  // add entity to a child node to correct position (this way, entity axis is on feet of sinbad)
	  Ogre::SceneNode *ogreNodeChild = ogreNode[i]->createChildSceneNode();
	  ogreNodeChild->attachObject(ogreEntity);
	  // Sinbad is placed along Y axis, we need to rotate to put it along Z axis so it stands up over the marker
	  // first rotate along X axis, then add offset in Z dir so it is over the marker and not in the middle of it
	  ogreNodeChild->rotate(Ogre::Vector3(1,0,0), Ogre::Radian(Ogre::Degree(90)));
	  ogreNodeChild->translate(0,0,offset,Ogre::Node::TS_PARENT);
	  // mesh is too big, rescale!
	  const float scale = 0.006675f;
	  ogreNode[i]->setScale(scale, scale, scale);

	    // Init animation
	  ogreEntity->getSkeleton()->setBlendMode(Ogre::ANIMBLEND_CUMULATIVE);
	  if(i==0)
	  {
        baseAnim[i] = ogreEntity->getAnimationState("HandsClosed");
        topAnim[i] = ogreEntity->getAnimationState("HandsRelaxed");
	  }
	  else if(i==1)
	  {
//.........这里部分代码省略.........

Camera::Camera(Event::Lane& lane,
               GameHandle cameraHandle, 
               Ogre::SceneNode* camNode, 
               Ogre::RenderTarget* renderTarget, 
               u32 width, 
               u32 height,
               const v3& position,
               const qv4& orientation,
               GameHandle parent) :
mSubLane(lane.createSubLane()),
mCameraNode(camNode),
mRenderTarget(renderTarget),
mHandle(cameraHandle),
mNodeCreated(false),
mRenderTargetCreated(false)
{
	Ogre::SceneManager* sceneMgr = Ogre::Root::getSingleton().getSceneManager(BFG_SCENEMANAGER);
	if (mCameraNode == NULL) // Create SceneNode
	{
		if (sceneMgr->hasSceneNode(stringify(mHandle)))
		{
			mCameraNode = sceneMgr->getSceneNode(stringify(mHandle));
		}
		else
		{
			mCameraNode = sceneMgr->getRootSceneNode()->createChildSceneNode(stringify(mHandle));
			mNodeCreated = true;
		}
	}
	mCameraNode->setOrientation(toOgre(orientation));
	mCameraNode->setPosition(toOgre(position));

	v3 target = toBFG(mCameraNode->getOrientation().zAxis());
	norm(target);

	Ogre::Camera* cam;
	cam = sceneMgr->createCamera(stringify(mHandle));

	cam->setFOVy(Ogre::Degree(60.0f));
	cam->setNearClipDistance(0.1f);
	cam->setFarClipDistance(250000.0f);
	cam->lookAt(toOgre(target)*10);
	mCameraNode->attachObject(cam);

	infolog << "Camera: " << stringify(mHandle) << " created.";

	if (mRenderTarget == NULL)
	{
		// Create renderToTexture RenderTarget

		if (width == 0 || height == 0)
		{
			throw std::logic_error("Too few information to create a render target.");
		}

		cam->setAspectRatio((f32)width / (f32)height);

		Ogre::TexturePtr texture = Ogre::TextureManager::getSingleton().createManual
		(
			stringify(mHandle),
			Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
			Ogre::TEX_TYPE_2D,
			width,
			height,
			0,
			Ogre::PF_R8G8B8,
			Ogre::TU_RENDERTARGET
		);

		mRenderTarget = texture->getBuffer()->getRenderTarget();

		prepareRenderTarget();

		mRenderTarget->addViewport(cam);

		mRenderTarget->getViewport(0)->setClearEveryFrame(true);
		mRenderTarget->getViewport(0)->setBackgroundColour(Ogre::ColourValue::Black);
		mRenderTarget->getViewport(0)->setOverlaysEnabled(false);

		Ogre::MaterialPtr mat =
			Ogre::MaterialManager::getSingleton().getByName(stringify(mHandle));
		if (mat.isNull())
		{
			mat = Ogre::MaterialManager::getSingleton().create(
			    stringify(mHandle), 
			    Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
		}
		Ogre::Technique* tech = mat->getTechnique(0);
		if (!tech)
		{
			tech = mat->createTechnique();
		}
		Ogre::Pass* pass = tech->getPass(0);
		if (!pass)
		{
			pass = tech->createPass();
		}
		pass->setLightingEnabled(false);

		if (pass->getNumTextureUnitStates() > 0)
//.........这里部分代码省略.........