vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#ifndef _OPENCV_OVIS_H_
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#define _OPENCV_OVIS_H_
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#include <opencv2/core.hpp>
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/**
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@defgroup ovis OGRE 3D Visualiser
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ovis is a simplified rendering wrapper around [ogre3d](https://www.ogre3d.org/).
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The [Ogre terminology](https://ogrecave.github.io/ogre/api/latest/_the-_core-_objects.html) is used in the API
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and [Ogre Script](https://ogrecave.github.io/ogre/api/latest/_scripts.html) is assumed to be used for advanced customization.
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Besides the API you see here, there are several environment variables that control the behavior of ovis.
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They are documented in @ref createWindow.
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## Loading geometry
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You can create geometry [on the fly](@ref createTriangleMesh) or by loading Ogre `.mesh` files.
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### Blender
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For converting/ creating geometry [Blender](https://www.blender.org/) is recommended.
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- Blender 2.7x is better tested, but Blender 2.8x should work too
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- install [blender2ogre](https://github.com/OGRECave/blender2ogre) matching your Blender version
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- download the [Ogre MSVC SDK](https://www.ogre3d.org/download/sdk/sdk-ogre) which contains `OgreXMLConverter.exe` (in `bin/`) and set the path in the blender2ogre settings
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- get [ogre-meshviewer](https://github.com/OGRECave/ogre-meshviewer) to enable the preview function in blender2ogre as well as for verifying the exported files
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- in case the exported materials are not exactly how you want them, consult the [Ogre Manual](https://ogrecave.github.io/ogre/api/latest/_material-_scripts.html)
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### Assimp
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When using Ogre 1.12.9 or later, enabling the Assimp plugin allows to load arbitrary geometry.
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Simply pass `bunny.obj` instead of `bunny.mesh` as `meshname` in @ref WindowScene::createEntity.
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You should still use ogre-meshviewer to verify that the geometry is converted correctly.
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*/
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namespace cv {
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namespace ovis {
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//! @addtogroup ovis
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//! @{
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enum SceneSettings
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{
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/// the window will use a separate scene. The scene will be shared otherwise.
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SCENE_SEPARATE = 1,
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/// allow the user to control the camera.
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SCENE_INTERACTIVE = 2,
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/// draw coordinate system crosses for debugging
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SCENE_SHOW_CS_CROSS = 4,
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/// Apply anti-aliasing. The first window determines the setting for all windows.
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SCENE_AA = 8,
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/// Render off-screen without a window. Allows separate AA setting. Requires manual update via @ref WindowScene::update
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SCENE_OFFSCREEN = 16,
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/// Enable real-time shadows in the scene. All entities cast shadows by default. Control via @ref ENTITY_CAST_SHADOWS
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SCENE_SHADOWS = 32
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};
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enum MaterialProperty
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{
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MATERIAL_POINT_SIZE,
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MATERIAL_LINE_WIDTH,
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MATERIAL_OPACITY,
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MATERIAL_EMISSIVE,
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MATERIAL_DIFFUSE,
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MATERIAL_TEXTURE0,
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MATERIAL_TEXTURE = MATERIAL_TEXTURE0,
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MATERIAL_TEXTURE1,
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MATERIAL_TEXTURE2,
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MATERIAL_TEXTURE3,
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};
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enum EntityProperty
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{
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ENTITY_MATERIAL,
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ENTITY_SCALE,
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ENTITY_AABB_WORLD,
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ENTITY_ANIMBLEND_MODE,
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ENTITY_CAST_SHADOWS
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};
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/**
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* A 3D viewport and the associated scene
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*/
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class CV_EXPORTS_W WindowScene {
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public:
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virtual ~WindowScene();
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/**
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* set window background to custom image/ color
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* @param image
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*/
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CV_WRAP virtual void setBackground(InputArray image) = 0;
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/// @overload
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CV_WRAP_AS(setBackgroundColor) virtual void setBackground(const Scalar& color) = 0;
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/**
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* enable an ordered chain of full-screen post processing effects
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*
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* this way you can add distortion or SSAO effects.
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* The effects themselves must be defined inside Ogre .compositor scripts.
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* @param names compositor names that will be applied in order of appearance
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* @see addResourceLocation
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*/
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CV_WRAP virtual void setCompositors(const std::vector<String>& names) = 0;
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/**
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* place an entity of a mesh in the scene
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*
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* the mesh needs to be created beforehand. Either programmatically
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* by e.g. @ref createPointCloudMesh or by placing the respective file in a resource location.
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* @param name entity name
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* @param meshname mesh name
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* @param tvec translation
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* @param rot @ref Rodrigues vector or 3x3 rotation matrix
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* @see addResourceLocation
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*/
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CV_WRAP virtual void createEntity(const String& name, const String& meshname,
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InputArray tvec = noArray(), InputArray rot = noArray()) = 0;
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/**
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* remove an entity from the scene
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* @param name entity name
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*/
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CV_WRAP virtual void removeEntity(const String& name) = 0;
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/**
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* set the property of an entity to the given value
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* @param name entity name
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* @param prop @ref EntityProperty
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* @param value the value
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* @param subEntityIdx index of the sub-entity (default: all)
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*/
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CV_WRAP virtual void setEntityProperty(const String& name, int prop, const String& value,
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int subEntityIdx = -1) = 0;
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/// @overload
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CV_WRAP virtual void setEntityProperty(const String& name, int prop, const Scalar& value) = 0;
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/**
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* get the property of an entity
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* @param name entity name
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* @param prop @ref EntityProperty
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* @param value the value
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*/
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CV_WRAP virtual void getEntityProperty(const String& name, int prop, OutputArray value) = 0;
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/**
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* convenience method to visualize a camera position
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*
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* @param name entity name
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* @param K intrinsic matrix
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* @param imsize image size
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* @param zFar far plane in camera coordinates
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* @param tvec translation
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* @param rot @ref Rodrigues vector or 3x3 rotation matrix
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* @param color line color
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* @return the extents of the Frustum at far plane, where the top left corner denotes the principal
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* point offset
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*/
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CV_WRAP virtual Rect2d createCameraEntity(const String& name, InputArray K, const Size& imsize,
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float zFar, InputArray tvec = noArray(),
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InputArray rot = noArray(),
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const Scalar& color = Scalar::all(1)) = 0;
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/**
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* creates a point light in the scene
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* @param name entity name
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* @param tvec translation
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* @param rot @ref Rodrigues vector or 3x3 rotation matrix
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* @param diffuseColor
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* @param specularColor
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*/
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CV_WRAP virtual void createLightEntity(const String& name, InputArray tvec = noArray(),
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InputArray rot = noArray(),
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const Scalar& diffuseColor = Scalar::all(1),
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const Scalar& specularColor = Scalar::all(1)) = 0;
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/**
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* update entity pose by transformation in the parent coordinate space. (pre-rotation)
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* @param name entity name
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* @param tvec translation
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* @param rot @ref Rodrigues vector or 3x3 rotation matrix
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*/
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CV_WRAP virtual void updateEntityPose(const String& name, InputArray tvec = noArray(),
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InputArray rot = noArray()) = 0;
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/**
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* set entity pose in the world coordinate space.
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* @param name enitity name
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* @param tvec translation
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* @param rot @ref Rodrigues vector or 3x3 rotation matrix
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* @param invert use the inverse of the given pose
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*/
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CV_WRAP virtual void setEntityPose(const String& name, InputArray tvec = noArray(),
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InputArray rot = noArray(), bool invert = false) = 0;
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/**
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* Retrieves the current pose of an entity
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* @param name entity name
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* @param R 3x3 rotation matrix
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* @param tvec translation vector
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* @param invert return the inverted pose
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*/
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CV_WRAP virtual void getEntityPose(const String& name, OutputArray R = noArray(), OutputArray tvec = noArray(),
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bool invert = false) = 0;
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/**
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* get a list of available entity animations
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* @param name entity name
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* @param out the animation names
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*/
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CV_WRAP virtual void getEntityAnimations(const String& name, std::vector<String>& out) = 0;
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/**
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* play entity animation
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* @param name entity name
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* @param animname animation name
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* @param loop enable or disable animation loop
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* @see getEntityAnimations
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*/
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CV_WRAP virtual void playEntityAnimation(const String& name, const String& animname,
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bool loop = true) = 0;
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/**
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* stop entity animation
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* @param name enitity name
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* @param animname animation name
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*/
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CV_WRAP virtual void stopEntityAnimation(const String& name, const String& animname) = 0;
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/**
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* read back the image generated by the last call to @ref waitKey
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*/
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CV_WRAP virtual void getScreenshot(OutputArray frame) = 0;
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/**
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* read back the texture of an active compositor
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* @param compname name of the compositor
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* @param texname name of the texture inside the compositor
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* @param mrtIndex if texture is a MRT, specifies the attachment
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* @param out the texture contents
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*/
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CV_WRAP virtual void getCompositorTexture(const String& compname, const String& texname,
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OutputArray out, int mrtIndex = 0) = 0;
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/**
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* get the depth for the current frame.
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*
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* return the per pixel distance to the camera in world units
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*/
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CV_WRAP virtual void getDepth(OutputArray depth) = 0;
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/**
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* convenience method to force the "up" axis to stay fixed
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*
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* works with both programmatic changes and SCENE_INTERACTIVE
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* @param useFixed whether to enforce the fixed yaw axis
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* @param up the axis to be fixed
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*/
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CV_WRAP virtual void fixCameraYawAxis(bool useFixed, InputArray up = noArray()) = 0;
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/**
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* Sets the current camera pose
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* @param tvec translation
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* @param rot @ref Rodrigues vector or 3x3 rotation matrix
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* @param invert use the inverse of the given pose
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*/
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CV_WRAP virtual void setCameraPose(InputArray tvec = noArray(), InputArray rot = noArray(),
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bool invert = false) = 0;
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/**
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* convenience method to orient the camera to a specific entity
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* @param target entity name
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* @param offset offset from entity centre
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*/
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CV_WRAP virtual void setCameraLookAt(const String& target, InputArray offset = noArray()) = 0;
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/**
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* convenience method to orient an entity to a specific entity.
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* If target is an empty string the entity looks at the given offset point
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* @param origin entity to make look at
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* @param target name of target entity
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* @param offset offset from entity centre
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*/
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CV_WRAP virtual void setEntityLookAt(const String& origin, const String& target, InputArray offset = noArray()) = 0;
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/**
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* Retrieves the current camera pose
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* @param R 3x3 rotation matrix
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* @param tvec translation vector
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* @param invert return the inverted pose
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*/
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CV_WRAP virtual void getCameraPose(OutputArray R = noArray(), OutputArray tvec = noArray(),
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bool invert = false) = 0;
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/**
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* set intrinsics of the camera
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*
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* @param K intrinsic matrix or noArray(). If noArray() is specified, imsize
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* is ignored and zNear/ zFar can be set separately.
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* @param imsize image size
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* @param zNear near clip distance or -1 to keep the current
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* @param zFar far clip distance or -1 to keep the current
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*/
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CV_WRAP virtual void setCameraIntrinsics(InputArray K, const Size& imsize,
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float zNear = -1,
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float zFar = -1) = 0;
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/**
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* render this window, but do not swap buffers. Automatically called by @ref ovis::waitKey
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*/
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CV_WRAP virtual void update() = 0;
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};
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/**
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* Add an additional resource location that is search for meshes, textures and materials
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*
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* must be called before the first createWindow. If give path does not exist, retries inside
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* Ogre Media Directory.
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* @param path folder or Zip archive.
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*/
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CV_EXPORTS_W void addResourceLocation(const String& path);
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/**
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* create a new rendering window/ viewport
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* @param title window title
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* @param size size of the window
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* @param flags a combination of @ref SceneSettings
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*
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* Furthermore, the behavior is controlled by the following environment variables
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* - OPENCV_OVIS_VERBOSE_LOG: print all of OGRE log output
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* - OPENCV_OVIS_RENDERSYSTEM: the name of the OGRE RenderSystem to use
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* - OPENCV_OVIS_NOVSYNC: disable VSYNC for all windows
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*/
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CV_EXPORTS_W Ptr<WindowScene> createWindow(const String& title, const Size& size,
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int flags = SCENE_INTERACTIVE | SCENE_AA);
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/**
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* update all windows and wait for keyboard event
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*
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* @param delay 0 is the special value that means "forever".
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* Any positive number returns after sync to blank (typically 16ms).
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* @return the code of the pressed key or -1 if no key was pressed
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*/
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CV_EXPORTS_W int waitKey(int delay = 0);
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/**
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* set the property of a material to the given value
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* @param name material name
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* @param prop @ref MaterialProperty
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* @param value the value
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*/
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CV_EXPORTS_W void setMaterialProperty(const String& name, int prop, const Scalar& value);
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/// @overload
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CV_EXPORTS_W void setMaterialProperty(const String& name, int prop, const String& value);
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/**
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* set the texture of a material to the given value
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* @param name material name
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* @param prop @ref MaterialProperty
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* @param value the texture data
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*/
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CV_EXPORTS_AS(setMaterialTexture) void setMaterialProperty(const String& name, int prop, InputArray value);
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/**
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* set the shader property of a material to the given value
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* @param name material name
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* @param prop property name
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* @param value the value
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*/
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CV_EXPORTS_W void setMaterialProperty(const String& name, const String& prop, const Scalar& value);
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/**
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* create a 2D plane, X right, Y down, Z up
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*
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* creates a material with the same name
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* @param name name of the mesh
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* @param size size in world units
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* @param image optional texture
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*/
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CV_EXPORTS_W void createPlaneMesh(const String& name, const Size2f& size, InputArray image = noArray());
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/**
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* creates a point cloud mesh
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*
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* creates a material with the same name
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* @param name name of the mesh
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* @param vertices float vector of positions
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* @param colors uchar vector of colors
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*/
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CV_EXPORTS_W void createPointCloudMesh(const String& name, InputArray vertices, InputArray colors = noArray());
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/**
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* creates a grid
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*
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* creates a material with the same name
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* @param name name of the mesh
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* @param size extents of the grid
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* @param segments number of segments per side
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*/
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CV_EXPORTS_W void createGridMesh(const String& name, const Size2f& size, const Size& segments = Size(1, 1));
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/**
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* creates a triangle mesh from vertex-vertex or face-vertex representation
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*
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* creates a material with the same name
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* @param name name of the mesh
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* @param vertices float vector of positions
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* @param normals float vector of normals
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* @param indices int vector of indices
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*/
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CV_EXPORTS_W void createTriangleMesh(const String& name, InputArray vertices, InputArray normals = noArray(), InputArray indices = noArray());
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/// @deprecated use setMaterialProperty
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CV_EXPORTS_W void updateTexture(const String& name, InputArray image);
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//! @}
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}
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}
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#endif
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