vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

2026-08-22 00:11:13 +08:00
commit 12022378a3
3872 changed files with 2513409 additions and 0 deletions
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+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#include "precomp.hpp"
+
+namespace cv
+{
+namespace ovis
+{
+using namespace Ogre;
+
+void createPlaneMesh(const String& name, const Size2f& size, InputArray image)
+{
+    CV_Assert(_app);
+
+    // material
+    MaterialPtr mat = MaterialManager::getSingleton().create(name, RESOURCEGROUP_NAME);
+
+    Pass* rpass = mat->getTechniques()[0]->getPasses()[0];
+    rpass->setCullingMode(CULL_NONE);
+    rpass->setEmissive(ColourValue::White);
+
+    if (!image.empty())
+    {
+        _createTexture(name, image.getMat());
+        rpass->createTextureUnitState(name);
+    }
+
+    // plane
+    MovablePlane plane(-Vector3::UNIT_Z, 0);
+    MeshPtr mesh = MeshManager::getSingleton().createPlane(
+        name, RESOURCEGROUP_NAME, plane, size.width, size.height, 1, 1, true, 1, 1, 1, -Vector3::UNIT_Y);
+    mesh->getSubMesh(0)->setMaterialName(name);
+}
+
+void createPointCloudMesh(const String& name, InputArray vertices, InputArray colors)
+{
+    int color_type = colors.type();
+    CV_Assert(_app);
+    CV_CheckTypeEQ(vertices.type(), CV_32FC3, "vertices type must be Vec3f");
+    CV_Assert(vertices.isContinuous());
+    if (!colors.empty())
+        CV_CheckType(color_type, color_type == CV_8UC3 || color_type == CV_8UC4, "unsupported type");
+
+    // material
+    MaterialPtr mat = MaterialManager::getSingleton().create(name, RESOURCEGROUP_NAME);
+    Pass* rpass = mat->getTechniques()[0]->getPasses()[0];
+    rpass->setEmissive(ColourValue::White);
+    rpass->setPointSpritesEnabled(true);
+
+    // mesh
+    MeshPtr mesh = MeshManager::getSingleton().createManual(name, RESOURCEGROUP_NAME);
+    SubMesh* sub = mesh->createSubMesh();
+    sub->useSharedVertices = true;
+    sub->operationType = RenderOperation::OT_POINT_LIST;
+    sub->setMaterialName(name);
+
+    int n = vertices.rows();
+
+    mesh->sharedVertexData = new VertexData();
+    mesh->sharedVertexData->vertexCount = n;
+    VertexDeclaration* decl = mesh->sharedVertexData->vertexDeclaration;
+
+    // vertex data
+    HardwareBufferManager& hbm = HardwareBufferManager::getSingleton();
+
+    Mat _vertices = vertices.getMat();
+
+    int source = 0;
+    HardwareVertexBufferSharedPtr hwbuf;
+
+    decl->addElement(source, 0, VET_FLOAT3, VES_POSITION);
+    hwbuf = hbm.createVertexBuffer(decl->getVertexSize(source), n, HardwareBuffer::HBU_STATIC_WRITE_ONLY);
+    hwbuf->writeData(0, hwbuf->getSizeInBytes(), _vertices.ptr(), true);
+    mesh->sharedVertexData->vertexBufferBinding->setBinding(source, hwbuf);
+
+    // color data
+    if (!colors.empty())
+    {
+        mat->setLightingEnabled(false);
+        source += 1;
+
+        Mat col4;
+        cvtColor(colors, col4, color_type == CV_8UC3 ? COLOR_BGR2RGBA : COLOR_BGRA2RGBA);
+
+        decl->addElement(source, 0, VET_COLOUR, VES_DIFFUSE);
+        hwbuf =
+            hbm.createVertexBuffer(decl->getVertexSize(source), n, HardwareBuffer::HBU_STATIC_WRITE_ONLY);
+        hwbuf->writeData(0, hwbuf->getSizeInBytes(), col4.ptr(), true);
+        mesh->sharedVertexData->vertexBufferBinding->setBinding(source, hwbuf);
+
+        rpass->setVertexColourTracking(TVC_DIFFUSE);
+    }
+
+    AxisAlignedBox bounds(AxisAlignedBox::EXTENT_NULL);
+    for (int i = 0; i < n; i++)
+    {
+        Vec3f v = _vertices.at<Vec3f>(i);
+        bounds.merge(Vector3(v[0], v[1], v[2]));
+    }
+    mesh->_setBounds(bounds);
+}
+
+void createTriangleMesh(const String& name, InputArray vertices, InputArray normals, InputArray indices)
+{
+    CV_CheckTypeEQ(vertices.type(), CV_32FC3, "vertices type must be Vec3f");
+    CV_Assert(vertices.isContinuous());
+
+    if(!normals.empty())
+    {
+        CV_CheckTypeEQ(normals.type(), CV_32FC3, "normals type must be Vec3f");
+        CV_Assert(normals.isContinuous());
+        CV_Assert(normals.size() == vertices.size());
+    }
+    if(!indices.empty())
+    {
+        CV_CheckTypeEQ(indices.type(), CV_32S, "indices type must be int");
+        CV_Assert(indices.isContinuous());
+    }
+
+    // default material
+    auto mat = MaterialManager::getSingleton().create(name, RESOURCEGROUP_NAME);
+
+    // mesh
+    MeshPtr mesh = MeshManager::getSingleton().createManual(name, RESOURCEGROUP_NAME);
+    SubMesh* sub = mesh->createSubMesh();
+    sub->useSharedVertices = true;
+    sub->operationType = RenderOperation::OT_TRIANGLE_LIST;
+    sub->setMaterialName(name);
+
+    int n = vertices.rows();
+
+    mesh->sharedVertexData = new VertexData();
+    mesh->sharedVertexData->vertexCount = n;
+    VertexDeclaration* decl = mesh->sharedVertexData->vertexDeclaration;
+
+    // vertex data
+    HardwareBufferManager& hbm = HardwareBufferManager::getSingleton();
+
+    Mat _vertices = vertices.getMat();
+
+    int source = 0;
+    HardwareVertexBufferSharedPtr hwbuf;
+
+    decl->addElement(source, 0, VET_FLOAT3, VES_POSITION);
+    hwbuf = hbm.createVertexBuffer(decl->getVertexSize(source), n, HardwareBuffer::HBU_STATIC_WRITE_ONLY);
+    hwbuf->writeData(0, hwbuf->getSizeInBytes(), _vertices.ptr(), true);
+    mesh->sharedVertexData->vertexBufferBinding->setBinding(source, hwbuf);
+
+    // normals
+    if (!normals.empty())
+    {
+        source += 1;
+
+        Mat _normals = normals.getMat();
+        decl->addElement(source, 0, VET_FLOAT3, VES_NORMAL);
+        hwbuf =
+            hbm.createVertexBuffer(decl->getVertexSize(source), n, HardwareBuffer::HBU_STATIC_WRITE_ONLY);
+        hwbuf->writeData(0, hwbuf->getSizeInBytes(), _normals.ptr(), true);
+        mesh->sharedVertexData->vertexBufferBinding->setBinding(source, hwbuf);
+    }
+    else
+    {
+        mat->setLightingEnabled(false);
+    }
+
+    // indices
+    if (!indices.empty())
+    {
+        Mat _indices = indices.getMat();
+
+        HardwareIndexBufferSharedPtr ibuf = HardwareBufferManager::getSingleton().createIndexBuffer(
+            HardwareIndexBuffer::IT_32BIT, indices.total(), HardwareBuffer::HBU_STATIC_WRITE_ONLY);
+        ibuf->writeData(0, ibuf->getSizeInBytes(), _indices.ptr(), true);
+
+        sub->indexData->indexBuffer = ibuf;
+        sub->indexData->indexStart = 0;
+        sub->indexData->indexCount = indices.total();
+    }
+
+    AxisAlignedBox bounds(AxisAlignedBox::EXTENT_NULL);
+    for (int i = 0; i < n; i++)
+    {
+        Vec3f v = _vertices.at<Vec3f>(i);
+        bounds.merge(Vector3(v[0], v[1], v[2]));
+    }
+    mesh->_setBounds(bounds);
+}
+
+void createGridMesh(const String& name, const Size2f& size, const Size& segments)
+{
+    CV_Assert_N(_app, !segments.empty());
+
+    // material
+    MaterialPtr mat = MaterialManager::getSingleton().create(name, RESOURCEGROUP_NAME);
+    Pass* rpass = mat->getTechniques()[0]->getPasses()[0];
+    rpass->setEmissive(ColourValue::White);
+
+    // mesh
+    MeshPtr mesh = MeshManager::getSingleton().createManual(name, RESOURCEGROUP_NAME);
+    SubMesh* sub = mesh->createSubMesh();
+    sub->useSharedVertices = true;
+    sub->operationType = RenderOperation::OT_LINE_LIST;
+    sub->setMaterialName(name);
+
+    int n = (segments.width + 1) * 2 + (segments.height + 1) * 2;
+
+    mesh->sharedVertexData = new VertexData();
+    mesh->sharedVertexData->vertexCount = n;
+    VertexDeclaration* decl = mesh->sharedVertexData->vertexDeclaration;
+
+    // vertex data
+    HardwareBufferManager& hbm = HardwareBufferManager::getSingleton();
+
+    int source = 0;
+    HardwareVertexBufferSharedPtr hwbuf;
+    decl->addElement(source, 0, VET_FLOAT2, VES_POSITION);
+    hwbuf = hbm.createVertexBuffer(decl->getVertexSize(source), n, HardwareBuffer::HBU_STATIC_WRITE_ONLY);
+    mesh->sharedVertexData->vertexBufferBinding->setBinding(source, hwbuf);
+
+    Vector2 step = Vector2(size.width, size.height) / Vector2(segments.width, segments.height);
+
+    Vec2f* data = (Vec2f*)hwbuf->lock(HardwareBuffer::HBL_DISCARD);
+
+    for (int i = 0; i < segments.width + 1; i++)
+    {
+        data[i * 2] = Vec2f(-size.width / 2 + step.x * i, -size.height / 2);
+        data[i * 2 + 1] = Vec2f(-size.width / 2 + step.x * i, size.height / 2);
+    }
+
+    data += (segments.width + 1) * 2;
+
+    for (int i = 0; i < segments.height + 1; i++)
+    {
+        data[i * 2] = Vec2f(-size.width / 2, -size.height / 2 + step.y * i);
+        data[i * 2 + 1] = Vec2f(size.width / 2, -size.height / 2 + step.y * i);
+    }
+
+    hwbuf->unlock();
+
+    Vector3 sz(size.width, size.height, 0);
+    mesh->_setBounds(AxisAlignedBox(-sz/2, sz/2));
+}
+}
+}