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Added a LookAt-method for entities and also a method to get the pose of an entity.

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This commit is contained in:
aj28faty
2019-06-28 23:42:44 +02:00
parent 3830f18680
commit 51b16a8fc5
2 changed files with 70 additions and 1 deletions
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19
modules/ovis/include/opencv2/ovis.hpp
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@@ -165,6 +165,16 @@ public:
CV_WRAP virtual void setEntityPose(const String& name, InputArray tvec = noArray(),
InputArray rot = noArray(), bool invert = false) = 0;
/**
* Retrieves the current pose of an entity
* @param name entity name
* @param R 3x3 rotation matrix
* @param tvec translation vector
* @param invert return the inverted pose
*/
CV_WRAP virtual void getEntityPose(const String& name, OutputArray R = noArray(), OutputArray tvec = noArray(),
bool invert = false) = 0;
/**
* get a list of available entity animations
* @param name entity name
@@ -236,6 +246,15 @@ public:
*/
CV_WRAP virtual void setCameraLookAt(const String& target, InputArray offset = noArray()) = 0;
/**
* convenience method to orient an entity to a specific entity.
* If target is an empty string the entity looks at the given offset point
* @param origin entity to make look at
* @param target name of target entity
* @param offset offset from entity centre
*/
CV_WRAP virtual void setEntityLookAt(const String& origin, const String& target, InputArray offset = noArray()) = 0;
/**
* Retrieves the current camera pose
* @param R 3x3 rotation matrix

52
modules/ovis/src/ovis.cpp
View File

@@ -578,6 +578,36 @@ public:
node.setPosition(t);
}
void getEntityPose(const String& name ,OutputArray R, OutputArray tvec, bool invert) CV_OVERRIDE
{
SceneNode* node = sceneMgr->getEntity(name)->getParentSceneNode();
Matrix3 _R;
// toOGRE.Inverse() == toOGRE
(node->getOrientation()*toOGRE).ToRotationMatrix(_R);
if (invert)
{
_R = _R.Transpose();
}
if (tvec.needed())
{
Vector3 _tvec = node->getPosition();
if (invert)
{
_tvec = _R * -_tvec;
}
Mat_<Real>(3, 1, _tvec.ptr()).copyTo(tvec);
}
if (R.needed())
{
Mat_<Real>(3, 3, _R[0]).copyTo(R);
}
}
void getEntityAnimations(const String& name, std::vector<String>& out) CV_OVERRIDE
{
SceneNode& node = _getSceneNode(sceneMgr, name);
@@ -659,7 +689,7 @@ public:
Entity* ent = dynamic_cast<Entity*>(node.getAttachedObject(name));
CV_Assert(ent && "invalid entity");
ent->getSkeleton()->setBlendMode(static_cast<Ogre::SkeletonAnimationBlendMode>(value[0]));
ent->getSkeleton()->setBlendMode(static_cast<Ogre::SkeletonAnimationBlendMode>(int(value[0])));
break;
}
default:
@@ -847,6 +877,26 @@ public:
camNode->lookAt(tgt->_getDerivedPosition() + _offset, Ogre::Node::TS_WORLD);
}
void setEntityLookAt(const String& origin, const String& target, InputArray offset) CV_OVERRIDE
{
SceneNode* orig = sceneMgr->getEntity(origin)->getParentSceneNode();
Vector3 _offset = Vector3::ZERO;
if (!offset.empty())
{
offset.copyTo(Mat_<Real>(3, 1, _offset.ptr()));
}
if(target.compare("") != 0){
SceneNode* tgt = sceneMgr->getEntity(target)->getParentSceneNode();
orig->lookAt(tgt->_getDerivedPosition() + _offset, Ogre::Node::TS_WORLD, Ogre::Vector3::UNIT_Z);
}else{
orig->lookAt(_offset, Ogre::Node::TS_WORLD, Ogre::Vector3::UNIT_Z);
}
}
};
CV_EXPORTS_W void addResourceLocation(const String& path)