ovis: add Ogre3D based visualizer module

modules/ovis/include/opencv2/ovis.hpp

@@ -0,0 +1,226 @@
+// 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.
+
+#ifndef _OPENCV_OVIS_H_
+#define _OPENCV_OVIS_H_
+
+#include <opencv2/core.hpp>
+
+/**
+@defgroup ovis OGRE 3D Visualiser
+*/
+
+namespace cv {
+namespace ovis {
+//! @addtogroup ovis
+//! @{
+
+enum SceneSettings
+{
+    /// the window will use a seperate scene. The scene will be shared otherwise.
+    SCENE_SEPERATE = 1,
+    /// allow the user to control the camera.
+    SCENE_INTERACTIVE = 2,
+    /// draw coordinate system crosses for debugging
+    SCENE_SHOW_CS_CROSS = 4
+};
+
+enum MaterialProperty
+{
+    MATERIAL_POINT_SIZE,
+    MATERIAL_OPACITY,
+    MATERIAL_EMISSIVE,
+    MATERIAL_TEXTURE
+};
+
+/**
+ * A 3D viewport and the associated scene
+ */
+class CV_EXPORTS_W WindowScene {
+public:
+    virtual ~WindowScene();
+
+    /**
+     * set window background to custom image
+     *
+     * creates a texture named "<title>_Background"
+     * @param image
+     */
+    CV_WRAP virtual void setBackground(InputArray image) = 0;
+
+    /**
+     * place an entity of an mesh in the scene
+     * @param name entity name
+     * @param meshname mesh name
+     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param tvec translation
+     */
+    CV_WRAP virtual void createEntity(const String& name, const String& meshname,
+                                      InputArray tvec = noArray(), InputArray rot = noArray()) = 0;
+
+    /**
+     * convenience method to visualize a camera position
+     *
+     * the entity uses a material with the same name that can be used to change the line color.
+     * @param name entity name
+     * @param K intrinsic matrix
+     * @param imsize image size
+     * @param zFar far plane in camera coordinates
+     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param tvec translation
+     * @return the extents of the Frustum at far plane, where the top left corner denotes the principal
+     * point offset
+     */
+    CV_WRAP virtual Rect2d createCameraEntity(const String& name, InputArray K, const Size& imsize,
+                                              float zFar, InputArray tvec = noArray(),
+                                              InputArray rot = noArray()) = 0;
+
+    /**
+     * creates a point light in the scene
+     * @param name entity name
+     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param tvec translation
+     * @param diffuseColor
+     * @param specularColor
+     */
+    CV_WRAP virtual void createLightEntity(const String& name, InputArray tvec = noArray(),
+                                           InputArray rot = noArray(),
+                                           const Scalar& diffuseColor = Scalar::all(1),
+                                           const Scalar& specularColor = Scalar::all(1)) = 0;
+
+    /**
+     * update entity pose by transformation in the parent coordinate space. (pre-rotation)
+     * @param name entity name
+     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param tvec translation
+     */
+    CV_WRAP virtual void updateEntityPose(const String& name, InputArray tvec = noArray(),
+                                          InputArray rot = noArray()) = 0;
+
+    /**
+     * set entity pose in the world coordinate space.
+     * @param name enitity name
+     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param tvec translation
+     * @param invert use the inverse of the given pose
+     */
+    CV_WRAP virtual void setEntityPose(const String& name, InputArray tvec = noArray(),
+                                       InputArray rot = noArray(), bool invert = false) = 0;
+
+    /**
+     * read back image of last call to @ref renderOneFrame
+     */
+    CV_WRAP virtual void getScreenshot(OutputArray frame) = 0;
+
+    /**
+     * convenience method to force the "up" axis to stay fixed
+     *
+     * works with both programmatic changes and SCENE_INTERACTIVE
+     * @param useFixed whether to enforce the fixed yaw axis
+     * @param up the axis to be fixed
+     */
+    CV_WRAP virtual void fixCameraYawAxis(bool useFixed, InputArray up = noArray()) = 0;
+
+    /**
+     * Sets the current camera pose
+     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param tvec translation
+     * @param invert use the inverse of the given pose
+     */
+    CV_WRAP virtual void setCameraPose(InputArray tvec = noArray(), InputArray rot = noArray(),
+                                       bool invert = false) = 0;
+
+    /**
+     * convenience method to orient the camera to a specific entity
+     * @param target entity name
+     * @param offset offset from entity centre
+     */
+    CV_WRAP virtual void setCameraLookAt(const String& target, InputArray offset = noArray()) = 0;
+
+    /**
+     * Retrieves the current camera pose
+     * @param R 3x3 rotation matrix
+     * @param tvec translation vector
+     * @param invert return the inverted pose
+     */
+    CV_WRAP virtual void getCameraPose(OutputArray R = noArray(), OutputArray tvec = noArray(),
+                                       bool invert = false) = 0;
+
+    /**
+     * set intrinsics of the camera
+     * @param K intrinsic matrix
+     * @param imsize image size
+     */
+    CV_WRAP virtual void setCameraIntrinsics(InputArray K, const Size& imsize) = 0;
+};
+
+/**
+ * Add an additional resource location that is search for meshes, textures and materials
+ *
+ * must be called before the first createWindow. If give path does not exist, retries inside
+ * Ogre Media Directory.
+ * @param path folder or Zip archive.
+ */
+CV_EXPORTS_W void addResourceLocation(const String& path);
+
+/**
+ * create a new rendering window/ viewport
+ * @param title window title
+ * @param size size of the window
+ * @param flags @see SceneSettings
+ */
+CV_EXPORTS_W Ptr<WindowScene> createWindow(const String& title, const Size& size,
+                                           int flags = SCENE_INTERACTIVE);
+
+/**
+ * update all windows
+ * @return true if this functian can be called again (i.e. continue rendering). false otherwise.
+ */
+CV_EXPORTS_W bool renderOneFrame();
+
+/**
+ * set the property of a material to the given value
+ * @param name material name
+ * @param prop property @ref MaterialProperty
+ * @param value the value
+ */
+CV_EXPORTS_W void setMaterialProperty(const String& name, int prop, const Scalar& value);
+
+/// @overload
+CV_EXPORTS_W void setMaterialProperty(const String& name, int prop, const String& value);
+
+/**
+ * create a 2D plane, X right, Y down, Z up
+ *
+ * creates a material and a texture with the same name
+ * @param name name of the mesh
+ * @param size size in world units
+ * @param image optional texture
+ */
+CV_EXPORTS_W void createPlaneMesh(const String& name, const Size2f& size, InputArray image = noArray());
+
+/**
+ * creates a point cloud mesh
+ *
+ * creates a material with the same name
+ * @param name name of the mesh
+ * @param vertices float vector of positions
+ * @param colors uchar vector of colors
+ */
+CV_EXPORTS_W void createPointCloudMesh(const String& name, InputArray vertices, InputArray colors = noArray());
+
+/**
+ * creates a grid
+ *
+ * creates a material with the same name
+ * @param name name of the mesh
+ * @param size extents of the grid
+ * @param segments number of segments per side
+ */
+CV_EXPORTS_W void createGridMesh(const String& name, const Size2f& size, const Size& segments = Size(1, 1));
+//! @}
+}
+}
+
+#endif