cv::ovis::WindowScene Class Reference

#include "ovis.hpp"

Public Member Functions
virtual	~WindowScene ()
virtual Rect2d	createCameraEntity (const String &name, InputArray K, const Size &imsize, float zFar, InputArray tvec=noArray(), InputArray rot=noArray())=0
virtual void	createEntity (const String &name, const String &meshname, InputArray tvec=noArray(), InputArray rot=noArray())=0
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
virtual void	fixCameraYawAxis (bool useFixed, InputArray up=noArray())=0
virtual void	getCameraPose (OutputArray R=noArray(), OutputArray tvec=noArray(), bool invert=false)=0
virtual void	getScreenshot (OutputArray frame)=0
virtual void	removeEntity (const String &name)=0
virtual void	setBackground (InputArray image)=0
virtual void	setBackground (const Scalar &color)=0
virtual void	setCameraIntrinsics (InputArray K, const Size &imsize)=0
virtual void	setCameraLookAt (const String &target, InputArray offset=noArray())=0
virtual void	setCameraPose (InputArray tvec=noArray(), InputArray rot=noArray(), bool invert=false)=0
virtual void	setEntityPose (const String &name, InputArray tvec=noArray(), InputArray rot=noArray(), bool invert=false)=0
virtual void	updateEntityPose (const String &name, InputArray tvec=noArray(), InputArray rot=noArray())=0

Detailed Description

A 3D viewport and the associated scene

Constructor & Destructor Documentation

~WindowScene()

virtual cv::ovis::WindowScene::~WindowScene ( )

virtual

Member Function Documentation

createCameraEntity()

virtual Rect2d cv::ovis::WindowScene::createCameraEntity ( const String &  name, InputArray  K, const Size &  imsize, float  zFar, InputArray  tvec = noArray(), InputArray  rot = noArray()  )

pure virtual

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.

Parameters

name	entity name
K	intrinsic matrix
imsize	image size
zFar	far plane in camera coordinates
rot	Rodrigues vector or 3x3 rotation matrix
tvec	translation

Returns

the extents of the Frustum at far plane, where the top left corner denotes the principal point offset

createEntity()

virtual void cv::ovis::WindowScene::createEntity ( const String &  name, const String &  meshname, InputArray  tvec = noArray(), InputArray  rot = noArray()  )

pure virtual

place an entity of an mesh in the scene

the mesh needs to be created beforehand. Either programmatically by e.g. createPointCloudMesh or by placing an Ogre .mesh file in a resource location.

See also

addResourceLocation

Parameters

name	entity name
meshname	mesh name
rot	Rodrigues vector or 3x3 rotation matrix
tvec	translation

createLightEntity()

virtual void cv::ovis::WindowScene::createLightEntity ( const String &  name, InputArray  tvec = noArray(), InputArray  rot = noArray(), const Scalar &  diffuseColor = Scalar::all(1), const Scalar &  specularColor = Scalar::all(1)  )

pure virtual

creates a point light in the scene

Parameters

name	entity name
rot	Rodrigues vector or 3x3 rotation matrix
tvec	translation
diffuseColor
specularColor

fixCameraYawAxis()

virtual void cv::ovis::WindowScene::fixCameraYawAxis ( bool  useFixed, InputArray  up = noArray()  )

pure virtual

convenience method to force the "up" axis to stay fixed

works with both programmatic changes and SCENE_INTERACTIVE

Parameters

useFixed	whether to enforce the fixed yaw axis
up	the axis to be fixed

getCameraPose()

virtual void cv::ovis::WindowScene::getCameraPose ( OutputArray  R = noArray(), OutputArray  tvec = noArray(), bool  invert = false  )

pure virtual

Retrieves the current camera pose

Parameters

R	3x3 rotation matrix
tvec	translation vector
invert	return the inverted pose

getScreenshot()

virtual void cv::ovis::WindowScene::getScreenshot ( OutputArray  frame )

pure virtual

read back the image generated by the last call to waitKey

removeEntity()

virtual void cv::ovis::WindowScene::removeEntity ( const String &  name )

pure virtual

remove an entity from the scene

Parameters

name	entity name

setBackground() [1/2]

virtual void cv::ovis::WindowScene::setBackground ( InputArray  image )

pure virtual

set window background to custom image

creates a texture named "<title>_Background"

Parameters

image

setBackground() [2/2]

virtual void cv::ovis::WindowScene::setBackground ( const Scalar &  color )

pure virtual

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

setCameraIntrinsics()

virtual void cv::ovis::WindowScene::setCameraIntrinsics ( InputArray  K, const Size &  imsize  )

pure virtual

set intrinsics of the camera

Parameters

K	intrinsic matrix
imsize	image size

setCameraLookAt()

virtual void cv::ovis::WindowScene::setCameraLookAt ( const String &  target, InputArray  offset = noArray()  )

pure virtual

convenience method to orient the camera to a specific entity

Parameters

target	entity name
offset	offset from entity centre

setCameraPose()

virtual void cv::ovis::WindowScene::setCameraPose ( InputArray  tvec = noArray(), InputArray  rot = noArray(), bool  invert = false  )

pure virtual

Sets the current camera pose

Parameters

rot	Rodrigues vector or 3x3 rotation matrix
tvec	translation
invert	use the inverse of the given pose

setEntityPose()

virtual void cv::ovis::WindowScene::setEntityPose ( const String &  name, InputArray  tvec = noArray(), InputArray  rot = noArray(), bool  invert = false  )

pure virtual

set entity pose in the world coordinate space.

Parameters

name	enitity name
rot	Rodrigues vector or 3x3 rotation matrix
tvec	translation
invert	use the inverse of the given pose

updateEntityPose()

virtual void cv::ovis::WindowScene::updateEntityPose ( const String &  name, InputArray  tvec = noArray(), InputArray  rot = noArray()  )

pure virtual

update entity pose by transformation in the parent coordinate space. (pre-rotation)

Parameters

name	entity name
rot	Rodrigues vector or 3x3 rotation matrix
tvec	translation

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The documentation for this class was generated from the following file:

• /build/master-contrib_docs-lin64/opencv_contrib/modules/ovis/include/opencv2/ovis.hpp