Class cv::ovis::WindowScene#

#include <opencv2/ovis.hpp>

Collaboration diagram for cv::ovis::WindowScene:

Detailed Description#

A 3D viewport and the associated scene

Constructor & Destructor Documentation#

~WindowScene()#

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

Member Function Documentation#

createCameraEntity()#

Rect2d cv::ovis::WindowScene::createCameraEntity(
const String & name,
InputArray K,
const Size & imsize,
float zFar,
InputArray tvec = noArray(),
InputArray rot = noArray(),
const Scalar & color = Scalar::all(1) )

convenience method to visualize a camera position

Parameters

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

Returns

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

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createEntity()#

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

place an entity of a mesh in the scene

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

createLightEntity()#

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) )

creates a point light in the scene

Parameters

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

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fixCameraYawAxis()#

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

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

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getCameraPose()#

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

Retrieves the current camera pose

Parameters

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

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getCompositorTexture()#

void cv::ovis::WindowScene::getCompositorTexture(
const String & compname,
const String & texname,
OutputArray out,
int mrtIndex = 0 )

read back the texture of an active compositor

Parameters

compname — name of the compositor
texname — name of the texture inside the compositor
mrtIndex — if texture is a MRT, specifies the attachment
out — the texture contents

getDepth()#

void cv::ovis::WindowScene::getDepth(OutputArray depth)

get the depth for the current frame.

return the per pixel distance to the camera in world units

getEntityAnimations()#

void cv::ovis::WindowScene::getEntityAnimations(
const String & name,
std::vector< String > & out )

get a list of available entity animations

Parameters

name — entity name
out — the animation names

getEntityPose()#

void cv::ovis::WindowScene::getEntityPose(
const String & name,
OutputArray R = noArray(),
OutputArray tvec = noArray(),
bool invert = false )

Retrieves the current pose of an entity

Parameters

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

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getEntityProperty()#

void cv::ovis::WindowScene::getEntityProperty(
const String & name,
int prop,
OutputArray value )

get the property of an entity

Parameters

name — entity name
prop — EntityProperty
value — the value

getScreenshot()#

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

read back the image generated by the last call to waitKey

playEntityAnimation()#

void cv::ovis::WindowScene::playEntityAnimation(
const String & name,
const String & animname,
bool loop = true )

play entity animation

removeEntity()#

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

remove an entity from the scene

Parameters

name — entity name

setBackground()#

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

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

setBackground()#

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

set window background to custom image/ color

Parameters

image

setCameraIntrinsics()#

void cv::ovis::WindowScene::setCameraIntrinsics(
InputArray K,
const Size & imsize,
float zNear = -1,
float zFar = -1 )

set intrinsics of the camera

Parameters

K — intrinsic matrix or noArray(). If noArray() is specified, imsize is ignored and zNear/ zFar can be set separately.
imsize — image size
zNear — near clip distance or -1 to keep the current
zFar — far clip distance or -1 to keep the current

setCameraLookAt()#

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

convenience method to orient the camera to a specific entity

Parameters

target — entity name
offset — offset from entity centre

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setCameraPose()#

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

Sets the current camera pose

Parameters

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

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setCompositors()#

void cv::ovis::WindowScene::setCompositors(const std::vector< String > & names)

enable an ordered chain of full-screen post processing effects

this way you can add distortion or SSAO effects. The effects themselves must be defined inside Ogre .compositor scripts.

setEntityLookAt()#

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

convenience method to orient an entity to a specific entity. If target is an empty string the entity looks at the given offset point

Parameters

origin — entity to make look at
target — name of target entity
offset — offset from entity centre

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setEntityPose()#

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

set entity pose in the world coordinate space.

Parameters

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

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setEntityProperty()#

void cv::ovis::WindowScene::setEntityProperty(
const String & name,
int prop,
const Scalar & value )

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

setEntityProperty()#

void cv::ovis::WindowScene::setEntityProperty(
const String & name,
int prop,
const String & value,
int subEntityIdx = -1 )

set the property of an entity to the given value

Parameters

name — entity name
prop — EntityProperty
value — the value
subEntityIdx — index of the sub-entity (default: all)

stopEntityAnimation()#

void cv::ovis::WindowScene::stopEntityAnimation(
const String & name,
const String & animname )

stop entity animation

Parameters

name — enitity name
animname — animation name

update()#

void cv::ovis::WindowScene::update()

render this window, but do not swap buffers. Automatically called by ovis::waitKey

updateEntityPose()#

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

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

Parameters

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

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Source file#

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

opencv2/ovis.hpp