#include <opencv2/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(), const Scalar &color=Scalar::all(1))=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	getCompositorTexture (const String &compname, const String &texname, OutputArray out, int mrtIndex=0)=0

virtual void	getDepth (OutputArray depth)=0

virtual void	getEntityAnimations (const String &name, std::vector< String > &out)=0

virtual void	getEntityPose (const String &name, OutputArray R=noArray(), OutputArray tvec=noArray(), bool invert=false)=0

virtual void	getEntityProperty (const String &name, int prop, OutputArray value)=0

virtual void	getScreenshot (OutputArray frame)=0

virtual void	playEntityAnimation (const String &name, const String &animname, bool loop=true)=0

virtual void	removeEntity (const String &name)=0

virtual void	setBackground (const Scalar &color)=0
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

virtual void	setBackground (InputArray image)=0

virtual void	setCameraIntrinsics (InputArray K, const Size &imsize, float zNear=-1, float zFar=-1)=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	setCompositors (const std::vector< String > &names)=0

virtual void	setEntityLookAt (const String &origin, const String &target, InputArray offset=noArray())=0

virtual void	setEntityPose (const String &name, InputArray tvec=noArray(), InputArray rot=noArray(), bool invert=false)=0

virtual void	setEntityProperty (const String &name, int prop, const Scalar &value)=0
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

virtual void	setEntityProperty (const String &name, int prop, const String &value, int subEntityIdx=-1)=0

virtual void	stopEntityAnimation (const String &name, const String &animname)=0

virtual void	update ()=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()`,
		const Scalar &	color = `Scalar::all(1)`
	)

pure virtual

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

◆ 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 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.

Parameters

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

See also: addResourceLocation

◆ 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
tvec	translation
rot	Rodrigues vector or 3x3 rotation matrix
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

◆ getCompositorTexture()

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

pure virtual

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()

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

pure virtual

get the depth for the current frame.

return the per pixel distance to the camera in world units

◆ getEntityAnimations()

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

pure virtual

get a list of available entity animations

Parameters

name	entity name
out	the animation names

◆ getEntityPose()

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

pure virtual

Retrieves the current pose of an entity

Parameters

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

◆ getEntityProperty()

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

pure virtual

get the property of an entity

Parameters

name	entity name
prop	EntityProperty
value	the value

◆ getScreenshot()

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

pure virtual

read back the image generated by the last call to waitKey

◆ playEntityAnimation()

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

pure virtual

play entity animation

Parameters

name	entity name
animname	animation name
loop	enable or disable animation loop

See also: getEntityAnimations

◆ 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 ( 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.

◆ setBackground() [2/2]

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

pure virtual

set window background to custom image/ color

Parameters

image

◆ setCameraIntrinsics()

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

pure virtual

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()

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

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

◆ setCompositors()

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

pure virtual

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.

Parameters

names compositor names that will be applied in order of appearance

See also: addResourceLocation

◆ setEntityLookAt()

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

pure virtual

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

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

◆ setEntityProperty() [1/2]

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

pure virtual

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

◆ setEntityProperty() [2/2]

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

pure virtual

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()

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

pure virtual

stop entity animation

Parameters

name	enitity name
animname	animation name

◆ update()

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

pure virtual

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

◆ 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
tvec	translation
rot	Rodrigues vector or 3x3 rotation matrix

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

opencv2/ovis.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~WindowScene()

Member Function Documentation

◆ createCameraEntity()

◆ createEntity()

◆ createLightEntity()

◆ fixCameraYawAxis()

◆ getCameraPose()

◆ getCompositorTexture()

◆ getDepth()

◆ getEntityAnimations()

◆ getEntityPose()

◆ getEntityProperty()

◆ getScreenshot()

◆ playEntityAnimation()

◆ removeEntity()

◆ setBackground() [1/2]

◆ setBackground() [2/2]

◆ setCameraIntrinsics()

◆ setCameraLookAt()

◆ setCameraPose()

◆ setCompositors()

◆ setEntityLookAt()

◆ setEntityPose()

◆ setEntityProperty() [1/2]

◆ setEntityProperty() [2/2]

◆ stopEntityAnimation()

◆ update()

◆ updateEntityPose()