Merge pull request #2694 from paroj:ovisup

modules/ovis/include/opencv2/ovis.hpp

@@ -146,19 +146,20 @@ public:
     /**
      * 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 @ref Rodrigues vector or 3x3 rotation matrix
      * @param tvec translation
+     * @param color line color
      * @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;
+                                              InputArray rot = noArray(),
+                                              const Scalar& color = Scalar::all(1)) = 0;
 
     /**
      * creates a point light in the scene

modules/ovis/src/ovis.cpp

@@ -547,14 +547,9 @@ public:
     }
 
     Rect2d createCameraEntity(const String& name, InputArray K, const Size& imsize, float zFar,
-                              InputArray tvec, InputArray rot) CV_OVERRIDE
+                              InputArray tvec, InputArray rot, const Scalar& color) CV_OVERRIDE
     {
-        MaterialPtr mat = MaterialManager::getSingleton().create(name, RESOURCEGROUP_NAME);
-        Pass* rpass = mat->getTechniques()[0]->getPasses()[0];
-        rpass->setEmissive(ColourValue::White);
-
         Camera* cam = sceneMgr->createCamera(name);
-        cam->setMaterial(mat);
 
         cam->setVisible(true);
         cam->setDebugDisplayEnabled(true);
@@ -563,6 +558,15 @@ public:
 
         _setCameraIntrinsics(cam, K, imsize);
 
+#if OGRE_VERSION < ((1 << 16) | (12 << 8) | 9)
+        MaterialPtr mat = MaterialManager::getSingleton().create(name, RESOURCEGROUP_NAME);
+        Pass* rpass = mat->getTechniques()[0]->getPasses()[0];
+        rpass->setEmissive(convertColor(color));
+        cam->setMaterial(mat);
+#else
+        cam->setDebugColour(convertColor(color));
+#endif
+
         Quaternion q;
         Vector3 t;
         _convertRT(rot, tvec, q, t);
@@ -698,14 +702,6 @@ public:
         MaterialPtr mat = MaterialManager::getSingleton().getByName(value, RESOURCEGROUP_NAME);
         CV_Assert(mat && "material not found");
 
-        Camera* cam = dynamic_cast<Camera*>(node.getAttachedObject(name));
-        if(cam)
-        {
-            CV_Assert(subEntityIdx == -1 && "Camera Entities do not have SubEntities");
-            cam->setMaterial(mat);
-            return;
-        }
-
         Entity* ent = dynamic_cast<Entity*>(node.getAttachedObject(name));
         CV_Assert(ent && "invalid entity");