Merge pull request #1539 from paroj:ovisup

modules/ovis/include/opencv2/ovis.hpp

@@ -49,11 +49,18 @@ public:
      */
     CV_WRAP virtual void setBackground(InputArray image) = 0;
 
+    /// @overload
+    CV_WRAP_AS(setBackgroundColor) virtual void setBackground(const Scalar& color) = 0;
+
     /**
      * place an entity of an mesh in the scene
+     *
+     * the mesh needs to be created beforehand. Either programmatically
+     * by e.g. @ref createPointCloudMesh or by placing an Ogre .mesh file in a resource location.
+     * @see addResourceLocation
      * @param name entity name
      * @param meshname mesh name
-     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param rot @ref Rodrigues vector or 3x3 rotation matrix
      * @param tvec translation
      */
     CV_WRAP virtual void createEntity(const String& name, const String& meshname,
@@ -67,7 +74,7 @@ public:
      * @param K intrinsic matrix
      * @param imsize image size
      * @param zFar far plane in camera coordinates
-     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param rot @ref 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
@@ -79,7 +86,7 @@ public:
     /**
      * creates a point light in the scene
      * @param name entity name
-     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param rot @ref Rodrigues vector or 3x3 rotation matrix
      * @param tvec translation
      * @param diffuseColor
      * @param specularColor
@@ -92,7 +99,7 @@ public:
     /**
      * 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 rot @ref Rodrigues vector or 3x3 rotation matrix
      * @param tvec translation
      */
     CV_WRAP virtual void updateEntityPose(const String& name, InputArray tvec = noArray(),
@@ -101,7 +108,7 @@ public:
     /**
      * set entity pose in the world coordinate space.
      * @param name enitity name
-     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param rot @ref Rodrigues vector or 3x3 rotation matrix
      * @param tvec translation
      * @param invert use the inverse of the given pose
      */
@@ -109,7 +116,7 @@ public:
                                        InputArray rot = noArray(), bool invert = false) = 0;
 
     /**
-     * read back image of last call to @ref renderOneFrame
+     * read back the image generated by the last call to @ref waitKey
      */
     CV_WRAP virtual void getScreenshot(OutputArray frame) = 0;
 
@@ -124,7 +131,7 @@ public:
 
     /**
      * Sets the current camera pose
-     * @param rot Rodrigues vector or 3x3 rotation matrix
+     * @param rot @ref Rodrigues vector or 3x3 rotation matrix
      * @param tvec translation
      * @param invert use the inverse of the given pose
      */
@@ -168,21 +175,24 @@ 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
+ * @param flags a combination of @ref 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.
+ * update all windows and wait for keyboard event
+ *
+ * @param delay 0 is the special value that means "forever".
+ *        Any positive number returns after sync to blank (typically 16ms).
+ * @return the code of the pressed key or -1 if no key was pressed
  */
-CV_EXPORTS_W bool renderOneFrame();
+CV_EXPORTS_W int waitKey(int delay = 0);
 
 /**
  * set the property of a material to the given value
  * @param name material name
- * @param prop property @ref MaterialProperty
+ * @param prop @ref MaterialProperty
  * @param value the value
  */
 CV_EXPORTS_W void setMaterialProperty(const String& name, int prop, const Scalar& value);

modules/ovis/samples/aruco_ar_demo.py

@@ -13,6 +13,7 @@ K = cv.getDefaultNewCameraMatrix(np.diag([800, 800, 1]), imsize, True)
 cv.ovis.addResourceLocation("packs/Sinbad.zip") # shipped with Ogre
 
 win = cv.ovis.createWindow("arucoAR", imsize, flags=0)
+win.setCameraIntrinsics(K, imsize)
 win.createEntity("figure", "Sinbad.mesh", (0, 0, -5), (-1.57, 0, 0))
 win.createLightEntity("sun", (0, 0, -100))
 
@@ -21,7 +22,7 @@ cap = cv.VideoCapture(0)
 cap.set(cv.CAP_PROP_FRAME_WIDTH, imsize[0])
 cap.set(cv.CAP_PROP_FRAME_HEIGHT, imsize[1])
 
-while cv.ovis.renderOneFrame():
+while cv.ovis.waitKey(1) != 27:
     img = cap.read()[1]
     win.setBackground(img)
     corners, ids = cv.aruco.detectMarkers(img, adict)[:2]

modules/ovis/samples/ovis_demo.py

@@ -23,6 +23,6 @@ iwin.createEntity("figure", "Sinbad.mesh", (0, -5, 0))
 iwin.createLightEntity("sun", (0, 0, -100))
 iwin.setCameraIntrinsics(K, imsize)
 
-while cv.ovis.renderOneFrame():
+while cv.ovis.waitKey(1) != 27:
     R, t = iwin.getCameraPose()
     owin.setEntityPose("cam", t, R)

modules/ovis/src/ovis.cpp

@@ -136,17 +136,18 @@ static SceneNode* _getSceneNode(SceneManager* sceneMgr, const String& name)
     return mo->getParentSceneNode();
 }
 
-struct Application : public OgreBites::ApplicationContext
+struct Application : public OgreBites::ApplicationContext, public OgreBites::InputListener
 {
     Ptr<LogManager> logMgr;
     Ogre::SceneManager* sceneMgr;
     Ogre::String title;
     uint32_t w;
     uint32_t h;
+    int key_pressed;
 
     Application(const Ogre::String& _title, const Size& sz)
         : OgreBites::ApplicationContext("ovis", false), sceneMgr(NULL), title(_title), w(sz.width),
-          h(sz.height)
+          h(sz.height), key_pressed(-1)
     {
         logMgr.reset(new LogManager());
         logMgr->createLog("ovis.log", true, true, true);
@@ -158,6 +159,12 @@ struct Application : public OgreBites::ApplicationContext
         // empty impl to show cursor
     }
 
+    bool keyPressed(const OgreBites::KeyboardEvent& evt)
+    {
+        key_pressed = evt.keysym.sym;
+        return true;
+    }
+
     bool oneTimeConfig()
     {
         Ogre::RenderSystem* rs = getRoot()->getRenderSystemByName(RENDERSYSTEM_NAME);
@@ -179,7 +186,11 @@ struct Application : public OgreBites::ApplicationContext
         miscParams["FSAA"] = "4";
         miscParams["vsync"] = "true";
 
-        return OgreBites::ApplicationContext::createWindow(_name, _w, _h, miscParams);
+        OgreBites::NativeWindowPair ret =
+            OgreBites::ApplicationContext::createWindow(_name, _w, _h, miscParams);
+        addInputListener(ret.native, this); // handle input for all windows
+
+        return ret;
     }
 
     void locateResources()
@@ -212,7 +223,7 @@ struct Application : public OgreBites::ApplicationContext
     }
 };
 
-class WindowSceneImpl : public WindowScene, public OgreBites::InputListener
+class WindowSceneImpl : public WindowScene
 {
     String title;
     Root* root;
@@ -266,8 +277,6 @@ public:
         {
             app->sceneMgr = sceneMgr;
             rWin = app->getRenderWindow();
-            app->addInputListener(this);
-
             if (camman)
                 app->addInputListener(camman.get());
         }
@@ -277,8 +286,6 @@ public:
             rWin = nwin.render;
             if (camman)
                 app->addInputListener(nwin.native, camman.get());
-
-            app->addInputListener(nwin.native, this);
         }
 
         rWin->addViewport(cam);
@@ -300,6 +307,12 @@ public:
         rpass->getTextureUnitStates()[0]->setTextureName(name);
     }
 
+    void setBackground(const Scalar& color)
+    {
+        Mat img(1, 1, CV_8UC3, color);
+        setBackground(img);
+    }
+
     void createEntity(const String& name, const String& meshname, InputArray tvec, InputArray rot)
     {
         Entity* ent = sceneMgr->createEntity(name, meshname, RESOURCEGROUP_NAME);
@@ -415,14 +428,6 @@ public:
         rWin->copyContentsToMemory(pb, pb);
     }
 
-    bool keyPressed(const OgreBites::KeyboardEvent& evt)
-    {
-        if (evt.keysym.sym == SDLK_ESCAPE)
-            root->queueEndRendering();
-
-        return true;
-    }
-
     void fixCameraYawAxis(bool useFixed, InputArray _up)
     {
         Vector3 up = Vector3::UNIT_Y;
@@ -521,12 +526,18 @@ Ptr<WindowScene> createWindow(const String& title, const Size& size, int flags)
     return makePtr<WindowSceneImpl>(_app, title, size, flags);
 }
 
-CV_EXPORTS_W bool renderOneFrame()
+CV_EXPORTS_W int waitKey(int delay)
 {
     CV_Assert(_app);
 
+    _app->key_pressed = -1;
     _app->getRoot()->renderOneFrame();
-    return not _app->getRoot()->endRenderingQueued();
+
+    // wait for keypress, using vsync instead of sleep
+    while(!delay && _app->key_pressed == -1)
+        _app->getRoot()->renderOneFrame();
+
+    return (_app->key_pressed != -1) ? (_app->key_pressed & 0xff) : -1;
 }
 
 void setMaterialProperty(const String& name, int prop, const Scalar& val)