ovis: make sure entities are oriented by the OpenCV CS conventions

modules/ovis/samples/ovis_demo.py

@@ -7,19 +7,19 @@ cv.ovis.addResourceLocation("packs/Sinbad.zip")
 # camera intrinsics
 imsize = (800, 600)
 K = np.diag([800, 800, 1])
-K[:2, 2] = (400, 100) # offset pp
+K[:2, 2] = (400, 500) # offset pp
 
 # observer scene
 owin = cv.ovis.createWindow("VR", imsize)
 cv.ovis.createGridMesh("ground", (10, 10), (10, 10))
 owin.createEntity("ground", "ground", rot=(1.57, 0, 0))
 owin.createCameraEntity("cam", K, imsize, 5)
-owin.createEntity("figure", "Sinbad.mesh", (0, -5, 0))  # externally defined mesh
+owin.createEntity("figure", "Sinbad.mesh", tvec=(0, -5, 0), rot=(np.pi, 0, 0))  # externally defined mesh
 owin.createLightEntity("sun", (0, 0, -100))
 
 # interaction scene
 iwin = cv.ovis.createWindow("AR", imsize, cv.ovis.SCENE_SEPERATE | cv.ovis.SCENE_INTERACTIVE)
-iwin.createEntity("figure", "Sinbad.mesh", (0, -5, 0))
+iwin.createEntity("figure", "Sinbad.mesh", tvec=(0, -5, 0), rot=(np.pi, 0, 0))
 iwin.createLightEntity("sun", (0, 0, -100))
 iwin.setCameraIntrinsics(K, imsize)
 

modules/ovis/src/ovis.cpp

@@ -49,12 +49,14 @@ void _createTexture(const String& name, Mat image)
 }
 
 static void _convertRT(InputArray rot, InputArray tvec, Quaternion& q, Vector3& t,
-                       bool invert = false)
+                       bool invert = false, bool init = false)
 {
     CV_Assert(rot.empty() || rot.rows() == 3 || rot.size() == Size(3, 3),
               tvec.empty() || tvec.rows() == 3);
 
-    q = Quaternion::IDENTITY;
+    // make sure the entity is oriented by the OpenCV coordinate conventions
+    // when initialised
+    q = init ? Quaternion(toOGRE) : Quaternion::IDENTITY;
     t = Vector3::ZERO;
 
     if (!rot.empty())
@@ -346,7 +348,7 @@ public:
 
         Quaternion q;
         Vector3 t;
-        _convertRT(rot, tvec, q, t);
+        _convertRT(rot, tvec, q, t, false, true);
         SceneNode* node = sceneMgr->getRootSceneNode()->createChildSceneNode(t, q);
         node->attachObject(ent);
     }
@@ -377,7 +379,7 @@ public:
 
         Quaternion q;
         Vector3 t;
-        _convertRT(rot, tvec, q, t);
+        _convertRT(rot, tvec, q, t, false, true);
         SceneNode* node = sceneMgr->getRootSceneNode()->createChildSceneNode(t, q);
         node->attachObject(cam);
 
@@ -400,7 +402,7 @@ public:
 
         Quaternion q;
         Vector3 t;
-        _convertRT(rot, tvec, q, t);
+        _convertRT(rot, tvec, q, t, false, true);
         SceneNode* node = sceneMgr->getRootSceneNode()->createChildSceneNode(t, q);
         node->attachObject(light);
     }
@@ -420,7 +422,7 @@ public:
         SceneNode& node = _getSceneNode(sceneMgr, name);
         Quaternion q;
         Vector3 t;
-        _convertRT(rot, tvec, q, t, invert);
+        _convertRT(rot, tvec, q, t, invert, true);
         node.setOrientation(q);
         node.setPosition(t);
     }
@@ -488,7 +490,7 @@ public:
         SceneNode* node = cam->getParentSceneNode();
         Quaternion q;
         Vector3 t;
-        _convertRT(rot, tvec, q, t, invert);
+        _convertRT(rot, tvec, q, t, invert, true);
 
         if (!rot.empty())
             node->setOrientation(q);