ovis: Camera - allow manually setting zNear and zFar

modules/ovis/include/opencv2/ovis.hpp

@@ -204,10 +204,16 @@ public:
 
     /**
      * set intrinsics of the camera
-     * @param K intrinsic matrix
+     *
+     * @param K intrinsic matrix or noArray(). If noArray() is specified, imsize
+     * is ignored and zNear/ zFar can be set separately.
      * @param imsize image size
+     * @param zNear near clip distance or -1 to keep the current
+     * @param zFar  far clip distance or -1 to keep the current
      */
-    CV_WRAP virtual void setCameraIntrinsics(InputArray K, const Size& imsize) = 0;
+    CV_WRAP virtual void setCameraIntrinsics(InputArray K, const Size& imsize,
+                                             float zNear = -1,
+                                             float zFar = -1) = 0;
 };
 
 /**

modules/ovis/src/ovis.cpp

@@ -641,10 +641,13 @@ public:
         }
     }
 
-    void setCameraIntrinsics(InputArray K, const Size& imsize)
+    void setCameraIntrinsics(InputArray K, const Size& imsize, float zNear, float zFar)
     {
         Camera* cam = sceneMgr->getCamera(title);
-        _setCameraIntrinsics(cam, K, imsize);
+
+        if(zNear >= 0) cam->setNearClipDistance(zNear);
+        if(zFar >= 0) cam->setFarClipDistance(zFar);
+        if(!K.empty()) _setCameraIntrinsics(cam, K, imsize);
     }
 
     void setCameraLookAt(const String& target, InputArray offset)