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Merge pull request #2160 from dnandha:ovis-add-animation

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pull/2169/head
Alexander Alekhin 6 years ago
parent 8acc8aaf1d 6810e6c894
commit f0d30f2ccb
4 changed files with 109 additions and 11 deletions
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  1. 29
      modules/ovis/include/opencv2/ovis.hpp
  2. 12
      modules/ovis/samples/ovis_demo.cpp
  3. 9
      modules/ovis/samples/ovis_demo.py
  4. 70
      modules/ovis/src/ovis.cpp

29
modules/ovis/include/opencv2/ovis.hpp
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@ -45,7 +45,8 @@ enum EntityProperty
{
ENTITY_MATERIAL,
ENTITY_SCALE,
ENTITY_AABB_WORLD
ENTITY_AABB_WORLD,
ENTITY_ANIMBLEND_MODE
};
/**
@ -77,7 +78,7 @@ public:
CV_WRAP virtual void setCompositors(const std::vector<String>& names) = 0;
/**
* place an entity of an mesh in the scene
* place an entity of a 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.
@ -164,6 +165,30 @@ public:
CV_WRAP virtual void setEntityPose(const String& name, InputArray tvec = noArray(),
InputArray rot = noArray(), bool invert = false) = 0;
/**
* get a list of available entity animations
* @param name entity name
* @param out the animation names
*/
CV_WRAP virtual void getEntityAnimations(const String& name, std::vector<String>& out) = 0;
/**
* play entity animation
* @param name entity name
* @param animname animation name
* @param loop enable or disable animation loop
* @see getEntityAnimations
*/
CV_WRAP virtual void playEntityAnimation(const String& name, const String& animname,
bool loop = true) = 0;
/**
* stop entity animation
* @param name enitity name
* @param animname animation name
*/
CV_WRAP virtual void stopEntityAnimation(const String& name, const String& animname) = 0;
/**
* read back the image generated by the last call to @ref waitKey
*/

12
modules/ovis/samples/ovis_demo.cpp
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@ -2,7 +2,6 @@
#include <opencv2/videoio.hpp>
#include <opencv2/ovis.hpp>
#include <opencv2/aruco.hpp>
#include <iostream>
@ -35,12 +34,17 @@ int main()
ovis::createGridMesh("ground", Size2i(10, 10), Size2i(10, 10));
owin->createEntity("ground", "ground", Vec3f(1.57, 0, 0));
owin->createCameraEntity("cam", K, imsize, 5);
owin->createEntity("figure", "Sinbad.mesh", Vec3i(0, 0, 5), Vec3f(CV_PI/2.0, 0.0, 0.0)); // externally defined mesh
owin->createEntity("sinbad", "Sinbad.mesh", Vec3i(0, 0, 5), Vec3f(CV_PI/2.0, 0.0, 0.0)); // externally defined mesh
owin->createLightEntity("sun", Vec3i(0, 0, -100));
// setup and play idle animation
owin->setEntityProperty("sinbad", ovis::EntityProperty::ENTITY_ANIMBLEND_MODE, Scalar(1)); // 1 = cumulative
owin->playEntityAnimation("sinbad", "IdleBase");
owin->playEntityAnimation("sinbad", "IdleTop");
//interaction scene
Ptr<ovis::WindowScene> iwin = ovis::createWindow(String("AR"), imsize, ovis::SCENE_SEPERATE | ovis::SCENE_INTERACTIVE);
iwin->createEntity("figure", "Sinbad.mesh", Vec3i(0, -5, 0), Vec3f(CV_PI, 0.0, 0.0));
iwin->createEntity("sinbad", "Sinbad.mesh", Vec3i(0, -5, 0), Vec3f(CV_PI, 0.0, 0.0));
iwin->createLightEntity("sun", Vec3i(0, 0, -100));
iwin->setCameraIntrinsics(K, imsize);
@ -50,5 +54,5 @@ int main()
owin->setEntityPose("cam", t, R);
}
return 0;
return 1;
}

9
modules/ovis/samples/ovis_demo.py
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@ -14,12 +14,17 @@ 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", tvec=(0, -5, 0), rot=(np.pi, 0, 0)) # externally defined mesh
owin.createEntity("sinbad", "Sinbad.mesh", tvec=(0, -5, 0), rot=(np.pi, 0, 0)) # externally defined mesh
owin.createLightEntity("sun", (0, 0, -100))
# setup and play idle animation
owin.setEntityProperty("sinbad", cv.ovis.ENTITY_ANIMBLEND_MODE, 1) # 1 = cumulative
owin.playEntityAnimation("sinbad", "IdleBase")
owin.playEntityAnimation("sinbad", "IdleTop")
# interaction scene
iwin = cv.ovis.createWindow("AR", imsize, cv.ovis.SCENE_SEPERATE | cv.ovis.SCENE_INTERACTIVE)
iwin.createEntity("figure", "Sinbad.mesh", tvec=(0, -5, 0), rot=(np.pi, 0, 0))
iwin.createEntity("sinbad", "Sinbad.mesh", tvec=(0, -5, 0), rot=(np.pi, 0, 0))
iwin.createLightEntity("sun", (0, 0, -100))
iwin.setCameraIntrinsics(K, imsize)

70
modules/ovis/src/ovis.cpp
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@ -277,6 +277,7 @@ class WindowSceneImpl : public WindowScene
RenderWindow* rWin;
Ptr<OgreBites::CameraMan> camman;
Ptr<Rectangle2D> bgplane;
std::unordered_map<String, Controller<Real>*> frameCtrlrs;
Ogre::RenderTarget* depthRTT;
int flags;
@ -495,7 +496,8 @@ public:
node->attachObject(ent);
}
void removeEntity(const String& name) CV_OVERRIDE {
void removeEntity(const String& name) CV_OVERRIDE
{
SceneNode& node = _getSceneNode(sceneMgr, name);
node.getAttachedObject(name)->detachFromParent();
@ -576,6 +578,52 @@ public:
node.setPosition(t);
}
void getEntityAnimations(const String& name, std::vector<String>& out) CV_OVERRIDE
{
SceneNode& node = _getSceneNode(sceneMgr, name);
Entity* ent = dynamic_cast<Entity*>(node.getAttachedObject(name));
CV_Assert(ent && "invalid entity");
for (auto const& anim : ent->getAllAnimationStates()->getAnimationStates())
{
out.push_back(anim.first);
}
}
void playEntityAnimation(const String& name, const String& animname, bool loop = true) CV_OVERRIDE
{
SceneNode& node = _getSceneNode(sceneMgr, name);
Entity* ent = dynamic_cast<Entity*>(node.getAttachedObject(name));
CV_Assert(ent && "invalid entity");
AnimationState* animstate = ent->getAnimationState(animname);
animstate->setTimePosition(0);
animstate->setEnabled(true);
animstate->setLoop(loop);
if (frameCtrlrs.find(animname) != frameCtrlrs.end()) return;
frameCtrlrs.insert({
animname,
Ogre::ControllerManager::getSingleton().createFrameTimePassthroughController(
Ogre::AnimationStateControllerValue::create(animstate, true)
)
});
}
void stopEntityAnimation(const String& name, const String& animname) CV_OVERRIDE
{
SceneNode& node = _getSceneNode(sceneMgr, name);
Entity* ent = dynamic_cast<Entity*>(node.getAttachedObject(name));
CV_Assert(ent && "invalid entity");
AnimationState* animstate = ent->getAnimationState(animname);
if (!animstate->getEnabled()) return;
animstate->setEnabled(false);
animstate->setTimePosition(0);
Ogre::ControllerManager::getSingleton().destroyController(frameCtrlrs[animname]);
frameCtrlrs.erase(animname);
}
void setEntityProperty(const String& name, int prop, const String& value) CV_OVERRIDE
{
CV_Assert(prop == ENTITY_MATERIAL);
@ -598,9 +646,25 @@ public:
void setEntityProperty(const String& name, int prop, const Scalar& value) CV_OVERRIDE
{
CV_Assert(prop == ENTITY_SCALE);
SceneNode& node = _getSceneNode(sceneMgr, name);
node.setScale(value[0], value[1], value[2]);
switch(prop)
{
case ENTITY_SCALE:
{
node.setScale(value[0], value[1], value[2]);
break;
}
case ENTITY_ANIMBLEND_MODE:
{
Entity* ent = dynamic_cast<Entity*>(node.getAttachedObject(name));
CV_Assert(ent && "invalid entity");
ent->getSkeleton()->setBlendMode(static_cast<Ogre::SkeletonAnimationBlendMode>(value[0]));
break;
}
default:
CV_Error(Error::StsBadArg, "unsupported property");
}
}
void getEntityProperty(const String& name, int prop, OutputArray value) CV_OVERRIDE

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