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

Author: alalek

modules/ovis/include/opencv2/ovis.hpp

@@ -45,7 +45,8 @@ enum EntityProperty
 {
     ENTITY_MATERIAL,
     ENTITY_SCALE,
-    ENTITY_AABB_WORLD
+    ENTITY_AABB_WORLD,
+    ENTITY_ANIMBLEND_MODE
 };
 
 /**
@@ -77,7 +78,7 @@ class CV_EXPORTS_W WindowScene {
     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 @@ class CV_EXPORTS_W WindowScene {
     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
      */

modules/ovis/samples/ovis_demo.cpp

@@ -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;
 }

modules/ovis/samples/ovis_demo.py

@@ -14,12 +14,17 @@
 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)
 

modules/ovis/src/ovis.cpp

@@ -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 @@ class WindowSceneImpl : public WindowScene
         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 @@ class WindowSceneImpl : public WindowScene
         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 @@ class WindowSceneImpl : public WindowScene
 
     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