Anatoly Baksheev
commit
07d55b05b3
BIN
doc/tutorials/viz/images/window_demo.png
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BIN
doc/tutorials/viz/images/window_demo.png
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118
doc/tutorials/viz/viz.rst
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118
doc/tutorials/viz/viz.rst
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@ -0,0 +1,118 @@
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.. _viz:
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Launching Viz
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*************
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Goal
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====
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In this tutorial you will learn how to
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.. container:: enumeratevisibleitemswithsquare
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* Open a visualization window.
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* Access a window by its name.
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* Start event loop.
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* Start event loop for a given amount of time.
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Code
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====
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You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/launching_viz.cpp>`_.
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.. code-block:: cpp
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#include <opencv2/viz.hpp>
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#include <iostream>
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using namespace cv;
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using namespace std;
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/**
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* @function main
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*/
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int main()
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{
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/// Create a window
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viz::Viz3d myWindow("Viz Demo");
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/// Start event loop
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myWindow.spin();
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/// Event loop is over when pressed q, Q, e, E
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cout << "First event loop is over" << endl;
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/// Access window via its name
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viz::Viz3d sameWindow = viz::get("Viz Demo");
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/// Start event loop
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sameWindow.spin();
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/// Event loop is over when pressed q, Q, e, E
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cout << "Second event loop is over" << endl;
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/// Event loop is over when pressed q, Q, e, E
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/// Start event loop once for 1 millisecond
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sameWindow.spinOnce(1, true);
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while(!sameWindow.wasStopped())
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{
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/// Interact with window
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/// Event loop for 1 millisecond
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sameWindow.spinOnce(1, true);
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}
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/// Once more event loop is stopped
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cout << "Last event loop is over" << endl;
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return 0;
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}
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Explanation
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===========
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Here is the general structure of the program:
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* Create a window.
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.. code-block:: cpp
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/// Create a window
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viz::Viz3d myWindow("Viz Demo");
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* Start event loop. This event loop will run until user terminates it by pressing **e**, **E**, **q**, **Q**.
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.. code-block:: cpp
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/// Start event loop
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myWindow.spin();
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* Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly the same with **myWindow**. If the name does not exist, a new window is created.
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.. code-block:: cpp
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/// Access window via its name
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viz::Viz3d sameWindow = viz::get("Viz Demo");
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* Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping. Inside the while loop, user can execute other statements including those which interact with the window.
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.. code-block:: cpp
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/// Event loop is over when pressed q, Q, e, E
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/// Start event loop once for 1 millisecond
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sameWindow.spinOnce(1, true);
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while(!sameWindow.wasStopped())
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{
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/// Interact with window
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/// Event loop for 1 millisecond
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sameWindow.spinOnce(1, true);
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}
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Results
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=======
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Here is the result of the program.
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.. image:: images/window_demo.png
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:alt: Launching Viz
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:align: center
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@ -49,4 +49,3 @@ if(BUILD_opencv_viz)
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target_link_libraries(opencv_viz "-framework Cocoa")
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endif()
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endif()
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9
modules/viz/doc/viz.rst
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9
modules/viz/doc/viz.rst
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***********************
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viz. 3D Visualizer
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***********************
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.. toctree::
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:maxdepth: 2
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viz3d.rst
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widget.rst
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556
modules/viz/doc/viz3d.rst
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556
modules/viz/doc/viz3d.rst
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Viz3d
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=====
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.. highlight:: cpp
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Viz3d
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-----
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.. ocv:class:: Viz3d
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The Viz3d class represents a 3D visualizer window. This class is implicitly shared. ::
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class CV_EXPORTS Viz3d
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{
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public:
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typedef cv::Ptr<Viz3d> Ptr;
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typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
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typedef void (*MouseCallback)(const MouseEvent&, void*);
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Viz3d(const String& window_name = String());
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Viz3d(const Viz3d&);
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Viz3d& operator=(const Viz3d&);
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~Viz3d();
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void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
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void removeWidget(const String &id);
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Widget getWidget(const String &id) const;
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void removeAllWidgets();
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void setWidgetPose(const String &id, const Affine3f &pose);
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void updateWidgetPose(const String &id, const Affine3f &pose);
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Affine3f getWidgetPose(const String &id) const;
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void setCamera(const Camera &camera);
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Camera getCamera() const;
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Affine3f getViewerPose();
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void setViewerPose(const Affine3f &pose);
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void resetCameraViewpoint (const String &id);
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void resetCamera();
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void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
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void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
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Size getWindowSize() const;
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void setWindowSize(const Size &window_size);
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String getWindowName() const;
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void saveScreenshot (const String &file);
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void setWindowPosition (int x, int y);
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void setFullScreen (bool mode);
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void setBackgroundColor(const Color& color = Color::black());
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void spin();
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void spinOnce(int time = 1, bool force_redraw = false);
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bool wasStopped() const;
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void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
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void registerMouseCallback(MouseCallback callback, void* cookie = 0);
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void setRenderingProperty(const String &id, int property, double value);
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double getRenderingProperty(const String &id, int property);
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void setDesiredUpdateRate(double rate);
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double getDesiredUpdateRate();
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void setRepresentationToSurface();
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void setRepresentationToWireframe();
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void setRepresentationToPoints();
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private:
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/* hidden */
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};
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Viz3d::Viz3d
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------------
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The constructors.
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.. ocv:function:: Viz3d::Viz3d(const String& window_name = String())
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:param window_name: Name of the window.
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Viz3d::showWidget
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-----------------
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Shows a widget in the window.
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.. ocv:function:: void Viz3d::showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity())
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:param id: A unique id for the widget.
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:param widget: The widget to be rendered in the window.
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:param pose: Pose of the widget.
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Viz3d::removeWidget
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-------------------
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Removes a widget from the window.
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.. ocv:function:: void removeWidget(const String &id)
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:param id: The id of the widget that will be removed.
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Viz3d::getWidget
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----------------
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Retrieves a widget from the window. A widget is implicitly shared;
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that is, if the returned widget is modified, the changes will be
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immediately visible in the window.
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.. ocv:function:: Widget getWidget(const String &id) const
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:param id: The id of the widget that will be returned.
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Viz3d::removeAllWidgets
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-----------------------
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Removes all widgets from the window.
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.. ocv:function:: void removeAllWidgets()
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Viz3d::setWidgetPose
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--------------------
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Sets pose of a widget in the window.
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.. ocv:function:: void setWidgetPose(const String &id, const Affine3f &pose)
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:param id: The id of the widget whose pose will be set.
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:param pose: The new pose of the widget.
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Viz3d::updateWidgetPose
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-----------------------
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Updates pose of a widget in the window by pre-multiplying its current pose.
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.. ocv:function:: void updateWidgetPose(const String &id, const Affine3f &pose)
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:param id: The id of the widget whose pose will be updated.
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:param pose: The pose that the current pose of the widget will be pre-multiplied by.
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Viz3d::getWidgetPose
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--------------------
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Returns the current pose of a widget in the window.
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.. ocv:function:: Affine3f getWidgetPose(const String &id) const
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:param id: The id of the widget whose pose will be returned.
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Viz3d::setCamera
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----------------
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Sets the intrinsic parameters of the viewer using Camera.
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.. ocv:function:: void setCamera(const Camera &camera)
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:param camera: Camera object wrapping intrinsinc parameters.
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Viz3d::getCamera
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----------------
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Returns a camera object that contains intrinsic parameters of the current viewer.
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.. ocv:function:: Camera getCamera() const
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Viz3d::getViewerPose
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--------------------
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Returns the current pose of the viewer.
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..ocv:function:: Affine3f getViewerPose()
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Viz3d::setViewerPose
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--------------------
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Sets pose of the viewer.
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.. ocv:function:: void setViewerPose(const Affine3f &pose)
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:param pose: The new pose of the viewer.
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Viz3d::resetCameraViewpoint
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---------------------------
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Resets camera viewpoint to a 3D widget in the scene.
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.. ocv:function:: void resetCameraViewpoint (const String &id)
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:param pose: Id of a 3D widget.
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Viz3d::resetCamera
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------------------
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Resets camera.
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.. ocv:function:: void resetCamera()
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Viz3d::convertToWindowCoordinates
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---------------------------------
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Transforms a point in world coordinate system to window coordinate system.
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.. ocv:function:: void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord)
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:param pt: Point in world coordinate system.
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:param window_coord: Output point in window coordinate system.
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Viz3d::converTo3DRay
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--------------------
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Transforms a point in window coordinate system to a 3D ray in world coordinate system.
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.. ocv:function:: void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
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:param window_coord: Point in window coordinate system.
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:param origin: Output origin of the ray.
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:param direction: Output direction of the ray.
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Viz3d::getWindowSize
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--------------------
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Returns the current size of the window.
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.. ocv:function:: Size getWindowSize() const
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Viz3d::setWindowSize
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--------------------
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Sets the size of the window.
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.. ocv:function:: void setWindowSize(const Size &window_size)
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:param window_size: New size of the window.
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Viz3d::getWindowName
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--------------------
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Returns the name of the window which has been set in the constructor.
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.. ocv:function:: String getWindowName() const
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Viz3d::saveScreenshot
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---------------------
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Saves screenshot of the current scene.
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.. ocv:function:: void saveScreenshot(const String &file)
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:param file: Name of the file.
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Viz3d::setWindowPosition
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------------------------
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Sets the position of the window in the screen.
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.. ocv:function:: void setWindowPosition(int x, int y)
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:param x: x coordinate of the window
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:param y: y coordinate of the window
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Viz3d::setFullScreen
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--------------------
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Sets or unsets full-screen rendering mode.
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.. ocv:function:: void setFullScreen(bool mode)
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:param mode: If true, window will use full-screen mode.
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Viz3d::setBackgroundColor
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-------------------------
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Sets background color.
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.. ocv:function:: void setBackgroundColor(const Color& color = Color::black())
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Viz3d::spin
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-----------
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The window renders and starts the event loop.
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.. ocv:function:: void spin()
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Viz3d::spinOnce
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---------------
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Starts the event loop for a given time.
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.. ocv:function:: void spinOnce(int time = 1, bool force_redraw = false)
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:param time: Amount of time in milliseconds for the event loop to keep running.
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:param force_draw: If true, window renders.
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Viz3d::wasStopped
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-----------------
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Returns whether the event loop has been stopped.
|
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.. ocv:function:: bool wasStopped()
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Viz3d::registerKeyboardCallback
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-------------------------------
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Sets keyboard handler.
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.. ocv:function:: void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0)
|
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|
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:param callback: Keyboard callback.
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:param cookie: The optional parameter passed to the callback.
|
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Viz3d::registerMouseCallback
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----------------------------
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Sets mouse handler.
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.. ocv:function:: void registerMouseCallback(MouseCallback callback, void* cookie = 0)
|
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|
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:param callback: Mouse callback.
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:param cookie: The optional parameter passed to the callback.
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|
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Viz3d::setRenderingProperty
|
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---------------------------
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Sets rendering property of a widget.
|
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|
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.. ocv:function:: void setRenderingProperty(const String &id, int property, double value)
|
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|
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:param id: Id of the widget.
|
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:param property: Property that will be modified.
|
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:param value: The new value of the property.
|
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|
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Viz3d::getRenderingProperty
|
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---------------------------
|
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Returns rendering property of a widget.
|
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|
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.. ocv:function:: double getRenderingProperty(const String &id, int property)
|
||||
|
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:param id: Id of the widget.
|
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:param property: Property.
|
||||
|
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Viz3d::setDesiredUpdateRate
|
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---------------------------
|
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Sets desired update rate of the window.
|
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|
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.. ocv:function:: void setDesiredUpdateRate(double rate)
|
||||
|
||||
:param rate: Desired update rate. The default is 30.
|
||||
|
||||
Viz3d::getDesiredUpdateRate
|
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---------------------------
|
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Returns desired update rate of the window.
|
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|
||||
.. ocv:function:: double getDesiredUpdateRate()
|
||||
|
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Viz3d::setRepresentationToSurface
|
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---------------------------------
|
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Sets geometry representation of the widgets to surface.
|
||||
|
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.. ocv:function:: void setRepresentationToSurface()
|
||||
|
||||
Viz3d::setRepresentationToWireframe
|
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-----------------------------------
|
||||
Sets geometry representation of the widgets to wireframe.
|
||||
|
||||
.. ocv:function:: void setRepresentationToWireframe()
|
||||
|
||||
Viz3d::setRepresentationToPoints
|
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--------------------------------
|
||||
Sets geometry representation of the widgets to points.
|
||||
|
||||
.. ocv:function:: void setRepresentationToPoints()
|
||||
|
||||
Color
|
||||
-----
|
||||
.. ocv:class:: Color
|
||||
|
||||
This class a represents BGR color. ::
|
||||
|
||||
class CV_EXPORTS Color : public Scalar
|
||||
{
|
||||
public:
|
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Color();
|
||||
Color(double gray);
|
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Color(double blue, double green, double red);
|
||||
|
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Color(const Scalar& color);
|
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|
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static Color black();
|
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static Color blue();
|
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static Color green();
|
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static Color cyan();
|
||||
|
||||
static Color red();
|
||||
static Color magenta();
|
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static Color yellow();
|
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static Color white();
|
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|
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static Color gray();
|
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};
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||||
|
||||
Mesh3d
|
||||
------
|
||||
.. ocv:class:: Mesh3d
|
||||
|
||||
This class wraps mesh attributes, and it can load a mesh from a ``ply`` file. ::
|
||||
|
||||
class CV_EXPORTS Mesh3d
|
||||
{
|
||||
public:
|
||||
|
||||
Mat cloud, colors;
|
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Mat polygons;
|
||||
|
||||
//! Loads mesh from a given ply file
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static Mesh3d loadMesh(const String& file);
|
||||
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
Mesh3d::loadMesh
|
||||
----------------
|
||||
Loads a mesh from a ``ply`` file.
|
||||
|
||||
.. ocv:function:: static Mesh3d loadMesh(const String& file)
|
||||
|
||||
:param file: File name.
|
||||
|
||||
|
||||
KeyboardEvent
|
||||
-------------
|
||||
.. ocv:class:: KeyboardEvent
|
||||
|
||||
This class represents a keyboard event. ::
|
||||
|
||||
class CV_EXPORTS KeyboardEvent
|
||||
{
|
||||
public:
|
||||
static const unsigned int Alt = 1;
|
||||
static const unsigned int Ctrl = 2;
|
||||
static const unsigned int Shift = 4;
|
||||
|
||||
//! Create a keyboard event
|
||||
//! - Note that action is true if key is pressed, false if released
|
||||
KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift);
|
||||
|
||||
bool isAltPressed () const;
|
||||
bool isCtrlPressed () const;
|
||||
bool isShiftPressed () const;
|
||||
|
||||
unsigned char getKeyCode () const;
|
||||
|
||||
const String& getKeySym () const;
|
||||
bool keyDown () const;
|
||||
bool keyUp () const;
|
||||
|
||||
protected:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
KeyboardEvent::KeyboardEvent
|
||||
----------------------------
|
||||
Constructs a KeyboardEvent.
|
||||
|
||||
.. ocv:function:: KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift)
|
||||
|
||||
:param action: If true, key is pressed. If false, key is released.
|
||||
:param key_sym: Name of the key.
|
||||
:param key: Code of the key.
|
||||
:param alt: If true, ``alt`` is pressed.
|
||||
:param ctrl: If true, ``ctrl`` is pressed.
|
||||
:param shift: If true, ``shift`` is pressed.
|
||||
|
||||
MouseEvent
|
||||
----------
|
||||
.. ocv:class:: MouseEvent
|
||||
|
||||
This class represents a mouse event. ::
|
||||
|
||||
class CV_EXPORTS MouseEvent
|
||||
{
|
||||
public:
|
||||
enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ;
|
||||
enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ;
|
||||
|
||||
MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift);
|
||||
|
||||
Type type;
|
||||
MouseButton button;
|
||||
Point pointer;
|
||||
unsigned int key_state;
|
||||
};
|
||||
|
||||
MouseEvent::MouseEvent
|
||||
----------------------
|
||||
Constructs a MouseEvent.
|
||||
|
||||
.. ocv:function:: MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift)
|
||||
|
||||
:param type: Type of the event. This can be **MouseMove**, **MouseButtonPress**, **MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**.
|
||||
:param button: Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**, **RightButton**, **VScroll**.
|
||||
:param p: Position of the event.
|
||||
:param alt: If true, ``alt`` is pressed.
|
||||
:param ctrl: If true, ``ctrl`` is pressed.
|
||||
:param shift: If true, ``shift`` is pressed.
|
||||
|
||||
Camera
|
||||
------
|
||||
.. ocv:class:: Camera
|
||||
|
||||
This class wraps intrinsic parameters of a camera. It provides several constructors
|
||||
that can extract the intrinsic parameters from ``field of view``, ``intrinsic matrix`` and
|
||||
``projection matrix``. ::
|
||||
|
||||
class CV_EXPORTS Camera
|
||||
{
|
||||
public:
|
||||
Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size);
|
||||
Camera(const Vec2f &fov, const Size &window_size);
|
||||
Camera(const cv::Matx33f &K, const Size &window_size);
|
||||
Camera(const cv::Matx44f &proj, const Size &window_size);
|
||||
|
||||
inline const Vec2d & getClip() const { return clip_; }
|
||||
inline void setClip(const Vec2d &clip) { clip_ = clip; }
|
||||
|
||||
inline const Size & getWindowSize() const { return window_size_; }
|
||||
void setWindowSize(const Size &window_size);
|
||||
|
||||
inline const Vec2f & getFov() const { return fov_; }
|
||||
inline void setFov(const Vec2f & fov) { fov_ = fov; }
|
||||
|
||||
inline const Vec2f & getPrincipalPoint() const { return principal_point_; }
|
||||
inline const Vec2f & getFocalLength() const { return focal_; }
|
||||
|
||||
void computeProjectionMatrix(Matx44f &proj) const;
|
||||
|
||||
static Camera KinectCamera(const Size &window_size);
|
||||
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
Camera::Camera
|
||||
--------------
|
||||
Constructs a Camera.
|
||||
|
||||
.. ocv:function:: Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size)
|
||||
|
||||
:param f_x: Horizontal focal length.
|
||||
:param f_y: Vertical focal length.
|
||||
:param c_x: x coordinate of the principal point.
|
||||
:param c_y: y coordinate of the principal point.
|
||||
:param window_size: Size of the window. This together with focal length and principal point determines the field of view.
|
||||
|
||||
.. ocv:function:: Camera(const Vec2f &fov, const Size &window_size)
|
||||
|
||||
:param fov: Field of view (horizontal, vertical)
|
||||
:param window_size: Size of the window.
|
||||
|
||||
Principal point is at the center of the window by default.
|
||||
|
||||
.. ocv:function:: Camera(const cv::Matx33f &K, const Size &window_size)
|
||||
|
||||
:param K: Intrinsic matrix of the camera.
|
||||
:param window_size: Size of the window. This together with intrinsic matrix determines the field of view.
|
||||
|
||||
.. ocv:function:: Camera(const cv::Matx44f &proj, const Size &window_size)
|
||||
|
||||
:param proj: Projection matrix of the camera.
|
||||
:param window_size: Size of the window. This together with projection matrix determines the field of view.
|
||||
|
||||
Camera::computeProjectionMatrix
|
||||
-------------------------------
|
||||
Computes projection matrix using intrinsic parameters of the camera.
|
||||
|
||||
.. ocv:function:: void computeProjectionMatrix(Matx44f &proj) const
|
||||
|
||||
:param proj: Output projection matrix.
|
||||
|
||||
Camera::KinectCamera
|
||||
--------------------
|
||||
Creates a Kinect Camera.
|
||||
|
||||
.. ocv:function:: static Camera KinectCamera(const Size &window_size)
|
||||
|
||||
:param window_size: Size of the window. This together with intrinsic matrix of a Kinect Camera determines the field of view.
|
||||
|
||||
823
modules/viz/doc/widget.rst
Normal file
823
modules/viz/doc/widget.rst
Normal file
@ -0,0 +1,823 @@
|
||||
Widget
|
||||
======
|
||||
|
||||
.. highlight:: cpp
|
||||
|
||||
In this section, the built-in widgets are presented.
|
||||
|
||||
Widget
|
||||
------
|
||||
.. ocv:class:: Widget
|
||||
|
||||
Base class of all widgets. Widget is implicitly shared.::
|
||||
|
||||
class CV_EXPORTS Widget
|
||||
{
|
||||
public:
|
||||
Widget();
|
||||
Widget(const Widget& other);
|
||||
Widget& operator=(const Widget& other);
|
||||
~Widget();
|
||||
|
||||
//! Create a widget directly from ply file
|
||||
static Widget fromPlyFile(const String &file_name);
|
||||
|
||||
//! Rendering properties of this particular widget
|
||||
void setRenderingProperty(int property, double value);
|
||||
double getRenderingProperty(int property) const;
|
||||
|
||||
//! Casting between widgets
|
||||
template<typename _W> _W cast();
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
Widget::fromPlyFile
|
||||
-------------------
|
||||
Creates a widget from ply file.
|
||||
|
||||
.. ocv:function:: static Widget fromPlyFile(const String &file_name)
|
||||
|
||||
:param file_name: Ply file name.
|
||||
|
||||
Widget::setRenderingProperty
|
||||
----------------------------
|
||||
Sets rendering property of the widget.
|
||||
|
||||
.. ocv:function:: void setRenderingProperty(int property, double value)
|
||||
|
||||
:param property: Property that will be modified.
|
||||
:param value: The new value of the property.
|
||||
|
||||
Widget::getRenderingProperty
|
||||
----------------------------
|
||||
Returns rendering property of the widget.
|
||||
|
||||
.. ocv:function:: double getRenderingProperty(int property) const
|
||||
|
||||
:param property: Property.
|
||||
|
||||
Widget::cast
|
||||
------------
|
||||
Casts a widget to another.
|
||||
|
||||
.. ocv:function:: template<typename _W> _W cast()
|
||||
|
||||
WidgetAccessor
|
||||
--------------
|
||||
.. ocv:class:: WidgetAccessor
|
||||
|
||||
This class is for users who want to develop their own widgets using VTK library API. ::
|
||||
|
||||
struct CV_EXPORTS WidgetAccessor
|
||||
{
|
||||
static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
|
||||
static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
|
||||
};
|
||||
|
||||
Widget3D
|
||||
--------
|
||||
.. ocv:class:: Widget3D
|
||||
|
||||
Base class of all 3D widgets. ::
|
||||
|
||||
class CV_EXPORTS Widget3D : public Widget
|
||||
{
|
||||
public:
|
||||
Widget3D() {}
|
||||
|
||||
void setPose(const Affine3f &pose);
|
||||
void updatePose(const Affine3f &pose);
|
||||
Affine3f getPose() const;
|
||||
|
||||
void setColor(const Color &color);
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
Widget3D::setPose
|
||||
-----------------
|
||||
Sets pose of the widget.
|
||||
|
||||
.. ocv:function:: void setPose(const Affine3f &pose)
|
||||
|
||||
:param pose: The new pose of the widget.
|
||||
|
||||
Widget3D::updateWidgetPose
|
||||
--------------------------
|
||||
Updates pose of the widget by pre-multiplying its current pose.
|
||||
|
||||
.. ocv:function:: void updateWidgetPose(const Affine3f &pose)
|
||||
|
||||
:param pose: The pose that the current pose of the widget will be pre-multiplied by.
|
||||
|
||||
Widget3D::getPose
|
||||
-----------------
|
||||
Returns the current pose of the widget.
|
||||
|
||||
.. ocv:function:: Affine3f getWidgetPose() const
|
||||
|
||||
Widget3D::setColor
|
||||
------------------
|
||||
Sets the color of the widget.
|
||||
|
||||
.. ocv:function:: void setColor(const Color &color)
|
||||
|
||||
:param color: Color
|
||||
|
||||
Widget2D
|
||||
--------
|
||||
.. ocv:class:: Widget2D
|
||||
|
||||
Base class of all 2D widgets. ::
|
||||
|
||||
class CV_EXPORTS Widget2D : public Widget
|
||||
{
|
||||
public:
|
||||
Widget2D() {}
|
||||
|
||||
void setColor(const Color &color);
|
||||
};
|
||||
|
||||
Widget2D::setColor
|
||||
------------------
|
||||
Sets the color of the widget.
|
||||
|
||||
.. ocv:function:: void setColor(const Color &color)
|
||||
|
||||
:param color: Color
|
||||
|
||||
LineWidget
|
||||
----------
|
||||
.. ocv:class:: LineWidget
|
||||
|
||||
This 3D Widget defines a finite line. ::
|
||||
|
||||
class CV_EXPORTS LineWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
|
||||
};
|
||||
|
||||
LineWidget::LineWidget
|
||||
----------------------
|
||||
Constructs a LineWidget.
|
||||
|
||||
.. ocv:function:: LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white())
|
||||
|
||||
:param pt1: Start point of the line.
|
||||
:param pt2: End point of the line.
|
||||
:param color: Color of the line.
|
||||
|
||||
PlaneWidget
|
||||
-----------
|
||||
.. ocv:class:: PlaneWidget
|
||||
|
||||
This 3D Widget defines a finite plane. ::
|
||||
|
||||
class CV_EXPORTS PlaneWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
|
||||
PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
PlaneWidget::PlaneWidget
|
||||
------------------------
|
||||
Constructs a PlaneWidget.
|
||||
|
||||
.. ocv:function:: PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white())
|
||||
|
||||
:param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
|
||||
:param size: Size of the plane.
|
||||
:param color: Color of the plane.
|
||||
|
||||
.. ocv:function:: PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white())
|
||||
|
||||
:param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
|
||||
:param pt: Position of the plane.
|
||||
:param color: Color of the plane.
|
||||
|
||||
SphereWidget
|
||||
------------
|
||||
.. ocv:class:: SphereWidget
|
||||
|
||||
This 3D Widget defines a sphere. ::
|
||||
|
||||
class CV_EXPORTS SphereWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
SphereWidget(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white())
|
||||
};
|
||||
|
||||
SphereWidget::SphereWidget
|
||||
--------------------------
|
||||
Constructs a SphereWidget.
|
||||
|
||||
.. ocv:function:: SphereWidget(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white())
|
||||
|
||||
:param center: Center of the sphere.
|
||||
:param radius: Radius of the sphere.
|
||||
:param sphere_resolution: Resolution of the sphere.
|
||||
:param color: Color of the sphere.
|
||||
|
||||
ArrowWidget
|
||||
-----------
|
||||
.. ocv:class:: ArrowWidget
|
||||
|
||||
This 3D Widget defines an arrow. ::
|
||||
|
||||
class CV_EXPORTS ArrowWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
|
||||
};
|
||||
|
||||
ArrowWidget::ArrowWidget
|
||||
------------------------
|
||||
Constructs an ArrowWidget.
|
||||
|
||||
.. ocv:function:: ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white())
|
||||
|
||||
:param pt1: Start point of the arrow.
|
||||
:param pt2: End point of the arrow.
|
||||
:param thickness: Thickness of the arrow. Thickness of arrow head is also adjusted accordingly.
|
||||
:param color: Color of the arrow.
|
||||
|
||||
Arrow head is located at the end point of the arrow.
|
||||
|
||||
CircleWidget
|
||||
------------
|
||||
.. ocv:class:: CircleWidget
|
||||
|
||||
This 3D Widget defines a circle. ::
|
||||
|
||||
class CV_EXPORTS CircleWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
|
||||
};
|
||||
|
||||
CircleWidget::CircleWidget
|
||||
--------------------------
|
||||
Constructs a CircleWidget.
|
||||
|
||||
.. ocv:function:: CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white())
|
||||
|
||||
:param pt: Center of the circle.
|
||||
:param radius: Radius of the circle.
|
||||
:param thickness: Thickness of the circle.
|
||||
:param color: Color of the circle.
|
||||
|
||||
CylinderWidget
|
||||
--------------
|
||||
.. ocv:class:: CylinderWidget
|
||||
|
||||
This 3D Widget defines a cylinder. ::
|
||||
|
||||
class CV_EXPORTS CylinderWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
|
||||
};
|
||||
|
||||
CylinderWidget::CylinderWidget
|
||||
------------------------------
|
||||
Constructs a CylinderWidget.
|
||||
|
||||
.. ocv:function:: CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white())
|
||||
|
||||
:param pt_on_axis: A point on the axis of the cylinder.
|
||||
:param axis_direction: Direction of the axis of the cylinder.
|
||||
:param radius: Radius of the cylinder.
|
||||
:param numsides: Resolution of the cylinder.
|
||||
:param color: Color of the cylinder.
|
||||
|
||||
CubeWidget
|
||||
----------
|
||||
.. ocv:class:: CubeWidget
|
||||
|
||||
This 3D Widget defines a cube. ::
|
||||
|
||||
class CV_EXPORTS CubeWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
|
||||
};
|
||||
|
||||
CubeWidget::CubeWidget
|
||||
----------------------
|
||||
Constructs a CudeWidget.
|
||||
|
||||
.. ocv:function:: CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white())
|
||||
|
||||
:param pt_min: Specifies minimum point of the bounding box.
|
||||
:param pt_max: Specifies maximum point of the bounding box.
|
||||
:param wire_frame: If true, cube is represented as wireframe.
|
||||
:param color: Color of the cube.
|
||||
|
||||
CoordinateSystemWidget
|
||||
----------------------
|
||||
.. ocv:class:: CoordinateSystemWidget
|
||||
|
||||
This 3D Widget represents a coordinate system. ::
|
||||
|
||||
class CV_EXPORTS CoordinateSystemWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
CoordinateSystemWidget(double scale = 1.0);
|
||||
};
|
||||
|
||||
CoordinateSystemWidget::CoordinateSystemWidget
|
||||
----------------------------------------------
|
||||
Constructs a CoordinateSystemWidget.
|
||||
|
||||
.. ocv:function:: CoordinateSystemWidget(double scale = 1.0)
|
||||
|
||||
:param scale: Determines the size of the axes.
|
||||
|
||||
PolyLineWidget
|
||||
--------------
|
||||
.. ocv:class:: PolyLineWidget
|
||||
|
||||
This 3D Widget defines a poly line. ::
|
||||
|
||||
class CV_EXPORTS PolyLineWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
PolyLineWidget(InputArray points, const Color &color = Color::white());
|
||||
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
PolyLineWidget::PolyLineWidget
|
||||
------------------------------
|
||||
Constructs a PolyLineWidget.
|
||||
|
||||
.. ocv:function:: PolyLineWidget(InputArray points, const Color &color = Color::white())
|
||||
|
||||
:param points: Point set.
|
||||
:param color: Color of the poly line.
|
||||
|
||||
GridWidget
|
||||
----------
|
||||
.. ocv:class:: GridWidget
|
||||
|
||||
This 3D Widget defines a grid. ::
|
||||
|
||||
class CV_EXPORTS GridWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
//! Creates grid at the origin
|
||||
GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
|
||||
//! Creates grid based on the plane equation
|
||||
GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
GridWidget::GridWidget
|
||||
----------------------
|
||||
Constructs a GridWidget.
|
||||
|
||||
.. ocv:function:: GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
|
||||
|
||||
:param dimensions: Number of columns and rows, respectively.
|
||||
:param spacing: Size of each column and row, respectively.
|
||||
:param color: Color of the grid.
|
||||
|
||||
.. ocv:function: GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
|
||||
|
||||
:param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
|
||||
:param dimensions: Number of columns and rows, respectively.
|
||||
:param spacing: Size of each column and row, respectively.
|
||||
:param color: Color of the grid.
|
||||
|
||||
Text3DWidget
|
||||
------------
|
||||
.. ocv:class:: Text3DWidget
|
||||
|
||||
This 3D Widget represents 3D text. The text always faces the camera. ::
|
||||
|
||||
class CV_EXPORTS Text3DWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white());
|
||||
|
||||
void setText(const String &text);
|
||||
String getText() const;
|
||||
};
|
||||
|
||||
Text3DWidget::Text3DWidget
|
||||
--------------------------
|
||||
Constructs a Text3DWidget.
|
||||
|
||||
.. ocv:function:: Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white())
|
||||
|
||||
:param text: Text content of the widget.
|
||||
:param position: Position of the text.
|
||||
:param text_scale: Size of the text.
|
||||
:param color: Color of the text.
|
||||
|
||||
Text3DWidget::setText
|
||||
---------------------
|
||||
Sets the text content of the widget.
|
||||
|
||||
.. ocv:function:: void setText(const String &text)
|
||||
|
||||
:param text: Text content of the widget.
|
||||
|
||||
Text3DWidget::getText
|
||||
---------------------
|
||||
Returns the current text content of the widget.
|
||||
|
||||
.. ocv:function:: String getText() const
|
||||
|
||||
TextWidget
|
||||
----------
|
||||
.. ocv:class:: TextWidget
|
||||
|
||||
This 2D Widget represents text overlay. ::
|
||||
|
||||
class CV_EXPORTS TextWidget : public Widget2D
|
||||
{
|
||||
public:
|
||||
TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
|
||||
|
||||
void setText(const String &text);
|
||||
String getText() const;
|
||||
};
|
||||
|
||||
TextWidget::TextWidget
|
||||
----------------------
|
||||
Constructs a TextWidget.
|
||||
|
||||
.. ocv:function:: TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white())
|
||||
|
||||
:param text: Text content of the widget.
|
||||
:param pos: Position of the text.
|
||||
:param font_size: Font size.
|
||||
:param color: Color of the text.
|
||||
|
||||
TextWidget::setText
|
||||
---------------------
|
||||
Sets the text content of the widget.
|
||||
|
||||
.. ocv:function:: void setText(const String &text)
|
||||
|
||||
:param text: Text content of the widget.
|
||||
|
||||
TextWidget::getText
|
||||
---------------------
|
||||
Returns the current text content of the widget.
|
||||
|
||||
.. ocv:function:: String getText() const
|
||||
|
||||
ImageOverlayWidget
|
||||
------------------
|
||||
.. ocv:class:: ImageOverlayWidget
|
||||
|
||||
This 2D Widget represents an image overlay. ::
|
||||
|
||||
class CV_EXPORTS ImageOverlayWidget : public Widget2D
|
||||
{
|
||||
public:
|
||||
ImageOverlayWidget(const Mat &image, const Rect &rect);
|
||||
|
||||
void setImage(const Mat &image);
|
||||
};
|
||||
|
||||
ImageOverlayWidget::ImageOverlayWidget
|
||||
--------------------------------------
|
||||
Constructs a ImageOverlayWidget.
|
||||
|
||||
.. ocv:function:: ImageOverlayWidget(const Mat &image, const Rect &rect)
|
||||
|
||||
:param image: BGR or Gray-Scale image.
|
||||
:param rect: Image is scaled and positioned based on rect.
|
||||
|
||||
ImageOverlayWidget::setImage
|
||||
----------------------------
|
||||
Sets the image content of the widget.
|
||||
|
||||
.. ocv:function:: void setImage(const Mat &image)
|
||||
|
||||
:param image: BGR or Gray-Scale image.
|
||||
|
||||
Image3DWidget
|
||||
-------------
|
||||
.. ocv:class:: Image3DWidget
|
||||
|
||||
This 3D Widget represents 3D image. ::
|
||||
|
||||
class CV_EXPORTS Image3DWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
//! Creates 3D image at the origin
|
||||
Image3DWidget(const Mat &image, const Size &size);
|
||||
//! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
|
||||
Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
|
||||
|
||||
void setImage(const Mat &image);
|
||||
};
|
||||
|
||||
Image3DWidget::Image3DWidget
|
||||
----------------------------
|
||||
Constructs a Image3DWidget.
|
||||
|
||||
.. ocv:function:: Image3DWidget(const Mat &image, const Size &size)
|
||||
|
||||
:param image: BGR or Gray-Scale image.
|
||||
:param size: Size of the image.
|
||||
|
||||
.. ocv:function:: Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size)
|
||||
|
||||
:param position: Position of the image.
|
||||
:param normal: Normal of the plane that represents the image.
|
||||
:param up_vector: Determines orientation of the image.
|
||||
:param image: BGR or Gray-Scale image.
|
||||
:param size: Size of the image.
|
||||
|
||||
Image3DWidget::setImage
|
||||
-----------------------
|
||||
Sets the image content of the widget.
|
||||
|
||||
.. ocv:function:: void setImage(const Mat &image)
|
||||
|
||||
:param image: BGR or Gray-Scale image.
|
||||
|
||||
CameraPositionWidget
|
||||
--------------------
|
||||
.. ocv:class:: CameraPositionWidget
|
||||
|
||||
This 3D Widget represents camera position. ::
|
||||
|
||||
class CV_EXPORTS CameraPositionWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
//! Creates camera coordinate frame (axes) at the origin
|
||||
CameraPositionWidget(double scale = 1.0);
|
||||
//! Creates frustum based on the intrinsic marix K at the origin
|
||||
CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
|
||||
//! Creates frustum based on the field of view at the origin
|
||||
CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
|
||||
//! Creates frustum and display given image at the far plane
|
||||
CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
|
||||
};
|
||||
|
||||
CameraPositionWidget::CameraPositionWidget
|
||||
------------------------------------------
|
||||
Constructs a CameraPositionWidget.
|
||||
|
||||
.. ocv:function:: CameraPositionWidget(double scale = 1.0)
|
||||
|
||||
Creates camera coordinate frame at the origin.
|
||||
|
||||
.. ocv:function:: CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white())
|
||||
|
||||
:param K: Intrinsic matrix of the camera.
|
||||
:param scale: Scale of the frustum.
|
||||
:param color: Color of the frustum.
|
||||
|
||||
Creates viewing frustum of the camera based on its intrinsic matrix K.
|
||||
|
||||
.. ocv:function:: CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white())
|
||||
|
||||
:param fov: Field of view of the camera (horizontal, vertical).
|
||||
:param scale: Scale of the frustum.
|
||||
:param color: Color of the frustum.
|
||||
|
||||
Creates viewing frustum of the camera based on its field of view fov.
|
||||
|
||||
.. ocv:function:: CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white())
|
||||
|
||||
:param K: Intrinsic matrix of the camera.
|
||||
:param img: BGR or Gray-Scale image that is going to be displayed at the far plane of the frustum.
|
||||
:param scale: Scale of the frustum and image.
|
||||
:param color: Color of the frustum.
|
||||
|
||||
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
|
||||
|
||||
TrajectoryWidget
|
||||
----------------
|
||||
.. ocv:class:: TrajectoryWidget
|
||||
|
||||
This 3D Widget represents a trajectory. ::
|
||||
|
||||
class CV_EXPORTS TrajectoryWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
|
||||
|
||||
//! Displays trajectory of the given path either by coordinate frames or polyline
|
||||
TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
|
||||
//! Displays trajectory of the given path by frustums
|
||||
TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
|
||||
//! Displays trajectory of the given path by frustums
|
||||
TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
|
||||
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
TrajectoryWidget::TrajectoryWidget
|
||||
----------------------------------
|
||||
Constructs a TrajectoryWidget.
|
||||
|
||||
.. ocv:function:: TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0)
|
||||
|
||||
:param path: List of poses on a trajectory.
|
||||
:param display_mode: Display mode. This can be DISPLAY_PATH, DISPLAY_FRAMES, DISPLAY_PATH & DISPLAY_FRAMES.
|
||||
:param color: Color of the polyline that represents path. Frames are not affected.
|
||||
:param scale: Scale of the frames. Polyline is not affected.
|
||||
|
||||
Displays trajectory of the given path as follows:
|
||||
|
||||
* DISPLAY_PATH : Displays a poly line that represents the path.
|
||||
* DISPLAY_FRAMES : Displays coordinate frames at each pose.
|
||||
* DISPLAY_PATH & DISPLAY_FRAMES : Displays both poly line and coordinate frames.
|
||||
|
||||
.. ocv:function:: TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white())
|
||||
|
||||
:param path: List of poses on a trajectory.
|
||||
:param K: Intrinsic matrix of the camera.
|
||||
:param scale: Scale of the frustums.
|
||||
:param color: Color of the frustums.
|
||||
|
||||
Displays frustums at each pose of the trajectory.
|
||||
|
||||
.. ocv:function:: TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white())
|
||||
|
||||
:param path: List of poses on a trajectory.
|
||||
:param fov: Field of view of the camera (horizontal, vertical).
|
||||
:param scale: Scale of the frustums.
|
||||
:param color: Color of the frustums.
|
||||
|
||||
Displays frustums at each pose of the trajectory.
|
||||
|
||||
SpheresTrajectoryWidget
|
||||
-----------------------
|
||||
.. ocv:class:: SpheresTrajectoryWidget
|
||||
|
||||
This 3D Widget represents a trajectory using spheres and lines, where spheres represent the positions of the camera, and lines
|
||||
represent the direction from previous position to the current. ::
|
||||
|
||||
class CV_EXPORTS SpheresTrajectoryWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float line_length = 0.05f,
|
||||
double init_sphere_radius = 0.021, sphere_radius = 0.007,
|
||||
Color &line_color = Color::white(), const Color &sphere_color = Color::white());
|
||||
};
|
||||
|
||||
SpheresTrajectoryWidget::SpheresTrajectoryWidget
|
||||
------------------------------------------------
|
||||
Constructs a SpheresTrajectoryWidget.
|
||||
|
||||
.. ocv:function:: SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float line_length = 0.05f, double init_sphere_radius = 0.021, double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
|
||||
|
||||
:param path: List of poses on a trajectory.
|
||||
:param line_length: Length of the lines.
|
||||
:param init_sphere_radius: Radius of the first sphere which represents the initial position of the camera.
|
||||
:param sphere_radius: Radius of the rest of the spheres.
|
||||
:param line_color: Color of the lines.
|
||||
:param sphere_color: Color of the spheres.
|
||||
|
||||
CloudWidget
|
||||
-----------
|
||||
.. ocv:class:: CloudWidget
|
||||
|
||||
This 3D Widget defines a point cloud. ::
|
||||
|
||||
class CV_EXPORTS CloudWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
//! Each point in cloud is mapped to a color in colors
|
||||
CloudWidget(InputArray cloud, InputArray colors);
|
||||
//! All points in cloud have the same color
|
||||
CloudWidget(InputArray cloud, const Color &color = Color::white());
|
||||
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
CloudWidget::CloudWidget
|
||||
------------------------
|
||||
Constructs a CloudWidget.
|
||||
|
||||
.. ocv:function:: CloudWidget(InputArray cloud, InputArray colors)
|
||||
|
||||
:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
|
||||
:param colors: Set of colors. It has to be of the same size with cloud.
|
||||
|
||||
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
|
||||
|
||||
.. ocv:function:: CloudWidget(InputArray cloud, const Color &color = Color::white())
|
||||
|
||||
:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
|
||||
:param color: A single color for the whole cloud.
|
||||
|
||||
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
|
||||
|
||||
CloudCollectionWidget
|
||||
---------------------
|
||||
.. ocv:class:: CloudCollectionWidget
|
||||
|
||||
This 3D Widget defines a collection of clouds. ::
|
||||
|
||||
class CV_EXPORTS CloudCollectionWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
CloudCollectionWidget();
|
||||
|
||||
//! Each point in cloud is mapped to a color in colors
|
||||
void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
|
||||
//! All points in cloud have the same color
|
||||
void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3f &pose = Affine3f::Identity());
|
||||
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
CloudCollectionWidget::CloudCollectionWidget
|
||||
--------------------------------------------
|
||||
Constructs a CloudCollectionWidget.
|
||||
|
||||
.. ocv:function:: CloudCollectionWidget()
|
||||
|
||||
CloudCollectionWidget::addCloud
|
||||
-------------------------------
|
||||
Adds a cloud to the collection.
|
||||
|
||||
.. ocv:function:: void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity())
|
||||
|
||||
:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
|
||||
:param colors: Set of colors. It has to be of the same size with cloud.
|
||||
:param pose: Pose of the cloud.
|
||||
|
||||
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
|
||||
|
||||
.. ocv:function:: void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity())
|
||||
|
||||
:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
|
||||
:param colors: A single color for the whole cloud.
|
||||
:param pose: Pose of the cloud.
|
||||
|
||||
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
|
||||
|
||||
CloudNormalsWidget
|
||||
------------------
|
||||
.. ocv:class:: CloudNormalsWidget
|
||||
|
||||
This 3D Widget represents normals of a point cloud. ::
|
||||
|
||||
class CV_EXPORTS CloudNormalsWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
|
||||
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
CloudNormalsWidget::CloudNormalsWidget
|
||||
--------------------------------------
|
||||
Constructs a CloudNormalsWidget.
|
||||
|
||||
.. ocv:function:: CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white())
|
||||
|
||||
:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
|
||||
:param normals: A set of normals that has to be of same type with cloud.
|
||||
:param level: Display only every levelth normal.
|
||||
:param scale: Scale of the arrows that represent normals.
|
||||
:param color: Color of the arrows that represent normals.
|
||||
|
||||
MeshWidget
|
||||
----------
|
||||
.. ocv:class:: MeshWidget
|
||||
|
||||
This 3D Widget defines a mesh. ::
|
||||
|
||||
class CV_EXPORTS MeshWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
MeshWidget(const Mesh3d &mesh);
|
||||
|
||||
private:
|
||||
/* hidden */
|
||||
};
|
||||
|
||||
MeshWidget::MeshWidget
|
||||
----------------------
|
||||
Constructs a MeshWidget.
|
||||
|
||||
.. ocv:function:: MeshWidget(const Mesh3d &mesh)
|
||||
|
||||
:param mesh: Mesh object that will be displayed.
|
||||
|
||||
|
||||
|
||||
|
||||
@ -65,9 +65,10 @@ namespace cv
|
||||
//! takes coordiante frame data and builds transfrom to global coordinate frame
|
||||
CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0));
|
||||
|
||||
//! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation
|
||||
//! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation)
|
||||
CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir);
|
||||
|
||||
//! retrieves a window by its name
|
||||
CV_EXPORTS Viz3d get(const String &window_name);
|
||||
|
||||
//! checks float value for Nan
|
||||
@ -92,6 +93,7 @@ namespace cv
|
||||
template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
|
||||
{ return isNan(p.x) || isNan(p.y) || isNan(p.z); }
|
||||
|
||||
//! helper class that provides access by name infrastructure
|
||||
class CV_EXPORTS VizAccessor
|
||||
{
|
||||
public:
|
||||
@ -102,6 +104,7 @@ namespace cv
|
||||
void add(Viz3d window);
|
||||
void remove(const String &window_name);
|
||||
|
||||
//! window names automatically have Viz - prefix even though not provided by the users
|
||||
static void generateWindowName(const String &window_name, String &output);
|
||||
|
||||
private:
|
||||
@ -112,8 +115,8 @@ namespace cv
|
||||
static bool is_instantiated_;
|
||||
static VizMap viz_map_;
|
||||
};
|
||||
}
|
||||
}
|
||||
} /* namespace viz */
|
||||
} /* namespace cv */
|
||||
|
||||
|
||||
#endif /* __OPENCV_VIZ_HPP__ */
|
||||
|
||||
@ -39,6 +39,7 @@ namespace cv
|
||||
Mat cloud, colors;
|
||||
Mat polygons;
|
||||
|
||||
//! Loads mesh from a given ply file
|
||||
static cv::viz::Mesh3d loadMesh(const String& file);
|
||||
|
||||
private:
|
||||
@ -52,14 +53,8 @@ namespace cv
|
||||
static const unsigned int Ctrl = 2;
|
||||
static const unsigned int Shift = 4;
|
||||
|
||||
/** \brief Constructor
|
||||
* \param[in] action true for key was pressed, false for released
|
||||
* \param[in] key_sym the key-name that caused the action
|
||||
* \param[in] key the key code that caused the action
|
||||
* \param[in] alt whether the alt key was pressed at the time where this event was triggered
|
||||
* \param[in] ctrl whether the ctrl was pressed at the time where this event was triggered
|
||||
* \param[in] shift whether the shift was pressed at the time where this event was triggered
|
||||
*/
|
||||
//! Create a keyboard event
|
||||
//! - Note that action is true if key is pressed, false if released
|
||||
KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift);
|
||||
|
||||
bool isAltPressed () const;
|
||||
|
||||
@ -7,7 +7,6 @@
|
||||
#include <opencv2/core.hpp>
|
||||
#include <opencv2/viz/types.hpp>
|
||||
#include <opencv2/viz/widgets.hpp>
|
||||
#include <boost/concept_check.hpp>
|
||||
|
||||
namespace cv
|
||||
{
|
||||
@ -25,18 +24,10 @@ namespace cv
|
||||
Viz3d& operator=(const Viz3d&);
|
||||
~Viz3d();
|
||||
|
||||
void setBackgroundColor(const Color& color = Color::black());
|
||||
|
||||
//to refactor
|
||||
bool addPolygonMesh(const Mesh3d& mesh, const String& id = "polygon");
|
||||
bool updatePolygonMesh(const Mesh3d& mesh, const String& id = "polygon");
|
||||
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
|
||||
bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon");
|
||||
|
||||
|
||||
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
|
||||
void removeWidget(const String &id);
|
||||
Widget getWidget(const String &id) const;
|
||||
void removeAllWidgets();
|
||||
|
||||
void setWidgetPose(const String &id, const Affine3f &pose);
|
||||
void updateWidgetPose(const String &id, const Affine3f &pose);
|
||||
@ -47,13 +38,19 @@ namespace cv
|
||||
Affine3f getViewerPose();
|
||||
void setViewerPose(const Affine3f &pose);
|
||||
|
||||
void resetCameraViewpoint (const String &id);
|
||||
void resetCamera();
|
||||
|
||||
void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
|
||||
void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
|
||||
|
||||
Size getWindowSize() const;
|
||||
void setWindowSize(const Size &window_size);
|
||||
|
||||
String getWindowName() const;
|
||||
void saveScreenshot (const String &file);
|
||||
void setWindowPosition (int x, int y);
|
||||
void setFullScreen (bool mode);
|
||||
void setBackgroundColor(const Color& color = Color::black());
|
||||
|
||||
void spin();
|
||||
void spinOnce(int time = 1, bool force_redraw = false);
|
||||
@ -61,6 +58,16 @@ namespace cv
|
||||
|
||||
void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
|
||||
void registerMouseCallback(MouseCallback callback, void* cookie = 0);
|
||||
|
||||
void setRenderingProperty(const String &id, int property, double value);
|
||||
double getRenderingProperty(const String &id, int property);
|
||||
|
||||
void setDesiredUpdateRate(double time);
|
||||
double getDesiredUpdateRate();
|
||||
|
||||
void setRepresentationToSurface();
|
||||
void setRepresentationToWireframe();
|
||||
void setRepresentationToPoints();
|
||||
private:
|
||||
|
||||
struct VizImpl;
|
||||
|
||||
@ -1,8 +1,6 @@
|
||||
#pragma once
|
||||
|
||||
#include <opencv2/viz/types.hpp>
|
||||
#include <common.h>
|
||||
|
||||
|
||||
namespace cv
|
||||
{
|
||||
@ -14,19 +12,23 @@ namespace cv
|
||||
{
|
||||
public:
|
||||
Widget();
|
||||
Widget(const Widget &other);
|
||||
Widget& operator =(const Widget &other);
|
||||
|
||||
Widget(const Widget& other);
|
||||
Widget& operator=(const Widget& other);
|
||||
~Widget();
|
||||
|
||||
//! Create a widget directly from ply file
|
||||
static Widget fromPlyFile(const String &file_name);
|
||||
|
||||
//! Rendering properties of this particular widget
|
||||
void setRenderingProperty(int property, double value);
|
||||
double getRenderingProperty(int property) const;
|
||||
|
||||
//! Casting between widgets
|
||||
template<typename _W> _W cast();
|
||||
private:
|
||||
class Impl;
|
||||
Impl *impl_;
|
||||
friend struct WidgetAccessor;
|
||||
|
||||
void create();
|
||||
void release();
|
||||
};
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
@ -41,7 +43,6 @@ namespace cv
|
||||
Affine3f getPose() const;
|
||||
|
||||
void setColor(const Color &color);
|
||||
|
||||
private:
|
||||
struct MatrixConverter;
|
||||
|
||||
@ -61,9 +62,6 @@ namespace cv
|
||||
{
|
||||
public:
|
||||
LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
|
||||
|
||||
void setLineWidth(float line_width);
|
||||
float getLineWidth();
|
||||
};
|
||||
|
||||
class CV_EXPORTS PlaneWidget : public Widget3D
|
||||
@ -123,7 +121,9 @@ namespace cv
|
||||
class CV_EXPORTS GridWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
//! Creates grid at the origin
|
||||
GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
|
||||
//! Creates grid based on the plane equation
|
||||
GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
|
||||
|
||||
private:
|
||||
@ -160,7 +160,9 @@ namespace cv
|
||||
class CV_EXPORTS Image3DWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
//! Creates 3D image at the origin
|
||||
Image3DWidget(const Mat &image, const Size &size);
|
||||
//! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
|
||||
Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
|
||||
|
||||
void setImage(const Mat &image);
|
||||
@ -169,11 +171,14 @@ namespace cv
|
||||
class CV_EXPORTS CameraPositionWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
//! Creates camera coordinate frame (axes) at the origin
|
||||
CameraPositionWidget(double scale = 1.0);
|
||||
//! Creates frustum based on the intrinsic marix K at the origin
|
||||
CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
|
||||
//! Creates frustum based on the field of view at the origin
|
||||
CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
|
||||
//! Creates frustum and display given image at the far plane
|
||||
CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
|
||||
|
||||
};
|
||||
|
||||
class CV_EXPORTS TrajectoryWidget : public Widget3D
|
||||
@ -181,9 +186,12 @@ namespace cv
|
||||
public:
|
||||
enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
|
||||
|
||||
//! Displays trajectory of the given path either by coordinate frames or polyline
|
||||
TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
|
||||
TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); // Camera frustums
|
||||
TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()); // Camera frustums
|
||||
//! Displays trajectory of the given path by frustums
|
||||
TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
|
||||
//! Displays trajectory of the given path by frustums
|
||||
TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
|
||||
|
||||
private:
|
||||
struct ApplyPath;
|
||||
@ -199,7 +207,9 @@ namespace cv
|
||||
class CV_EXPORTS CloudWidget : public Widget3D
|
||||
{
|
||||
public:
|
||||
//! Each point in cloud is mapped to a color in colors
|
||||
CloudWidget(InputArray cloud, InputArray colors);
|
||||
//! All points in cloud have the same color
|
||||
CloudWidget(InputArray cloud, const Color &color = Color::white());
|
||||
|
||||
private:
|
||||
@ -211,7 +221,9 @@ namespace cv
|
||||
public:
|
||||
CloudCollectionWidget();
|
||||
|
||||
//! Each point in cloud is mapped to a color in colors
|
||||
void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
|
||||
//! All points in cloud have the same color
|
||||
void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity());
|
||||
|
||||
private:
|
||||
|
||||
@ -298,7 +298,7 @@ struct cv::viz::CloudCollectionWidget::CreateCloudWidget
|
||||
}
|
||||
|
||||
vtkPolyData *data = vtkPolyData::SafeDownCast(mapper->GetInput());
|
||||
CV_Assert(data);
|
||||
CV_Assert("Cloud Widget without data" && data);
|
||||
|
||||
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
|
||||
appendFilter->AddInputConnection(mapper->GetInput()->GetProducerPort());
|
||||
@ -357,7 +357,7 @@ void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, InputArray _col
|
||||
transform_filter->Update();
|
||||
|
||||
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("Incompatible widget type." && actor);
|
||||
|
||||
Vec3d minmax(scalars->GetRange());
|
||||
CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
|
||||
@ -392,7 +392,7 @@ void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, const Color &co
|
||||
transform_filter->Update();
|
||||
|
||||
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("Incompatible widget type." && actor);
|
||||
|
||||
Vec3d minmax(scalars->GetRange());
|
||||
CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
|
||||
|
||||
@ -1,265 +0,0 @@
|
||||
#include <common.h>
|
||||
#include <cstdlib>
|
||||
#include <opencv2/viz/types.hpp>
|
||||
#include "viz3d_impl.hpp"
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
//Eigen::Vector2i cv::viz::worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height)
|
||||
//{
|
||||
// // Transform world to clipping coordinates
|
||||
// Eigen::Vector4d world (view_projection_matrix * world_pt);
|
||||
// // Normalize w-component
|
||||
// world /= world.w ();
|
||||
|
||||
// // X/Y screen space coordinate
|
||||
// int screen_x = int (floor (double (((world.x () + 1) / 2.0) * width) + 0.5));
|
||||
// int screen_y = int (floor (double (((world.y () + 1) / 2.0) * height) + 0.5));
|
||||
|
||||
// // Calculate -world_pt.y () because the screen Y axis is oriented top->down, ie 0 is top-left
|
||||
// //int winY = (int) floor ( (double) (((1 - world_pt.y ()) / 2.0) * height) + 0.5); // top left
|
||||
|
||||
// return (Eigen::Vector2i (screen_x, screen_y));
|
||||
//}
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////
|
||||
//void cv::viz::getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24])
|
||||
//{
|
||||
// // Set up the normals
|
||||
// Eigen::Vector4d normals[6];
|
||||
// for (int i=0; i < 6; i++)
|
||||
// {
|
||||
// normals[i] = Eigen::Vector4d (0.0, 0.0, 0.0, 1.0);
|
||||
|
||||
// // if i is even set to -1, if odd set to +1
|
||||
// normals[i] (i/2) = 1 - (i%2)*2;
|
||||
// }
|
||||
|
||||
// // Transpose the matrix for use with normals
|
||||
// Eigen::Matrix4d view_matrix = view_projection_matrix.transpose ();
|
||||
|
||||
// // Transform the normals to world coordinates
|
||||
// for (int i=0; i < 6; i++)
|
||||
// {
|
||||
// normals[i] = view_matrix * normals[i];
|
||||
|
||||
// double f = 1.0/sqrt (normals[i].x () * normals[i].x () +
|
||||
// normals[i].y () * normals[i].y () +
|
||||
// normals[i].z () * normals[i].z ());
|
||||
|
||||
// planes[4*i + 0] = normals[i].x ()*f;
|
||||
// planes[4*i + 1] = normals[i].y ()*f;
|
||||
// planes[4*i + 2] = normals[i].z ()*f;
|
||||
// planes[4*i + 3] = normals[i].w ()*f;
|
||||
// }
|
||||
//}
|
||||
|
||||
//int cv::viz::cullFrustum (double frustum[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb)
|
||||
//{
|
||||
// int result = PCL_INSIDE_FRUSTUM;
|
||||
|
||||
// for(int i =0; i < 6; i++){
|
||||
// double a = frustum[(i*4)];
|
||||
// double b = frustum[(i*4)+1];
|
||||
// double c = frustum[(i*4)+2];
|
||||
// double d = frustum[(i*4)+3];
|
||||
|
||||
// //cout << i << ": " << a << "x + " << b << "y + " << c << "z + " << d << endl;
|
||||
|
||||
// // Basic VFC algorithm
|
||||
// Eigen::Vector3d center ((max_bb.x () - min_bb.x ()) / 2 + min_bb.x (),
|
||||
// (max_bb.y () - min_bb.y ()) / 2 + min_bb.y (),
|
||||
// (max_bb.z () - min_bb.z ()) / 2 + min_bb.z ());
|
||||
|
||||
// Eigen::Vector3d radius (fabs (static_cast<double> (max_bb.x () - center.x ())),
|
||||
// fabs (static_cast<double> (max_bb.y () - center.y ())),
|
||||
// fabs (static_cast<double> (max_bb.z () - center.z ())));
|
||||
|
||||
// double m = (center.x () * a) + (center.y () * b) + (center.z () * c) + d;
|
||||
// double n = (radius.x () * fabs(a)) + (radius.y () * fabs(b)) + (radius.z () * fabs(c));
|
||||
|
||||
// if (m + n < 0){
|
||||
// result = PCL_OUTSIDE_FRUSTUM;
|
||||
// break;
|
||||
// }
|
||||
|
||||
// if (m - n < 0)
|
||||
// {
|
||||
// result = PCL_INTERSECT_FRUSTUM;
|
||||
// }
|
||||
// }
|
||||
|
||||
// return result;
|
||||
//}
|
||||
|
||||
//void
|
||||
//cv::viz::getModelViewPosition (Eigen::Matrix4d model_view_matrix, Eigen::Vector3d &position)
|
||||
//{
|
||||
// //Compute eye or position from model view matrix
|
||||
// Eigen::Matrix4d inverse_model_view_matrix = model_view_matrix.inverse();
|
||||
// for (int i=0; i < 3; i++)
|
||||
// {
|
||||
// position(i) = inverse_model_view_matrix(i, 3);
|
||||
// }
|
||||
//}
|
||||
|
||||
// Lookup table of max 6 bounding box vertices, followed by number of vertices, ie {v0, v1, v2, v3, v4, v5, nv}
|
||||
//
|
||||
// 3--------2
|
||||
// /| /| Y 0 = xmin, ymin, zmin
|
||||
// / | / | | 6 = xmax, ymax. zmax
|
||||
// 7--------6 | |
|
||||
// | | | | |
|
||||
// | 0-----|--1 +------X
|
||||
// | / | / /
|
||||
// |/ |/ /
|
||||
// 4--------5 Z
|
||||
|
||||
int hull_vertex_table[43][7] = {
|
||||
{ 0, 0, 0, 0, 0, 0, 0 }, // inside
|
||||
{ 0, 4, 7, 3, 0, 0, 4 }, // left
|
||||
{ 1, 2, 6, 5, 0, 0, 4 }, // right
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 1, 5, 4, 0, 0, 4 }, // bottom
|
||||
{ 0, 1, 5, 4, 7, 3, 6 }, // bottom, left
|
||||
{ 0, 1, 2, 6, 5, 4, 6 }, // bottom, right
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 2, 3, 7, 6, 0, 0, 4 }, // top
|
||||
{ 4, 7, 6, 2, 3, 0, 6 }, // top, left
|
||||
{ 2, 3, 7, 6, 5, 1, 6 }, // top, right
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 3, 2, 1, 0, 0, 4 }, // front
|
||||
{ 0, 4, 7, 3, 2, 1, 6 }, // front, left
|
||||
{ 0, 3, 2, 6, 5, 1, 6 }, // front, right
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 3, 2, 1, 5, 4, 6 }, // front, bottom
|
||||
{ 2, 1, 5, 4, 7, 3, 6 }, // front, bottom, left
|
||||
{ 0, 3, 2, 6, 5, 4, 6 },
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 3, 7, 6, 2, 1, 6 }, // front, top
|
||||
{ 0, 4, 7, 6, 2, 1, 6 }, // front, top, left
|
||||
{ 0, 3, 7, 6, 5, 1, 6 }, // front, top, right
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 4, 5, 6, 7, 0, 0, 4 }, // back
|
||||
{ 4, 5, 6, 7, 3, 0, 6 }, // back, left
|
||||
{ 1, 2, 6, 7, 4, 5, 6 }, // back, right
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 0, 1, 5, 6, 7, 4, 6 }, // back, bottom
|
||||
{ 0, 1, 5, 6, 7, 3, 6 }, // back, bottom, left
|
||||
{ 0, 1, 2, 6, 7, 4, 6 }, // back, bottom, right
|
||||
{ 0, 0, 0, 0, 0, 0, 0 },
|
||||
{ 2, 3, 7, 4, 5, 6, 6 }, // back, top
|
||||
{ 0, 4, 5, 6, 2, 3, 6 }, // back, top, left
|
||||
{ 1, 2, 3, 7, 4, 5, 6 } // back, top, right
|
||||
};
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////
|
||||
//float
|
||||
//cv::viz::viewScreenArea (
|
||||
// const Eigen::Vector3d &eye,
|
||||
// const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb,
|
||||
// const Eigen::Matrix4d &view_projection_matrix, int width, int height)
|
||||
//{
|
||||
// Eigen::Vector4d bounding_box[8];
|
||||
// bounding_box[0] = Eigen::Vector4d(min_bb.x (), min_bb.y (), min_bb.z (), 1.0);
|
||||
// bounding_box[1] = Eigen::Vector4d(max_bb.x (), min_bb.y (), min_bb.z (), 1.0);
|
||||
// bounding_box[2] = Eigen::Vector4d(max_bb.x (), max_bb.y (), min_bb.z (), 1.0);
|
||||
// bounding_box[3] = Eigen::Vector4d(min_bb.x (), max_bb.y (), min_bb.z (), 1.0);
|
||||
// bounding_box[4] = Eigen::Vector4d(min_bb.x (), min_bb.y (), max_bb.z (), 1.0);
|
||||
// bounding_box[5] = Eigen::Vector4d(max_bb.x (), min_bb.y (), max_bb.z (), 1.0);
|
||||
// bounding_box[6] = Eigen::Vector4d(max_bb.x (), max_bb.y (), max_bb.z (), 1.0);
|
||||
// bounding_box[7] = Eigen::Vector4d(min_bb.x (), max_bb.y (), max_bb.z (), 1.0);
|
||||
|
||||
// // Compute 6-bit code to classify eye with respect to the 6 defining planes
|
||||
// int pos = ((eye.x () < bounding_box[0].x ()) ) // 1 = left
|
||||
// + ((eye.x () > bounding_box[6].x ()) << 1) // 2 = right
|
||||
// + ((eye.y () < bounding_box[0].y ()) << 2) // 4 = bottom
|
||||
// + ((eye.y () > bounding_box[6].y ()) << 3) // 8 = top
|
||||
// + ((eye.z () < bounding_box[0].z ()) << 4) // 16 = front
|
||||
// + ((eye.z () > bounding_box[6].z ()) << 5); // 32 = back
|
||||
|
||||
// // Look up number of vertices
|
||||
// int num = hull_vertex_table[pos][6];
|
||||
// if (num == 0)
|
||||
// {
|
||||
// return (float (width * height));
|
||||
// }
|
||||
// //return 0.0;
|
||||
|
||||
|
||||
// // cout << "eye: " << eye.x() << " " << eye.y() << " " << eye.z() << endl;
|
||||
// // cout << "min: " << bounding_box[0].x() << " " << bounding_box[0].y() << " " << bounding_box[0].z() << endl;
|
||||
// //
|
||||
// // cout << "pos: " << pos << " ";
|
||||
// // switch(pos){
|
||||
// // case 0: cout << "inside" << endl; break;
|
||||
// // case 1: cout << "left" << endl; break;
|
||||
// // case 2: cout << "right" << endl; break;
|
||||
// // case 3:
|
||||
// // case 4: cout << "bottom" << endl; break;
|
||||
// // case 5: cout << "bottom, left" << endl; break;
|
||||
// // case 6: cout << "bottom, right" << endl; break;
|
||||
// // case 7:
|
||||
// // case 8: cout << "top" << endl; break;
|
||||
// // case 9: cout << "top, left" << endl; break;
|
||||
// // case 10: cout << "top, right" << endl; break;
|
||||
// // case 11:
|
||||
// // case 12:
|
||||
// // case 13:
|
||||
// // case 14:
|
||||
// // case 15:
|
||||
// // case 16: cout << "front" << endl; break;
|
||||
// // case 17: cout << "front, left" << endl; break;
|
||||
// // case 18: cout << "front, right" << endl; break;
|
||||
// // case 19:
|
||||
// // case 20: cout << "front, bottom" << endl; break;
|
||||
// // case 21: cout << "front, bottom, left" << endl; break;
|
||||
// // case 22:
|
||||
// // case 23:
|
||||
// // case 24: cout << "front, top" << endl; break;
|
||||
// // case 25: cout << "front, top, left" << endl; break;
|
||||
// // case 26: cout << "front, top, right" << endl; break;
|
||||
// // case 27:
|
||||
// // case 28:
|
||||
// // case 29:
|
||||
// // case 30:
|
||||
// // case 31:
|
||||
// // case 32: cout << "back" << endl; break;
|
||||
// // case 33: cout << "back, left" << endl; break;
|
||||
// // case 34: cout << "back, right" << endl; break;
|
||||
// // case 35:
|
||||
// // case 36: cout << "back, bottom" << endl; break;
|
||||
// // case 37: cout << "back, bottom, left" << endl; break;
|
||||
// // case 38: cout << "back, bottom, right" << endl; break;
|
||||
// // case 39:
|
||||
// // case 40: cout << "back, top" << endl; break;
|
||||
// // case 41: cout << "back, top, left" << endl; break;
|
||||
// // case 42: cout << "back, top, right" << endl; break;
|
||||
// // }
|
||||
|
||||
// //return -1 if inside
|
||||
// Eigen::Vector2d dst[8];
|
||||
// for (int i = 0; i < num; i++)
|
||||
// {
|
||||
// Eigen::Vector4d world_pt = bounding_box[hull_vertex_table[pos][i]];
|
||||
// Eigen::Vector2i screen_pt = cv::viz::worldToView(world_pt, view_projection_matrix, width, height);
|
||||
// // cout << "point[" << i << "]: " << screen_pt.x() << " " << screen_pt.y() << endl;
|
||||
// dst[i] = Eigen::Vector2d(screen_pt.x (), screen_pt.y ());
|
||||
// }
|
||||
|
||||
// double sum = 0.0;
|
||||
// for (int i = 0; i < num; ++i)
|
||||
// {
|
||||
// sum += (dst[i].x () - dst[(i+1) % num].x ()) * (dst[i].y () + dst[(i+1) % num].y ());
|
||||
// }
|
||||
|
||||
// return (fabsf (float (sum * 0.5f)));
|
||||
//}
|
||||
@ -8,20 +8,6 @@ namespace cv
|
||||
{
|
||||
namespace viz
|
||||
{
|
||||
//CV_EXPORTS Eigen::Matrix4d vtkToEigen (vtkMatrix4x4* vtk_matrix);
|
||||
//CV_EXPORTS Eigen::Vector2i worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
|
||||
//CV_EXPORTS void getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24]);
|
||||
|
||||
// enum FrustumCull
|
||||
// {
|
||||
// PCL_INSIDE_FRUSTUM,
|
||||
// PCL_INTERSECT_FRUSTUM,
|
||||
// PCL_OUTSIDE_FRUSTUM
|
||||
// };
|
||||
|
||||
//CV_EXPORTS int cullFrustum (double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb);
|
||||
//CV_EXPORTS float viewScreenArea (const Eigen::Vector3d &eye, const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
|
||||
|
||||
enum RenderingProperties
|
||||
{
|
||||
VIZ_POINT_SIZE,
|
||||
|
||||
@ -1,9 +1,6 @@
|
||||
#include "precomp.hpp"
|
||||
|
||||
#include "interactor_style.h"
|
||||
|
||||
//#include <q/visualization/vtk/vtkVertexBufferObjectMapper.h>
|
||||
|
||||
using namespace cv;
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
@ -152,17 +149,9 @@ void cv::viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const K
|
||||
void
|
||||
cv::viz::InteractorStyle::OnKeyDown ()
|
||||
{
|
||||
if (!init_)
|
||||
{
|
||||
std::cout << "Interactor style not initialized. Please call Initialize () before continuing" << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
if (!renderer_)
|
||||
{
|
||||
std::cout << "No renderer given! Use SetRendererCollection () before continuing." << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
CV_Assert("Interactor style not initialized. Please call Initialize () before continuing" && init_);
|
||||
CV_Assert("No renderer given! Use SetRendererCollection () before continuing." && renderer_);
|
||||
|
||||
FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
|
||||
|
||||
@ -235,7 +224,7 @@ cv::viz::InteractorStyle::OnKeyDown ()
|
||||
{
|
||||
for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
|
||||
{
|
||||
vtkSmartPointer<vtkActor> apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
|
||||
vtkActor* apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
|
||||
apart->GetProperty ()->SetRepresentationToPoints ();
|
||||
}
|
||||
}
|
||||
@ -258,15 +247,12 @@ cv::viz::InteractorStyle::OnKeyDown ()
|
||||
cam->GetFocalPoint (focal);
|
||||
cam->GetPosition (pos);
|
||||
cam->GetViewUp (view);
|
||||
#ifndef M_PI
|
||||
# define M_PI 3.14159265358979323846 // pi
|
||||
#endif
|
||||
|
||||
int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
|
||||
int *win_size = Interactor->GetRenderWindow ()->GetSize ();
|
||||
ofs_cam << clip[0] << "," << clip[1] << "/" << focal[0] << "," << focal[1] << "," << focal[2] << "/" <<
|
||||
pos[0] << "," << pos[1] << "," << pos[2] << "/" << view[0] << "," << view[1] << "," << view[2] << "/" <<
|
||||
cam->GetViewAngle () / 180.0 * M_PI << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
|
||||
cam->GetViewAngle () / 180.0 * CV_PI << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
|
||||
<< endl;
|
||||
ofs_cam.close ();
|
||||
|
||||
@ -310,7 +296,7 @@ cv::viz::InteractorStyle::OnKeyDown ()
|
||||
{
|
||||
for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
|
||||
{
|
||||
vtkSmartPointer<vtkActor> apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
|
||||
vtkActor* apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
|
||||
float psize = apart->GetProperty ()->GetPointSize ();
|
||||
if (psize < 63.0f)
|
||||
apart->GetProperty ()->SetPointSize (psize + 1.0f);
|
||||
@ -331,7 +317,7 @@ cv::viz::InteractorStyle::OnKeyDown ()
|
||||
{
|
||||
for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
|
||||
{
|
||||
vtkSmartPointer<vtkActor> apart = static_cast<vtkActor*> (path->GetLastNode ()->GetViewProp ());
|
||||
vtkActor* apart = static_cast<vtkActor*> (path->GetLastNode ()->GetViewProp ());
|
||||
float psize = apart->GetProperty ()->GetPointSize ();
|
||||
if (psize > 1.0f)
|
||||
apart->GetProperty ()->SetPointSize (psize - 1.0f);
|
||||
@ -432,17 +418,17 @@ cv::viz::InteractorStyle::OnKeyDown ()
|
||||
|
||||
vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
|
||||
|
||||
static CloudActorMap::iterator it = actors_->begin ();
|
||||
static WidgetActorMap::iterator it = widget_actor_map_->begin ();
|
||||
// it might be that some actors don't have a valid transformation set -> we skip them to avoid a seg fault.
|
||||
bool found_transformation = false;
|
||||
|
||||
for (size_t idx = 0; idx < actors_->size (); ++idx, ++it)
|
||||
for (size_t idx = 0; idx < widget_actor_map_->size (); ++idx, ++it)
|
||||
{
|
||||
if (it == actors_->end ())
|
||||
it = actors_->begin ();
|
||||
|
||||
const CloudActor& actor = it->second;
|
||||
if (actor.viewpoint_transformation_.GetPointer ())
|
||||
if (it == widget_actor_map_->end ())
|
||||
it = widget_actor_map_->begin ();
|
||||
|
||||
vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second);
|
||||
if (actor && actor->GetUserMatrix())
|
||||
{
|
||||
found_transformation = true;
|
||||
break;
|
||||
@ -452,18 +438,18 @@ cv::viz::InteractorStyle::OnKeyDown ()
|
||||
// if a valid transformation was found, use it otherwise fall back to default view point.
|
||||
if (found_transformation)
|
||||
{
|
||||
const CloudActor& actor = it->second;
|
||||
cam->SetPosition (actor.viewpoint_transformation_->GetElement (0, 3),
|
||||
actor.viewpoint_transformation_->GetElement (1, 3),
|
||||
actor.viewpoint_transformation_->GetElement (2, 3));
|
||||
vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second);
|
||||
cam->SetPosition (actor->GetUserMatrix()->GetElement (0, 3),
|
||||
actor->GetUserMatrix()->GetElement (1, 3),
|
||||
actor->GetUserMatrix()->GetElement (2, 3));
|
||||
|
||||
cam->SetFocalPoint (actor.viewpoint_transformation_->GetElement (0, 3) - actor.viewpoint_transformation_->GetElement (0, 2),
|
||||
actor.viewpoint_transformation_->GetElement (1, 3) - actor.viewpoint_transformation_->GetElement (1, 2),
|
||||
actor.viewpoint_transformation_->GetElement (2, 3) - actor.viewpoint_transformation_->GetElement (2, 2));
|
||||
cam->SetFocalPoint (actor->GetUserMatrix()->GetElement (0, 3) - actor->GetUserMatrix()->GetElement (0, 2),
|
||||
actor->GetUserMatrix()->GetElement (1, 3) - actor->GetUserMatrix()->GetElement (1, 2),
|
||||
actor->GetUserMatrix()->GetElement (2, 3) - actor->GetUserMatrix()->GetElement (2, 2));
|
||||
|
||||
cam->SetViewUp (actor.viewpoint_transformation_->GetElement (0, 1),
|
||||
actor.viewpoint_transformation_->GetElement (1, 1),
|
||||
actor.viewpoint_transformation_->GetElement (2, 1));
|
||||
cam->SetViewUp (actor->GetUserMatrix()->GetElement (0, 1),
|
||||
actor->GetUserMatrix()->GetElement (1, 1),
|
||||
actor->GetUserMatrix()->GetElement (2, 1));
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -473,10 +459,10 @@ cv::viz::InteractorStyle::OnKeyDown ()
|
||||
}
|
||||
|
||||
// go to the next actor for the next key-press event.
|
||||
if (it != actors_->end ())
|
||||
if (it != widget_actor_map_->end ())
|
||||
++it;
|
||||
else
|
||||
it = actors_->begin ();
|
||||
it = widget_actor_map_->begin ();
|
||||
|
||||
CurrentRenderer->SetActiveCamera (cam);
|
||||
CurrentRenderer->ResetCameraClippingRange ();
|
||||
@ -659,17 +645,8 @@ void cv::viz::InteractorStyle::OnMouseWheelBackward ()
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////
|
||||
void cv::viz::InteractorStyle::OnTimer ()
|
||||
{
|
||||
if (!init_)
|
||||
{
|
||||
std::cout << "[PCLVisualizerInteractorStyle] Interactor style not initialized. Please call Initialize () before continuing.\n" << std::endl;
|
||||
return;
|
||||
}
|
||||
|
||||
if (!renderer_)
|
||||
{
|
||||
std::cout << "[PCLVisualizerInteractorStyle] No renderer collection given! Use SetRendererCollection () before continuing." << std::endl;
|
||||
return;
|
||||
}
|
||||
CV_Assert("Interactor style not initialized." && init_);
|
||||
CV_Assert("Renderer has not been set." && renderer_);
|
||||
renderer_->Render ();
|
||||
Interactor->Render ();
|
||||
}
|
||||
|
||||
@ -50,7 +50,7 @@ namespace cv
|
||||
/** \brief Initialization routine. Must be called before anything else. */
|
||||
virtual void Initialize ();
|
||||
|
||||
inline void setCloudActorMap (const Ptr<CloudActorMap>& actors) { actors_ = actors; }
|
||||
inline void setWidgetActorMap (const Ptr<WidgetActorMap>& actors) { widget_actor_map_ = actors; }
|
||||
void setRenderer (vtkSmartPointer<vtkRenderer>& ren) { renderer_ = ren; }
|
||||
void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0);
|
||||
void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void * cookie = 0);
|
||||
@ -73,8 +73,8 @@ namespace cv
|
||||
vtkSmartPointer<vtkRenderer> renderer_;
|
||||
|
||||
/** \brief Actor map stored internally. */
|
||||
cv::Ptr<CloudActorMap> actors_;
|
||||
|
||||
cv::Ptr<WidgetActorMap> widget_actor_map_;
|
||||
|
||||
/** \brief The current window width/height. */
|
||||
Vec2i win_size_;
|
||||
|
||||
|
||||
@ -5,8 +5,6 @@
|
||||
#include <list>
|
||||
#include <vector>
|
||||
|
||||
#include <Eigen/Geometry>
|
||||
|
||||
#if defined __GNUC__
|
||||
#pragma GCC system_header
|
||||
#ifdef __DEPRECATED
|
||||
@ -17,34 +15,19 @@
|
||||
|
||||
#include <vtkAppendPolyData.h>
|
||||
#include <vtkAssemblyPath.h>
|
||||
#include <vtkAxesActor.h>
|
||||
#include <vtkActor.h>
|
||||
#include <vtkBoxRepresentation.h>
|
||||
#include <vtkBoxWidget.h>
|
||||
#include <vtkBoxWidget2.h>
|
||||
#include <vtkCellData.h>
|
||||
#include <vtkMath.h>
|
||||
#include <vtkLoopSubdivisionFilter.h>
|
||||
#include <vtkLineSource.h>
|
||||
#include <vtkLegendScaleActor.h>
|
||||
#include <vtkLightKit.h>
|
||||
#include <vtkPlatonicSolidSource.h>
|
||||
#include <vtkPropPicker.h>
|
||||
#include <vtkGeneralTransform.h>
|
||||
#include <vtkSmartPointer.h>
|
||||
#include <vtkDataSet.h>
|
||||
#include <vtkDataSetSurfaceFilter.h>
|
||||
#include <vtkExecutive.h>
|
||||
#include <vtkPolygon.h>
|
||||
#include <vtkPointPicker.h>
|
||||
#include <vtkUnstructuredGrid.h>
|
||||
#include <vtkConeSource.h>
|
||||
#include <vtkDiskSource.h>
|
||||
#include <vtkPlaneSource.h>
|
||||
#include <vtkSphereSource.h>
|
||||
#include <vtkArrowSource.h>
|
||||
#include <vtkOutlineSource.h>
|
||||
#include <vtkIdentityTransform.h>
|
||||
#include <vtkTransform.h>
|
||||
#include <vtkTransformPolyDataFilter.h>
|
||||
#include <vtkTubeFilter.h>
|
||||
@ -59,18 +42,12 @@
|
||||
#include <vtkDataSetMapper.h>
|
||||
#include <vtkCellArray.h>
|
||||
#include <vtkCommand.h>
|
||||
#include <vtkCellLocator.h>
|
||||
#include <vtkPLYReader.h>
|
||||
#include <vtkTransformFilter.h>
|
||||
#include <vtkPolyLine.h>
|
||||
#include <vtkVectorText.h>
|
||||
#include <vtkFollower.h>
|
||||
#include <vtkCallbackCommand.h>
|
||||
#include <vtkInteractorStyle.h>
|
||||
#include <vtkInformationVector.h>
|
||||
#include <vtkDataArray.h>
|
||||
#include <vtkUnsignedCharArray.h>
|
||||
#include <vtkPoints.h>
|
||||
#include <vtkRendererCollection.h>
|
||||
#include <vtkPNGWriter.h>
|
||||
#include <vtkWindowToImageFilter.h>
|
||||
@ -78,78 +55,22 @@
|
||||
#include <vtkProperty.h>
|
||||
#include <vtkCamera.h>
|
||||
#include <vtkObjectFactory.h>
|
||||
#include <vtkScalarBarActor.h>
|
||||
#include <vtkScalarsToColors.h>
|
||||
#include <vtkClipPolyData.h>
|
||||
#include <vtkPlanes.h>
|
||||
#include <vtkImageImport.h>
|
||||
#include <vtkImageViewer.h>
|
||||
#include <vtkInteractorStyleImage.h>
|
||||
#include <vtkImageFlip.h>
|
||||
#include <vtkTIFFWriter.h>
|
||||
#include <vtkBMPWriter.h>
|
||||
#include <vtkJPEGWriter.h>
|
||||
#include <vtkImageViewer2.h>
|
||||
#include <vtkRenderWindow.h>
|
||||
#include <vtkXYPlotActor.h>
|
||||
#include <vtkTextProperty.h>
|
||||
#include <vtkProperty2D.h>
|
||||
#include <vtkFieldData.h>
|
||||
#include <vtkDoubleArray.h>
|
||||
#include <vtkLODActor.h>
|
||||
#include <vtkPolyDataWriter.h>
|
||||
#include <vtkTextActor.h>
|
||||
#include <vtkCleanPolyData.h>
|
||||
#include <vtkRenderer.h>
|
||||
#include <vtkObject.h>
|
||||
#include <vtkOrientationMarkerWidget.h>
|
||||
#include <vtkImageReslice.h>
|
||||
#include <vtkImageChangeInformation.h>
|
||||
#include <vtkImageCanvasSource2D.h>
|
||||
#include <vtkImageBlend.h>
|
||||
#include <vtkImageStencilData.h>
|
||||
#include <vtkImageActor.h>
|
||||
|
||||
#include <vtkRenderWindowInteractor.h>
|
||||
#include <vtkChartXY.h>
|
||||
#include <vtkPlot.h>
|
||||
#include <vtkTable.h>
|
||||
#include <vtkContextView.h>
|
||||
#include <vtkContextScene.h>
|
||||
#include <vtkColorSeries.h>
|
||||
#include <vtkAxis.h>
|
||||
#include <vtkSelection.h>
|
||||
#include <vtkHardwareSelector.h>
|
||||
#include <vtkTriangle.h>
|
||||
#include <vtkWorldPointPicker.h>
|
||||
#include <vtkInteractorStyleRubberBandPick.h>
|
||||
#include <vtkInteractorStyleTrackballActor.h>
|
||||
#include <vtkAreaPicker.h>
|
||||
#include <vtkExtractGeometry.h>
|
||||
#include <vtkExtractPolyDataGeometry.h>
|
||||
#include <vtkVertexGlyphFilter.h>
|
||||
#include <vtkIdFilter.h>
|
||||
#include <vtkIdTypeArray.h>
|
||||
#include <vtkImageReader2Factory.h>
|
||||
#include <vtkImageReader2.h>
|
||||
#include <vtkImageData.h>
|
||||
#include <vtkMath.h>
|
||||
#include <vtkExtractEdges.h>
|
||||
#include <vtkFrustumSource.h>
|
||||
#include <vtkTextureMapToPlane.h>
|
||||
|
||||
#include <vtkPolyDataNormals.h>
|
||||
#include <vtkMapper.h>
|
||||
#include <vtkSelectionNode.h>
|
||||
#include <vtkAbstractPicker.h>
|
||||
#include <vtkAbstractPropPicker.h>
|
||||
#include <vtkMatrix4x4.h>
|
||||
#include <vtkInteractorObserver.h>
|
||||
#include <vtkMapper2D.h>
|
||||
#include <vtkLeaderActor2D.h>
|
||||
#include <vtkAlgorithmOutput.h>
|
||||
|
||||
|
||||
|
||||
#if defined __GNUC__ && defined __DEPRECATED_DISABLED__
|
||||
#define __DEPRECATED
|
||||
#undef __DEPRECATED_DISABLED__
|
||||
|
||||
@ -27,20 +27,6 @@ cv::viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Co
|
||||
setColor(color);
|
||||
}
|
||||
|
||||
void cv::viz::LineWidget::setLineWidth(float line_width)
|
||||
{
|
||||
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
actor->GetProperty()->SetLineWidth(line_width);
|
||||
}
|
||||
|
||||
float cv::viz::LineWidget::getLineWidth()
|
||||
{
|
||||
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
return actor->GetProperty()->GetLineWidth();
|
||||
}
|
||||
|
||||
template<> cv::viz::LineWidget cv::viz::Widget::cast<cv::viz::LineWidget>()
|
||||
{
|
||||
Widget3D widget = this->cast<Widget3D>();
|
||||
@ -556,12 +542,12 @@ cv::viz::Text3DWidget::Text3DWidget(const String &text, const Point3f &position,
|
||||
void cv::viz::Text3DWidget::setText(const String &text)
|
||||
{
|
||||
vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("This widget does not support text." && actor);
|
||||
|
||||
// Update text source
|
||||
vtkPolyDataMapper *mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
|
||||
vtkVectorText * textSource = vtkVectorText::SafeDownCast(mapper->GetInputConnection(0,0)->GetProducer());
|
||||
CV_Assert(textSource);
|
||||
CV_Assert("This widget does not support text." && textSource);
|
||||
|
||||
textSource->SetText(text.c_str());
|
||||
textSource->Update();
|
||||
@ -570,11 +556,11 @@ void cv::viz::Text3DWidget::setText(const String &text)
|
||||
cv::String cv::viz::Text3DWidget::getText() const
|
||||
{
|
||||
vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("This widget does not support text." && actor);
|
||||
|
||||
vtkPolyDataMapper *mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
|
||||
vtkVectorText * textSource = vtkVectorText::SafeDownCast(mapper->GetInputConnection(0,0)->GetProducer());
|
||||
CV_Assert(textSource);
|
||||
CV_Assert("This widget does not support text." && textSource);
|
||||
|
||||
return textSource->GetText();
|
||||
}
|
||||
@ -615,14 +601,14 @@ template<> cv::viz::TextWidget cv::viz::Widget::cast<cv::viz::TextWidget>()
|
||||
void cv::viz::TextWidget::setText(const String &text)
|
||||
{
|
||||
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("This widget does not support text." && actor);
|
||||
actor->SetInput(text.c_str());
|
||||
}
|
||||
|
||||
cv::String cv::viz::TextWidget::getText() const
|
||||
{
|
||||
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("This widget does not support text." && actor);
|
||||
return actor->GetInput();
|
||||
}
|
||||
|
||||
@ -671,10 +657,10 @@ void cv::viz::ImageOverlayWidget::setImage(const Mat &image)
|
||||
CV_Assert(!image.empty() && image.depth() == CV_8U);
|
||||
|
||||
vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("This widget does not support overlay image." && actor);
|
||||
|
||||
vtkImageMapper *mapper = vtkImageMapper::SafeDownCast(actor->GetMapper());
|
||||
CV_Assert(mapper);
|
||||
CV_Assert("This widget does not support overlay image." && mapper);
|
||||
|
||||
// Create the vtk image and set its parameters based on input image
|
||||
vtkSmartPointer<vtkImageData> vtk_image = vtkSmartPointer<vtkImageData>::New();
|
||||
@ -821,7 +807,7 @@ void cv::viz::Image3DWidget::setImage(const Mat &image)
|
||||
CV_Assert(!image.empty() && image.depth() == CV_8U);
|
||||
|
||||
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("This widget does not support 3D image." && actor);
|
||||
|
||||
// Create the vtk image and set its parameters based on input image
|
||||
vtkSmartPointer<vtkImageData> vtk_image = vtkSmartPointer<vtkImageData>::New();
|
||||
@ -969,7 +955,6 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Mat
|
||||
|
||||
// Create a camera
|
||||
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
|
||||
float f_x = K(0,0);
|
||||
float f_y = K(1,1);
|
||||
float c_y = K(1,2);
|
||||
float aspect_ratio = float(image.cols)/float(image.rows);
|
||||
|
||||
@ -14,8 +14,8 @@ cv::viz::Color cv::viz::Color::blue() { return Color(255, 0, 0); }
|
||||
cv::viz::Color cv::viz::Color::cyan() { return Color(255, 255, 0); }
|
||||
|
||||
cv::viz::Color cv::viz::Color::red() { return Color( 0, 0, 255); }
|
||||
cv::viz::Color cv::viz::Color::magenta() { return Color( 0, 255, 255); }
|
||||
cv::viz::Color cv::viz::Color::yellow() { return Color(255, 0, 255); }
|
||||
cv::viz::Color cv::viz::Color::yellow() { return Color( 0, 255, 255); }
|
||||
cv::viz::Color cv::viz::Color::magenta() { return Color(255, 0, 255); }
|
||||
cv::viz::Color cv::viz::Color::white() { return Color(255, 255, 255); }
|
||||
|
||||
cv::viz::Color cv::viz::Color::gray() { return Color(128, 128, 128); }
|
||||
@ -72,11 +72,12 @@ struct cv::viz::Mesh3d::loadMeshImpl
|
||||
vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
|
||||
reader->SetFileName(file.c_str());
|
||||
reader->Update();
|
||||
|
||||
vtkSmartPointer<vtkPolyData> poly_data = reader->GetOutput ();
|
||||
CV_Assert("File does not exist or file format is not supported." && poly_data);
|
||||
|
||||
vtkSmartPointer<vtkPoints> mesh_points = poly_data->GetPoints ();
|
||||
vtkIdType nr_points = mesh_points->GetNumberOfPoints ();
|
||||
//vtkIdType nr_polygons = poly_data->GetNumberOfPolys ();
|
||||
|
||||
mesh.cloud.create(1, nr_points, CV_32FC3);
|
||||
|
||||
@ -89,18 +90,10 @@ struct cv::viz::Mesh3d::loadMeshImpl
|
||||
}
|
||||
|
||||
// Then the color information, if any
|
||||
vtkUnsignedCharArray* poly_colors = NULL;
|
||||
if (poly_data->GetPointData() != NULL)
|
||||
poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("Colors"));
|
||||
|
||||
// some applications do not save the name of scalars (including PCL's native vtk_io)
|
||||
if (!poly_colors && poly_data->GetPointData () != NULL)
|
||||
poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("scalars"));
|
||||
|
||||
if (!poly_colors && poly_data->GetPointData () != NULL)
|
||||
poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("RGB"));
|
||||
|
||||
// TODO: currently only handles rgb values with 3 components
|
||||
vtkUnsignedCharArray* poly_colors = 0;
|
||||
if (poly_data->GetPointData())
|
||||
poly_colors = vtkUnsignedCharArray::SafeDownCast(poly_data->GetPointData()->GetScalars());
|
||||
|
||||
if (poly_colors && (poly_colors->GetNumberOfComponents () == 3))
|
||||
{
|
||||
mesh.colors.create(1, nr_points, CV_8UC3);
|
||||
|
||||
@ -33,7 +33,9 @@ void cv::viz::Viz3d::create(const String &window_name)
|
||||
|
||||
void cv::viz::Viz3d::release()
|
||||
{
|
||||
if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
|
||||
// If the current referene count is equal to 2, we can delete it
|
||||
// - 2 : because minimum there will be two instances, one of which is in the map
|
||||
if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 2)
|
||||
{
|
||||
// Erase the window
|
||||
cv::viz::VizAccessor::getInstance().remove(getWindowName());
|
||||
@ -42,28 +44,6 @@ void cv::viz::Viz3d::release()
|
||||
}
|
||||
}
|
||||
|
||||
void cv::viz::Viz3d::setBackgroundColor(const Color& color) { impl_->setBackgroundColor(color); }
|
||||
|
||||
bool cv::viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id)
|
||||
{
|
||||
return impl_->addPolygonMesh(mesh, Mat(), id);
|
||||
}
|
||||
|
||||
bool cv::viz::Viz3d::updatePolygonMesh (const Mesh3d& mesh, const String& id)
|
||||
{
|
||||
return impl_->updatePolygonMesh(mesh, Mat(), id);
|
||||
}
|
||||
|
||||
bool cv::viz::Viz3d::addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id)
|
||||
{
|
||||
return impl_->addPolylineFromPolygonMesh(mesh, id);
|
||||
}
|
||||
|
||||
bool cv::viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const String& id)
|
||||
{
|
||||
return impl_->addPolygon(cloud, color, id);
|
||||
}
|
||||
|
||||
void cv::viz::Viz3d::spin() { impl_->spin(); }
|
||||
void cv::viz::Viz3d::spinOnce (int time, bool force_redraw) { impl_->spinOnce(time, force_redraw); }
|
||||
bool cv::viz::Viz3d::wasStopped() const { return impl_->wasStopped(); }
|
||||
@ -74,11 +54,10 @@ void cv::viz::Viz3d::registerKeyboardCallback(KeyboardCallback callback, void* c
|
||||
void cv::viz::Viz3d::registerMouseCallback(MouseCallback callback, void* cookie)
|
||||
{ impl_->registerMouseCallback(callback, cookie); }
|
||||
|
||||
|
||||
|
||||
void cv::viz::Viz3d::showWidget(const String &id, const Widget &widget, const Affine3f &pose) { impl_->showWidget(id, widget, pose); }
|
||||
void cv::viz::Viz3d::removeWidget(const String &id) { impl_->removeWidget(id); }
|
||||
cv::viz::Widget cv::viz::Viz3d::getWidget(const String &id) const { return impl_->getWidget(id); }
|
||||
void cv::viz::Viz3d::removeAllWidgets() { impl_->removeAllWidgets(); }
|
||||
void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose) { impl_->setWidgetPose(id, pose); }
|
||||
void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose) { impl_->updateWidgetPose(id, pose); }
|
||||
cv::Affine3f cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); }
|
||||
@ -88,9 +67,26 @@ cv::viz::Camera cv::viz::Viz3d::getCamera() const { return impl_->getCamera(); }
|
||||
void cv::viz::Viz3d::setViewerPose(const Affine3f &pose) { impl_->setViewerPose(pose); }
|
||||
cv::Affine3f cv::viz::Viz3d::getViewerPose() { return impl_->getViewerPose(); }
|
||||
|
||||
void cv::viz::Viz3d::resetCameraViewpoint (const String &id) { impl_->resetCameraViewpoint(id); }
|
||||
void cv::viz::Viz3d::resetCamera() { impl_->resetCamera(); }
|
||||
|
||||
void cv::viz::Viz3d::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord) { impl_->convertToWindowCoordinates(pt, window_coord); }
|
||||
void cv::viz::Viz3d::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction) { impl_->converTo3DRay(window_coord, origin, direction); }
|
||||
|
||||
cv::Size cv::viz::Viz3d::getWindowSize() const { return impl_->getWindowSize(); }
|
||||
void cv::viz::Viz3d::setWindowSize(const Size &window_size) { impl_->setWindowSize(window_size.width, window_size.height); }
|
||||
cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); }
|
||||
cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); }
|
||||
void cv::viz::Viz3d::saveScreenshot (const String &file) { impl_->saveScreenshot(file); }
|
||||
void cv::viz::Viz3d::setWindowPosition (int x, int y) { impl_->setWindowPosition(x,y); }
|
||||
void cv::viz::Viz3d::setFullScreen (bool mode) { impl_->setFullScreen(mode); }
|
||||
void cv::viz::Viz3d::setBackgroundColor(const Color& color) { impl_->setBackgroundColor(color); }
|
||||
|
||||
void cv::viz::Viz3d::setRenderingProperty(const String &id, int property, double value) { getWidget(id).setRenderingProperty(property, value); }
|
||||
double cv::viz::Viz3d::getRenderingProperty(const String &id, int property) { return getWidget(id).getRenderingProperty(property); }
|
||||
|
||||
void cv::viz::Viz3d::setDesiredUpdateRate(double time) { impl_->setDesiredUpdateRate(time); }
|
||||
double cv::viz::Viz3d::getDesiredUpdateRate() { return impl_->getDesiredUpdateRate(); }
|
||||
|
||||
void cv::viz::Viz3d::setRepresentationToSurface() { impl_->setRepresentationToSurface(); }
|
||||
void cv::viz::Viz3d::setRepresentationToWireframe() { impl_->setRepresentationToWireframe(); }
|
||||
void cv::viz::Viz3d::setRepresentationToPoints() { impl_->setRepresentationToPoints(); }
|
||||
File diff suppressed because it is too large
Load Diff
@ -16,48 +16,18 @@ public:
|
||||
|
||||
VizImpl (const String &name);
|
||||
virtual ~VizImpl ();
|
||||
|
||||
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
|
||||
void removeWidget(const String &id);
|
||||
Widget getWidget(const String &id) const;
|
||||
void removeAllWidgets();
|
||||
|
||||
void setWidgetPose(const String &id, const Affine3f &pose);
|
||||
void updateWidgetPose(const String &id, const Affine3f &pose);
|
||||
Affine3f getWidgetPose(const String &id) const;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//to refactor
|
||||
bool removePointCloud (const String& id = "cloud");
|
||||
inline bool removePolygonMesh (const String& id = "polygon") { return removePointCloud (id); }
|
||||
bool removeShape (const String& id = "cloud");
|
||||
bool removeText3D (const String& id = "cloud");
|
||||
bool removeAllPointClouds ();
|
||||
|
||||
//create Viz3d::removeAllWidgets()
|
||||
bool removeAllShapes ();
|
||||
|
||||
//to refactor
|
||||
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
|
||||
bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
|
||||
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
|
||||
|
||||
// to refactor: Widget3D:: & Viz3d::
|
||||
bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud");
|
||||
bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud");
|
||||
bool setShapeRenderingProperties (int property, double value, const String& id);
|
||||
|
||||
/** \brief Set whether the point cloud is selected or not
|
||||
* \param[in] selected whether the cloud is selected or not (true = selected)
|
||||
* \param[in] id the point cloud object id (default: cloud)
|
||||
*/
|
||||
// probably should just remove
|
||||
bool setPointCloudSelected (const bool selected, const String& id = "cloud" );
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void setDesiredUpdateRate(double time);
|
||||
double getDesiredUpdateRate();
|
||||
|
||||
/** \brief Returns true when the user tried to close the window */
|
||||
bool wasStopped () const { if (interactor_ != NULL) return (stopped_); else return true; }
|
||||
@ -76,78 +46,29 @@ public:
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// to refactor
|
||||
bool addPolygon(const cv::Mat& cloud, const Color& color, const String& id = "polygon");
|
||||
bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color, bool display_length, const String& id = "arrow");
|
||||
bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color_line, const Color& color_text, const String& id = "arrow");
|
||||
|
||||
// Probably remove this
|
||||
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const String& id = "PolyData");
|
||||
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, vtkSmartPointer<vtkTransform> transform, const String& id = "PolyData");
|
||||
|
||||
// I think this should be moved to 'static Widget Widget::fromPlyFile(const String&)';
|
||||
bool addModelFromPLYFile (const String &filename, const String& id = "PLYModel");
|
||||
bool addModelFromPLYFile (const String &filename, vtkSmartPointer<vtkTransform> transform, const String& id = "PLYModel");
|
||||
|
||||
|
||||
// to implement in Viz3d with shorter name
|
||||
void setRepresentationToSurfaceForAllActors();
|
||||
void setRepresentationToPointsForAllActors();
|
||||
void setRepresentationToWireframeForAllActors();
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// ////////////////////////////////////////////////////////////////////////////////////
|
||||
// All camera methods to refactor into set/getViewwerPose, setCamera()
|
||||
// and 'Camera' class itself with various constructors/fields
|
||||
void setRepresentationToSurface();
|
||||
void setRepresentationToPoints();
|
||||
void setRepresentationToWireframe();
|
||||
|
||||
void setCamera(const Camera &camera);
|
||||
Camera getCamera() const;
|
||||
|
||||
void initCameraParameters (); /** \brief Initialize camera parameters with some default values. */
|
||||
bool cameraParamsSet () const; /** \brief Checks whether the camera parameters were manually loaded from file.*/
|
||||
void updateCamera (); /** \brief Update camera parameters and render. */
|
||||
void resetCamera (); /** \brief Reset camera parameters and render. */
|
||||
|
||||
/** \brief Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset.
|
||||
* \param[in] id the point cloud object id (default: cloud) */
|
||||
void resetCameraViewpoint (const String& id = "cloud");
|
||||
void resetCameraViewpoint(const String& id);
|
||||
void resetCamera();
|
||||
|
||||
//to implement Viz3d set/getViewerPose()
|
||||
void setViewerPose(const Affine3f &pose);
|
||||
Affine3f getViewerPose();
|
||||
|
||||
void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
|
||||
void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//to implemnt in Viz3d
|
||||
void saveScreenshot (const String &file);
|
||||
void setWindowPosition (int x, int y);
|
||||
Size getWindowSize() const;
|
||||
void setWindowSize (int xw, int yw);
|
||||
void setFullScreen (bool mode);
|
||||
void setWindowName (const String &name);
|
||||
String getWindowName() const;
|
||||
void setBackgroundColor (const Color& color);
|
||||
|
||||
@ -157,22 +78,6 @@ public:
|
||||
void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
|
||||
void registerMouseCallback(MouseCallback callback, void* cookie = 0);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//declare above (to move to up)
|
||||
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
|
||||
void removeWidget(const String &id);
|
||||
Widget getWidget(const String &id) const;
|
||||
|
||||
void setWidgetPose(const String &id, const Affine3f &pose);
|
||||
void updateWidgetPose(const String &id, const Affine3f &pose);
|
||||
Affine3f getWidgetPose(const String &id) const;
|
||||
|
||||
private:
|
||||
vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
|
||||
|
||||
@ -209,6 +114,7 @@ private:
|
||||
if (event_id == vtkCommand::ExitEvent)
|
||||
{
|
||||
viz_->stopped_ = true;
|
||||
viz_->interactor_->GetRenderWindow()->Finalize();
|
||||
viz_->interactor_->TerminateApp ();
|
||||
}
|
||||
}
|
||||
@ -232,12 +138,6 @@ private:
|
||||
|
||||
/** \brief The render window interactor style. */
|
||||
vtkSmartPointer<InteractorStyle> style_;
|
||||
|
||||
/** \brief Internal list with actor pointers and name IDs for point clouds. */
|
||||
cv::Ptr<CloudActorMap> cloud_actor_map_;
|
||||
|
||||
/** \brief Internal list with actor pointers and name IDs for shapes. */
|
||||
cv::Ptr<ShapeActorMap> shape_actor_map_;
|
||||
|
||||
/** \brief Internal list with actor pointers and name IDs for all widget actors */
|
||||
cv::Ptr<WidgetActorMap> widget_actor_map_;
|
||||
@ -245,13 +145,8 @@ private:
|
||||
/** \brief Boolean that holds whether or not the camera parameters were manually initialized*/
|
||||
bool camera_set_;
|
||||
|
||||
bool removeActorFromRenderer (const vtkSmartPointer<vtkLODActor> &actor);
|
||||
bool removeActorFromRenderer (const vtkSmartPointer<vtkActor> &actor);
|
||||
bool removeActorFromRenderer (const vtkSmartPointer<vtkProp> &actor);
|
||||
|
||||
//void addActorToRenderer (const vtkSmartPointer<vtkProp> &actor);
|
||||
|
||||
|
||||
/** \brief Internal method. Creates a vtk actor from a vtk polydata object.
|
||||
* \param[in] data the vtk polydata object to create an actor for
|
||||
* \param[out] actor the resultant vtk actor object
|
||||
@ -268,10 +163,6 @@ private:
|
||||
* generate
|
||||
*/
|
||||
void updateCells (vtkSmartPointer<vtkIdTypeArray> &cells, vtkSmartPointer<vtkIdTypeArray> &initcells, vtkIdType nr_points);
|
||||
|
||||
void allocVtkPolyData (vtkSmartPointer<vtkAppendPolyData> &polydata);
|
||||
void allocVtkPolyData (vtkSmartPointer<vtkPolyData> &polydata);
|
||||
void allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata);
|
||||
};
|
||||
|
||||
|
||||
@ -280,17 +171,9 @@ namespace cv
|
||||
{
|
||||
namespace viz
|
||||
{
|
||||
//void getTransformationMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternionf& orientation, Eigen::Matrix4f &transformation);
|
||||
vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f &m);
|
||||
cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix);
|
||||
|
||||
/** \brief Convert origin and orientation to vtkMatrix4x4
|
||||
* \param[in] origin the point cloud origin
|
||||
* \param[in] orientation the point cloud orientation
|
||||
* \param[out] vtk_matrix the resultant VTK 4x4 matrix
|
||||
*/
|
||||
void convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<float> &orientation, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix);
|
||||
|
||||
struct NanFilter
|
||||
{
|
||||
template<typename _Tp, typename _Msk>
|
||||
|
||||
@ -6,29 +6,7 @@ namespace cv
|
||||
{
|
||||
namespace viz
|
||||
{
|
||||
struct CV_EXPORTS CloudActor
|
||||
{
|
||||
/** \brief The actor holding the data to render. */
|
||||
vtkSmartPointer<vtkLODActor> actor;
|
||||
|
||||
/** \brief The viewpoint transformation matrix. */
|
||||
vtkSmartPointer<vtkMatrix4x4> viewpoint_transformation_;
|
||||
|
||||
/** \brief Internal cell array. Used for optimizing updatePointCloud. */
|
||||
vtkSmartPointer<vtkIdTypeArray> cells;
|
||||
};
|
||||
|
||||
// TODO This will be used to contain both cloud and shape actors
|
||||
struct CV_EXPORTS WidgetActor
|
||||
{
|
||||
vtkSmartPointer<vtkProp> actor;
|
||||
vtkSmartPointer<vtkMatrix4x4> viewpoint_transformation_;
|
||||
vtkSmartPointer<vtkIdTypeArray> cells;
|
||||
};
|
||||
|
||||
typedef std::map<std::string, CloudActor> CloudActorMap;
|
||||
typedef std::map<std::string, vtkSmartPointer<vtkProp> > ShapeActorMap;
|
||||
typedef std::map<std::string, WidgetActor> WidgetActorMap;
|
||||
typedef std::map<std::string, vtkSmartPointer<vtkProp> > WidgetActorMap;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -1,4 +1,3 @@
|
||||
|
||||
#include "precomp.hpp"
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
@ -8,53 +7,198 @@ class cv::viz::Widget::Impl
|
||||
{
|
||||
public:
|
||||
vtkSmartPointer<vtkProp> prop;
|
||||
int ref_counter;
|
||||
|
||||
Impl() : prop(0) {}
|
||||
};
|
||||
|
||||
cv::viz::Widget::Widget() : impl_(0)
|
||||
{
|
||||
create();
|
||||
cv::viz::Widget::Widget() : impl_( new Impl() ) { }
|
||||
|
||||
cv::viz::Widget::Widget(const Widget& other) : impl_( new Impl() )
|
||||
{
|
||||
if (other.impl_ && other.impl_->prop) impl_->prop = other.impl_->prop;
|
||||
}
|
||||
|
||||
cv::viz::Widget::Widget(const Widget &other) : impl_(other.impl_)
|
||||
cv::viz::Widget& cv::viz::Widget::operator=(const Widget& other)
|
||||
{
|
||||
if (impl_) CV_XADD(&impl_->ref_counter, 1);
|
||||
}
|
||||
|
||||
cv::viz::Widget& cv::viz::Widget::operator=(const Widget &other)
|
||||
{
|
||||
if (this != &other)
|
||||
{
|
||||
release();
|
||||
impl_ = other.impl_;
|
||||
if (impl_) CV_XADD(&impl_->ref_counter, 1);
|
||||
}
|
||||
if (!impl_) impl_ = new Impl();
|
||||
if (other.impl_) impl_->prop = other.impl_->prop;
|
||||
return *this;
|
||||
}
|
||||
|
||||
cv::viz::Widget::~Widget()
|
||||
{
|
||||
release();
|
||||
}
|
||||
|
||||
void cv::viz::Widget::create()
|
||||
{
|
||||
if (impl_) release();
|
||||
impl_ = new Impl();
|
||||
impl_->ref_counter = 1;
|
||||
}
|
||||
|
||||
void cv::viz::Widget::release()
|
||||
{
|
||||
if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
|
||||
cv::viz::Widget::~Widget()
|
||||
{
|
||||
if (impl_)
|
||||
{
|
||||
delete impl_;
|
||||
impl_ = 0;
|
||||
}
|
||||
}
|
||||
|
||||
cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
|
||||
{
|
||||
vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New ();
|
||||
reader->SetFileName (file_name.c_str ());
|
||||
|
||||
vtkSmartPointer<vtkDataSet> data = reader->GetOutput();
|
||||
CV_Assert("File does not exist or file format is not supported." && data);
|
||||
|
||||
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
|
||||
|
||||
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
|
||||
mapper->SetInput (data);
|
||||
|
||||
vtkSmartPointer<vtkDataArray> scalars = data->GetPointData ()->GetScalars ();
|
||||
if (scalars)
|
||||
{
|
||||
cv::Vec3d minmax(scalars->GetRange());
|
||||
mapper->SetScalarRange(minmax.val);
|
||||
mapper->SetScalarModeToUsePointData ();
|
||||
|
||||
// interpolation OFF, if data is a vtkPolyData that contains only vertices, ON for anything else.
|
||||
vtkPolyData* polyData = vtkPolyData::SafeDownCast (data);
|
||||
bool interpolation = (polyData && polyData->GetNumberOfCells () != polyData->GetNumberOfVerts ());
|
||||
|
||||
mapper->SetInterpolateScalarsBeforeMapping (interpolation);
|
||||
mapper->ScalarVisibilityOn ();
|
||||
}
|
||||
mapper->ImmediateModeRenderingOff ();
|
||||
|
||||
actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, data->GetNumberOfPoints () / 10)));
|
||||
actor->GetProperty ()->SetInterpolationToFlat ();
|
||||
actor->GetProperty ()->BackfaceCullingOn ();
|
||||
|
||||
actor->SetMapper (mapper);
|
||||
|
||||
Widget widget;
|
||||
widget.impl_->prop = actor;
|
||||
return widget;
|
||||
}
|
||||
|
||||
void cv::viz::Widget::setRenderingProperty(int property, double value)
|
||||
{
|
||||
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert("Widget type is not supported." && actor);
|
||||
|
||||
switch (property)
|
||||
{
|
||||
case VIZ_POINT_SIZE:
|
||||
{
|
||||
actor->GetProperty ()->SetPointSize (float (value));
|
||||
actor->Modified ();
|
||||
break;
|
||||
}
|
||||
case VIZ_OPACITY:
|
||||
{
|
||||
actor->GetProperty ()->SetOpacity (value);
|
||||
actor->Modified ();
|
||||
break;
|
||||
}
|
||||
// Turn on/off flag to control whether data is rendered using immediate
|
||||
// mode or note. Immediate mode rendering tends to be slower but it can
|
||||
// handle larger datasets. The default value is immediate mode off. If you
|
||||
// are having problems rendering a large dataset you might want to consider
|
||||
// using immediate more rendering.
|
||||
case VIZ_IMMEDIATE_RENDERING:
|
||||
{
|
||||
actor->GetMapper ()->SetImmediateModeRendering (int (value));
|
||||
actor->Modified ();
|
||||
break;
|
||||
}
|
||||
case VIZ_LINE_WIDTH:
|
||||
{
|
||||
actor->GetProperty ()->SetLineWidth (float (value));
|
||||
actor->Modified ();
|
||||
break;
|
||||
}
|
||||
default:
|
||||
CV_Assert("setPointCloudRenderingProperties: Unknown property");
|
||||
}
|
||||
}
|
||||
|
||||
double cv::viz::Widget::getRenderingProperty(int property) const
|
||||
{
|
||||
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert("Widget type is not supported." && actor);
|
||||
|
||||
double value = 0.0;
|
||||
switch (property)
|
||||
{
|
||||
case VIZ_POINT_SIZE:
|
||||
{
|
||||
value = actor->GetProperty ()->GetPointSize ();
|
||||
actor->Modified ();
|
||||
break;
|
||||
}
|
||||
case VIZ_OPACITY:
|
||||
{
|
||||
value = actor->GetProperty ()->GetOpacity ();
|
||||
actor->Modified ();
|
||||
break;
|
||||
}
|
||||
case VIZ_LINE_WIDTH:
|
||||
{
|
||||
value = actor->GetProperty ()->GetLineWidth ();
|
||||
actor->Modified ();
|
||||
break;
|
||||
}
|
||||
case VIZ_FONT_SIZE:
|
||||
{
|
||||
vtkTextActor* text_actor = vtkTextActor::SafeDownCast (actor);
|
||||
vtkSmartPointer<vtkTextProperty> tprop = text_actor->GetTextProperty ();
|
||||
tprop->SetFontSize (int (value));
|
||||
text_actor->Modified ();
|
||||
break;
|
||||
}
|
||||
case VIZ_REPRESENTATION:
|
||||
{
|
||||
switch (int (value))
|
||||
{
|
||||
case REPRESENTATION_POINTS: actor->GetProperty ()->SetRepresentationToPoints (); break;
|
||||
case REPRESENTATION_WIREFRAME: actor->GetProperty ()->SetRepresentationToWireframe (); break;
|
||||
case REPRESENTATION_SURFACE: actor->GetProperty ()->SetRepresentationToSurface (); break;
|
||||
}
|
||||
actor->Modified ();
|
||||
break;
|
||||
}
|
||||
case VIZ_SHADING:
|
||||
{
|
||||
switch (int (value))
|
||||
{
|
||||
case SHADING_FLAT: actor->GetProperty ()->SetInterpolationToFlat (); break;
|
||||
case SHADING_GOURAUD:
|
||||
{
|
||||
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetNormals ())
|
||||
{
|
||||
vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
|
||||
normals->SetInput (actor->GetMapper ()->GetInput ());
|
||||
normals->Update ();
|
||||
vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
|
||||
}
|
||||
actor->GetProperty ()->SetInterpolationToGouraud ();
|
||||
break;
|
||||
}
|
||||
case SHADING_PHONG:
|
||||
{
|
||||
if (!actor->GetMapper ()->GetInput ()->GetPointData ()->GetNormals ())
|
||||
{
|
||||
vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
|
||||
normals->SetInput (actor->GetMapper ()->GetInput ());
|
||||
normals->Update ();
|
||||
vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
|
||||
}
|
||||
actor->GetProperty ()->SetInterpolationToPhong ();
|
||||
break;
|
||||
}
|
||||
}
|
||||
actor->Modified ();
|
||||
break;
|
||||
}
|
||||
default:
|
||||
CV_Assert("getPointCloudRenderingProperties: Unknown property");
|
||||
}
|
||||
return value;
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// widget accessor implementaion
|
||||
|
||||
@ -95,7 +239,7 @@ struct cv::viz::Widget3D::MatrixConverter
|
||||
void cv::viz::Widget3D::setPose(const Affine3f &pose)
|
||||
{
|
||||
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("Widget is not 3D." && actor);
|
||||
|
||||
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
|
||||
actor->SetUserMatrix (matrix);
|
||||
@ -105,7 +249,7 @@ void cv::viz::Widget3D::setPose(const Affine3f &pose)
|
||||
void cv::viz::Widget3D::updatePose(const Affine3f &pose)
|
||||
{
|
||||
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("Widget is not 3D." && actor);
|
||||
|
||||
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
|
||||
if (!matrix)
|
||||
@ -125,7 +269,7 @@ void cv::viz::Widget3D::updatePose(const Affine3f &pose)
|
||||
cv::Affine3f cv::viz::Widget3D::getPose() const
|
||||
{
|
||||
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("Widget is not 3D." && actor);
|
||||
|
||||
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
|
||||
Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
|
||||
@ -136,7 +280,7 @@ void cv::viz::Widget3D::setColor(const Color &color)
|
||||
{
|
||||
// Cast to actor instead of prop3d since prop3d doesn't provide getproperty
|
||||
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("Widget type is not supported." && actor);
|
||||
|
||||
Color c = vtkcolor(color);
|
||||
actor->GetMapper ()->ScalarVisibilityOff ();
|
||||
@ -148,7 +292,7 @@ void cv::viz::Widget3D::setColor(const Color &color)
|
||||
template<> cv::viz::Widget3D cv::viz::Widget::cast<cv::viz::Widget3D>()
|
||||
{
|
||||
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("Widget cannot be cast." && actor);
|
||||
|
||||
Widget3D widget;
|
||||
WidgetAccessor::setProp(widget, actor);
|
||||
@ -161,7 +305,7 @@ template<> cv::viz::Widget3D cv::viz::Widget::cast<cv::viz::Widget3D>()
|
||||
void cv::viz::Widget2D::setColor(const Color &color)
|
||||
{
|
||||
vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("Widget type is not supported." && actor);
|
||||
Color c = vtkcolor(color);
|
||||
actor->GetProperty ()->SetColor (c.val);
|
||||
actor->Modified ();
|
||||
@ -170,7 +314,7 @@ void cv::viz::Widget2D::setColor(const Color &color)
|
||||
template<> cv::viz::Widget2D cv::viz::Widget::cast<cv::viz::Widget2D>()
|
||||
{
|
||||
vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
|
||||
CV_Assert(actor);
|
||||
CV_Assert("Widget cannot be cast." && actor);
|
||||
|
||||
Widget2D widget;
|
||||
WidgetAccessor::setProp(widget, actor);
|
||||
|
||||
106
samples/cpp/tutorial_code/viz/creating_widgets.cpp
Normal file
106
samples/cpp/tutorial_code/viz/creating_widgets.cpp
Normal file
@ -0,0 +1,106 @@
|
||||
/**
|
||||
* @file creating_widgets.cpp
|
||||
* @brief Creating custom widgets using VTK
|
||||
* @author Ozan Cagri Tonkal
|
||||
*/
|
||||
|
||||
#include <opencv2/viz.hpp>
|
||||
#include <opencv2/viz/widget_accessor.hpp>
|
||||
#include <iostream>
|
||||
|
||||
#include <vtkPoints.h>
|
||||
#include <vtkTriangle.h>
|
||||
#include <vtkCellArray.h>
|
||||
#include <vtkPolyData.h>
|
||||
#include <vtkPolyDataMapper.h>
|
||||
#include <vtkIdList.h>
|
||||
#include <vtkActor.h>
|
||||
#include <vtkProp.h>
|
||||
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
/**
|
||||
* @function help
|
||||
* @brief Display instructions to use this tutorial program
|
||||
*/
|
||||
void help()
|
||||
{
|
||||
cout
|
||||
<< "--------------------------------------------------------------------------" << endl
|
||||
<< "This program shows how to create a custom widget. You can create your own "
|
||||
<< "widgets by extending Widget2D/Widget3D, and with the help of WidgetAccessor." << endl
|
||||
<< "Usage:" << endl
|
||||
<< "./creating_widgets" << endl
|
||||
<< endl;
|
||||
}
|
||||
|
||||
/**
|
||||
* @class TriangleWidget
|
||||
* @brief Defining our own 3D Triangle widget
|
||||
*/
|
||||
class TriangleWidget : public viz::Widget3D
|
||||
{
|
||||
public:
|
||||
TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
|
||||
};
|
||||
|
||||
/**
|
||||
* @function TriangleWidget::TriangleWidget
|
||||
* @brief Constructor
|
||||
*/
|
||||
TriangleWidget::TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
|
||||
{
|
||||
// Create a triangle
|
||||
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
|
||||
points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
|
||||
points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
|
||||
points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
|
||||
|
||||
vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
|
||||
triangle->GetPointIds()->SetId(0,0);
|
||||
triangle->GetPointIds()->SetId(1,1);
|
||||
triangle->GetPointIds()->SetId(2,2);
|
||||
|
||||
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
|
||||
cells->InsertNextCell(triangle);
|
||||
|
||||
// Create a polydata object
|
||||
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
|
||||
|
||||
// Add the geometry and topology to the polydata
|
||||
polyData->SetPoints(points);
|
||||
polyData->SetPolys(cells);
|
||||
|
||||
// Create mapper and actor
|
||||
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
|
||||
mapper->SetInput(polyData);
|
||||
|
||||
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
|
||||
actor->SetMapper(mapper);
|
||||
|
||||
// Store this actor in the widget in order that visualizer can access it
|
||||
viz::WidgetAccessor::setProp(*this, actor);
|
||||
}
|
||||
|
||||
/**
|
||||
* @function main
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
help();
|
||||
|
||||
/// Create a window
|
||||
viz::Viz3d myWindow("Creating Widgets");
|
||||
|
||||
/// Create a triangle widget
|
||||
TriangleWidget tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0));
|
||||
|
||||
/// Show widget in the visualizer window
|
||||
myWindow.showWidget("TRIANGLE", tw);
|
||||
|
||||
/// Start event loop
|
||||
myWindow.spin();
|
||||
|
||||
return 0;
|
||||
}
|
||||
66
samples/cpp/tutorial_code/viz/launching_viz.cpp
Normal file
66
samples/cpp/tutorial_code/viz/launching_viz.cpp
Normal file
@ -0,0 +1,66 @@
|
||||
/**
|
||||
* @file launching_viz.cpp
|
||||
* @brief Launching visualization window
|
||||
* @author Ozan Cagri Tonkal
|
||||
*/
|
||||
|
||||
#include <opencv2/viz.hpp>
|
||||
#include <iostream>
|
||||
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
/**
|
||||
* @function help
|
||||
* @brief Display instructions to use this tutorial program
|
||||
*/
|
||||
void help()
|
||||
{
|
||||
cout
|
||||
<< "--------------------------------------------------------------------------" << endl
|
||||
<< "This program shows how to launch a 3D visualization window. You can stop event loop to continue executing. "
|
||||
<< "You can access the same window via its name. You can run event loop for a given period of time. " << endl
|
||||
<< "Usage:" << endl
|
||||
<< "./launching_viz" << endl
|
||||
<< endl;
|
||||
}
|
||||
|
||||
/**
|
||||
* @function main
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
help();
|
||||
/// Create a window
|
||||
viz::Viz3d myWindow("Viz Demo");
|
||||
|
||||
/// Start event loop
|
||||
myWindow.spin();
|
||||
|
||||
/// Event loop is over when pressed q, Q, e, E
|
||||
cout << "First event loop is over" << endl;
|
||||
|
||||
/// Access window via its name
|
||||
viz::Viz3d sameWindow = viz::get("Viz Demo");
|
||||
|
||||
/// Start event loop
|
||||
sameWindow.spin();
|
||||
|
||||
/// Event loop is over when pressed q, Q, e, E
|
||||
cout << "Second event loop is over" << endl;
|
||||
|
||||
/// Event loop is over when pressed q, Q, e, E
|
||||
/// Start event loop once for 1 millisecond
|
||||
sameWindow.spinOnce(1, true);
|
||||
while(!sameWindow.wasStopped())
|
||||
{
|
||||
/// Interact with window
|
||||
|
||||
/// Event loop for 1 millisecond
|
||||
sameWindow.spinOnce(1, true);
|
||||
}
|
||||
|
||||
/// Once more event loop is stopped
|
||||
cout << "Last event loop is over" << endl;
|
||||
return 0;
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user