Doxygen tutorials: cpp done
This commit is contained in:
Maksim Shabunin
@@ -14,122 +14,65 @@ Code
|
||||
----
|
||||
|
||||
You can download the code from [here ](samples/cpp/tutorial_code/viz/widget_pose.cpp).
|
||||
@code{.cpp}
|
||||
#include <opencv2/viz.hpp>
|
||||
#include <opencv2/calib3d.hpp>
|
||||
#include <iostream>
|
||||
@includelineno samples/cpp/tutorial_code/viz/widget_pose.cpp
|
||||
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
/*
|
||||
* @function main
|
||||
*/
|
||||
int main()
|
||||
{
|
||||
/// Create a window
|
||||
viz::Viz3d myWindow("Coordinate Frame");
|
||||
|
||||
/// Add coordinate axes
|
||||
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
|
||||
|
||||
/// Add line to represent (1,1,1) axis
|
||||
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
|
||||
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
||||
myWindow.showWidget("Line Widget", axis);
|
||||
|
||||
/// Construct a cube widget
|
||||
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
|
||||
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
||||
|
||||
/// Display widget (update if already displayed)
|
||||
myWindow.showWidget("Cube Widget", cube_widget);
|
||||
|
||||
/// Rodrigues vector
|
||||
Mat rot_vec = Mat::zeros(1,3,CV_32F);
|
||||
float translation_phase = 0.0, translation = 0.0;
|
||||
while(!myWindow.wasStopped())
|
||||
{
|
||||
/* Rotation using rodrigues */
|
||||
/// Rotate around (1,1,1)
|
||||
rot_vec.at<float>(0,0) += CV_PI * 0.01f;
|
||||
rot_vec.at<float>(0,1) += CV_PI * 0.01f;
|
||||
rot_vec.at<float>(0,2) += CV_PI * 0.01f;
|
||||
|
||||
/// Shift on (1,1,1)
|
||||
translation_phase += CV_PI * 0.01f;
|
||||
translation = sin(translation_phase);
|
||||
|
||||
Mat rot_mat;
|
||||
Rodrigues(rot_vec, rot_mat);
|
||||
|
||||
/// Construct pose
|
||||
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
|
||||
|
||||
myWindow.setWidgetPose("Cube Widget", pose);
|
||||
|
||||
myWindow.spinOnce(1, true);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@endcode
|
||||
Explanation
|
||||
-----------
|
||||
|
||||
Here is the general structure of the program:
|
||||
|
||||
- Create a visualization window.
|
||||
@code{.cpp}
|
||||
/// Create a window
|
||||
viz::Viz3d myWindow("Coordinate Frame");
|
||||
@endcode
|
||||
@code{.cpp}
|
||||
/// Create a window
|
||||
viz::Viz3d myWindow("Coordinate Frame");
|
||||
@endcode
|
||||
- Show coordinate axes in the window using CoordinateSystemWidget.
|
||||
@code{.cpp}
|
||||
/// Add coordinate axes
|
||||
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
|
||||
@endcode
|
||||
@code{.cpp}
|
||||
/// Add coordinate axes
|
||||
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
|
||||
@endcode
|
||||
- Display a line representing the axis (1,1,1).
|
||||
@code{.cpp}
|
||||
/// Add line to represent (1,1,1) axis
|
||||
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
|
||||
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
||||
myWindow.showWidget("Line Widget", axis);
|
||||
@endcode
|
||||
@code{.cpp}
|
||||
/// Add line to represent (1,1,1) axis
|
||||
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
|
||||
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
||||
myWindow.showWidget("Line Widget", axis);
|
||||
@endcode
|
||||
- Construct a cube.
|
||||
@code{.cpp}
|
||||
/// Construct a cube widget
|
||||
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
|
||||
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
||||
myWindow.showWidget("Cube Widget", cube_widget);
|
||||
@endcode
|
||||
@code{.cpp}
|
||||
/// Construct a cube widget
|
||||
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
|
||||
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
||||
myWindow.showWidget("Cube Widget", cube_widget);
|
||||
@endcode
|
||||
- Create rotation matrix from rodrigues vector
|
||||
@code{.cpp}
|
||||
/// Rotate around (1,1,1)
|
||||
rot_vec.at<float>(0,0) += CV_PI * 0.01f;
|
||||
rot_vec.at<float>(0,1) += CV_PI * 0.01f;
|
||||
rot_vec.at<float>(0,2) += CV_PI * 0.01f;
|
||||
@code{.cpp}
|
||||
/// Rotate around (1,1,1)
|
||||
rot_vec.at<float>(0,0) += CV_PI * 0.01f;
|
||||
rot_vec.at<float>(0,1) += CV_PI * 0.01f;
|
||||
rot_vec.at<float>(0,2) += CV_PI * 0.01f;
|
||||
|
||||
...
|
||||
|
||||
Mat rot_mat;
|
||||
Rodrigues(rot_vec, rot_mat);
|
||||
@endcode
|
||||
- Use Affine3f to set pose of the cube.
|
||||
@code{.cpp}
|
||||
/// Construct pose
|
||||
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
|
||||
myWindow.setWidgetPose("Cube Widget", pose);
|
||||
@endcode
|
||||
- Animate the rotation using wasStopped and spinOnce
|
||||
@code{.cpp}
|
||||
while(!myWindow.wasStopped())
|
||||
{
|
||||
...
|
||||
|
||||
myWindow.spinOnce(1, true);
|
||||
}
|
||||
@endcode
|
||||
Mat rot_mat;
|
||||
Rodrigues(rot_vec, rot_mat);
|
||||
@endcode
|
||||
- Use Affine3f to set pose of the cube.
|
||||
@code{.cpp}
|
||||
/// Construct pose
|
||||
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
|
||||
myWindow.setWidgetPose("Cube Widget", pose);
|
||||
@endcode
|
||||
- Animate the rotation using wasStopped and spinOnce
|
||||
@code{.cpp}
|
||||
while(!myWindow.wasStopped())
|
||||
{
|
||||
...
|
||||
|
||||
myWindow.spinOnce(1, true);
|
||||
}
|
||||
@endcode
|
||||
|
||||
Results
|
||||
-------
|
||||
|
||||
@@ -140,4 +83,3 @@ Here is the result of the program.
|
||||
<iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
|
||||
</div>
|
||||
\endhtmlonly
|
||||
|
||||
|
||||
Reference in New Issue
Block a user