some of the tutorials
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Ozan Tonkal
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155
doc/tutorials/viz/creating_widgets.rst
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155
doc/tutorials/viz/creating_widgets.rst
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.. _creating_widgets:
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Creating Widgets
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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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* Create your own widgets using WidgetAccessor and VTK.
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* Show your widget in the visualization window.
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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/creating_widgets.cpp>`_.
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.. code-block:: cpp
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#include <opencv2/viz.hpp>
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#include <opencv2/viz/widget_accessor.hpp>
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#include <iostream>
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#include <vtkPoints.h>
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#include <vtkTriangle.h>
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#include <vtkCellArray.h>
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#include <vtkPolyData.h>
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#include <vtkPolyDataMapper.h>
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#include <vtkIdList.h>
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#include <vtkActor.h>
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#include <vtkProp.h>
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using namespace cv;
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using namespace std;
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/**
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* @class TriangleWidget
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* @brief Defining our own 3D Triangle widget
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*/
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class TriangleWidget : public viz::Widget3D
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{
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public:
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TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
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};
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/**
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* @function TriangleWidget::TriangleWidget
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*/
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TriangleWidget::TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
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{
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// Create a triangle
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vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
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points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
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points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
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points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
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vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
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triangle->GetPointIds()->SetId(0,0);
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triangle->GetPointIds()->SetId(1,1);
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triangle->GetPointIds()->SetId(2,2);
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vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
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cells->InsertNextCell(triangle);
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// Create a polydata object
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vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
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// Add the geometry and topology to the polydata
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polyData->SetPoints(points);
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polyData->SetPolys(cells);
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// Create mapper and actor
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vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
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mapper->SetInput(polyData);
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vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
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actor->SetMapper(mapper);
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// Store this actor in the widget in order that visualizer can access it
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viz::WidgetAccessor::setProp(*this, actor);
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// Set the color of the widget. This has to be called after WidgetAccessor.
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setColor(color);
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}
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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("Creating Widgets");
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/// Create a triangle widget
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TriangleWidget tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
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/// Show widget in the visualizer window
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myWindow.showWidget("TRIANGLE", tw);
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/// Start event loop
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myWindow.spin();
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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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* Extend Widget3D class to create a new 3D widget.
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.. code-block:: cpp
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class TriangleWidget : public viz::Widget3D
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{
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public:
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TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
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};
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* Assign a VTK actor to the widget.
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.. code-block:: cpp
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// Store this actor in the widget in order that visualizer can access it
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viz::WidgetAccessor::setProp(*this, actor);
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* Set color of the widget.
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.. code-block:: cpp
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// Set the color of the widget. This has to be called after WidgetAccessor.
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setColor(color);
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* Construct a triangle widget and display it in the window.
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.. code-block:: cpp
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/// Create a triangle widget
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TriangleWidget tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
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/// Show widget in the visualizer window
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myWindow.showWidget("TRIANGLE", tw);
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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/red_triangle.png
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:alt: Creating Widgets
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:align: center
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118
doc/tutorials/viz/launching_viz.rst
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118
doc/tutorials/viz/launching_viz.rst
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.. _launching_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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162
doc/tutorials/viz/widget_pose.rst
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162
doc/tutorials/viz/widget_pose.rst
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.. _widget_pose:
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Pose of a widget
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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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* Add widgets to the visualization window
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* Use Affine3 to set pose of a widget
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* Rotating and translating a widget along an axis
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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/widget_pose.cpp>`_.
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.. code-block:: cpp
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#include <opencv2/viz.hpp>
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#include <opencv2/calib3d.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("Coordinate Frame");
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/// Add coordinate axes
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myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget());
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/// Add line to represent (1,1,1) axis
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viz::LineWidget axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
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axis.setRenderingProperty(viz::VIZ_LINE_WIDTH, 4.0);
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myWindow.showWidget("Line Widget", axis);
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/// Construct a cube widget
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viz::CubeWidget cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
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cube_widget.setRenderingProperty(viz::VIZ_LINE_WIDTH, 4.0);
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/// Display widget (update if already displayed)
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myWindow.showWidget("Cube Widget", cube_widget);
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/// Rodrigues vector
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Mat rot_vec = Mat::zeros(1,3,CV_32F);
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float translation_phase = 0.0, translation = 0.0;
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while(!myWindow.wasStopped())
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{
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/* Rotation using rodrigues */
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/// Rotate around (1,1,1)
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rot_vec.at<float>(0,0) += CV_PI * 0.01f;
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rot_vec.at<float>(0,1) += CV_PI * 0.01f;
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rot_vec.at<float>(0,2) += CV_PI * 0.01f;
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/// Shift on (1,1,1)
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translation_phase += CV_PI * 0.01f;
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translation = sin(translation_phase);
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Mat rot_mat;
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Rodrigues(rot_vec, rot_mat);
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/// Construct pose
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Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
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myWindow.setWidgetPose("Cube Widget", pose);
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myWindow.spinOnce(1, true);
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}
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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 visualization window.
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.. code-block:: cpp
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/// Create a window
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viz::Viz3d myWindow("Coordinate Frame");
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* Show coordinate axes in the window using CoordinateSystemWidget.
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.. code-block:: cpp
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/// Add coordinate axes
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myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget());
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* Display a line representing the axis (1,1,1).
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.. code-block:: cpp
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/// Add line to represent (1,1,1) axis
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viz::LineWidget axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
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axis.setRenderingProperty(viz::VIZ_LINE_WIDTH, 4.0);
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myWindow.showWidget("Line Widget", axis);
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* Construct a cube.
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.. code-block:: cpp
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/// Construct a cube widget
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viz::CubeWidget cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
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cube_widget.setRenderingProperty(viz::VIZ_LINE_WIDTH, 4.0);
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myWindow.showWidget("Cube Widget", cube_widget);
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* Create rotation matrix from rodrigues vector
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.. code-block:: cpp
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/// Rotate around (1,1,1)
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rot_vec.at<float>(0,0) += CV_PI * 0.01f;
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rot_vec.at<float>(0,1) += CV_PI * 0.01f;
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rot_vec.at<float>(0,2) += CV_PI * 0.01f;
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...
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Mat rot_mat;
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Rodrigues(rot_vec, rot_mat);
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* Use Affine3f to set pose of the cube.
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.. code-block:: cpp
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/// Construct pose
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Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
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myWindow.setWidgetPose("Cube Widget", pose);
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* Animate the rotation using wasStopped and spinOnce
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.. code-block:: cpp
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while(!myWindow.wasStopped())
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{
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...
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myWindow.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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.. raw:: html
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<div align="center">
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<iframe width="420" height="315" src="https://www.youtube.com/embed/Jo47zc6-hvI" frameborder="0" allowfullscreen></iframe>
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</div>
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79
samples/cpp/tutorial_code/viz/widget_pose.cpp
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79
samples/cpp/tutorial_code/viz/widget_pose.cpp
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@ -0,0 +1,79 @@
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/**
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* @file creating_widgets.cpp
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* @brief Creating custom widgets using VTK
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* @author Ozan Cagri Tonkal
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*/
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#include <opencv2/viz.hpp>
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#include <opencv2/calib3d.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 help
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* @brief Display instructions to use this tutorial program
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*/
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void help()
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{
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cout
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<< "--------------------------------------------------------------------------" << endl
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<< "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
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<< "using Rodrigues matrix." << endl
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<< "Usage:" << endl
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<< "./coordinate_frame" << endl
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<< endl;
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}
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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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help();
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/// Create a window
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viz::Viz3d myWindow("Coordinate Frame");
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/// Add coordinate axes
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myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget());
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/// Add line to represent (1,1,1) axis
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viz::LineWidget axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
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axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
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myWindow.showWidget("Line Widget", axis);
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/// Construct a cube widget
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viz::CubeWidget cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
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cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
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myWindow.showWidget("Cube Widget", cube_widget);
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/// Rodrigues vector
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Mat rot_vec = Mat::zeros(1,3,CV_32F);
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float translation_phase = 0.0, translation = 0.0;
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while(!myWindow.wasStopped())
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{
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/* Rotation using rodrigues */
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/// Rotate around (1,1,1)
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rot_vec.at<float>(0,0) += CV_PI * 0.01f;
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rot_vec.at<float>(0,1) += CV_PI * 0.01f;
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rot_vec.at<float>(0,2) += CV_PI * 0.01f;
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/// Shift on (1,1,1)
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translation_phase += CV_PI * 0.01f;
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translation = sin(translation_phase);
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Mat rot_mat;
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Rodrigues(rot_vec, rot_mat);
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/// Construct pose
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Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
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|
||||
myWindow.setWidgetPose("Cube Widget", pose);
|
||||
|
||||
myWindow.spinOnce(1, true);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user