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initial documentation

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***********************
viz. 3D Visualizer
***********************
.. toctree::
:maxdepth: 2
viz3d.rst
widget.rst
types.rst
widget_accessor.rst

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Viz3d
=====
.. highlight:: cpp
Viz3d
-----
.. ocv:class:: Viz3d
The Viz3d class represents a 3D visualizer window. This class is implicitly shared. ::
class CV_EXPORTS Viz3d
{
public:
typedef cv::Ptr<Viz3d> Ptr;
typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
typedef void (*MouseCallback)(const MouseEvent&, void*);
Viz3d(const String& window_name = String());
Viz3d(const Viz3d&);
Viz3d& operator=(const Viz3d&);
~Viz3d();
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;
void setCamera(const Camera &camera);
Camera getCamera() const;
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);
bool wasStopped() const;
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 rate);
double getDesiredUpdateRate();
void setRepresentationToSurface();
void setRepresentationToWireframe();
void setRepresentationToPoints();
private:
/* hidden */
};
Viz3d::Viz3d
------------
The constructors.
.. ocv:function:: Viz3d::Viz3d(const String& window_name = String())
:param window_name: Name of the window.
Viz3d::showWidget
-----------------
Shows a widget in the window.
.. ocv:function:: void Viz3d::showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity())
:param id: A unique id for the widget.
:param widget: The widget to be rendered in the window.
:param pose: Pose of the widget.
Viz3d::removeWidget
-------------------
Removes a widget from the window.
.. ocv:function:: void removeWidget(const String &id)
:param id: The id of the widget that will be removed.
Viz3d::getWidget
----------------
Retrieves a widget from the window. A widget is implicitly shared;
that is, if the returned widget is modified, the changes will be
immediately visible in the window.
.. ocv:function:: Widget getWidget(const String &id) const
:param id: The id of the widget that will be returned.
Viz3d::removeAllWidgets
-----------------------
Removes all widgets from the window.
.. ocv:function:: void removeAllWidgets()
Viz3d::setWidgetPose
--------------------
Sets pose of a widget in the window.
.. ocv:function:: void setWidgetPose(const String &id, const Affine3f &pose)
:param id: The id of the widget whose pose will be set.
:param pose: The new pose of the widget.
Viz3d::updateWidgetPose
-----------------------
Updates pose of a widget in the window by pre-multiplying its current pose.
.. ocv:function:: void updateWidgetPose(const String &id, const Affine3f &pose)
:param id: The id of the widget whose pose will be updated.
:param pose: The pose that the current pose of the widget will be pre-multiplied by.
Viz3d::getWidgetPose
--------------------
Returns the current pose of a widget in the window.
.. ocv:function:: Affine3f getWidgetPose(const String &id) const
:param id: The id of the widget whose pose will be returned.
Viz3d::setCamera
----------------
Sets the intrinsic parameters of the viewer using Camera.
.. ocv:function:: void setCamera(const Camera &camera)
:param camera: Camera object wrapping intrinsinc parameters.
Viz3d::getCamera
----------------
Returns a camera object that contains intrinsic parameters of the current viewer.
.. ocv:function:: Camera getCamera() const
Viz3d::getViewerPose
--------------------
Returns the current pose of the viewer.
..ocv:function:: Affine3f getViewerPose()
Viz3d::setViewerPose
--------------------
Sets pose of the viewer.
.. ocv:function:: void setViewerPose(const Affine3f &pose)
:param pose: The new pose of the viewer.
Viz3d::resetCameraViewpoint
---------------------------
Resets camera viewpoint to a 3D widget in the scene.
.. ocv:function:: void resetCameraViewpoint (const String &id)
:param pose: Id of a 3D widget.
Viz3d::resetCamera
------------------
Resets camera.
.. ocv:function:: void resetCamera()
Viz3d::convertToWindowCoordinates
---------------------------------
Transforms a point in world coordinate system to window coordinate system.
.. ocv:function:: void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord)
:param pt: Point in world coordinate system.
:param window_coord: Output point in window coordinate system.
Viz3d::converTo3DRay
--------------------
Transforms a point in window coordinate system to a 3D ray in world coordinate system.
.. ocv:function:: void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
:param window_coord: Point in window coordinate system.
:param origin: Output origin of the ray.
:param direction: Output direction of the ray.
Viz3d::getWindowSize
--------------------
Returns the current size of the window.
.. ocv:function:: Size getWindowSize() const
Viz3d::setWindowSize
--------------------
Sets the size of the window.
.. ocv:function:: void setWindowSize(const Size &window_size)
:param window_size: New size of the window.
Viz3d::getWindowName
--------------------
Returns the name of the window which has been set in the constructor.
.. ocv:function:: String getWindowName() const
Viz3d::saveScreenshot
---------------------
Saves screenshot of the current scene.
.. ocv:function:: void saveScreenshot(const String &file)
:param file: Name of the file.
Viz3d::setWindowPosition
------------------------
Sets the position of the window in the screen.
.. ocv:function:: void setWindowPosition(int x, int y)
:param x: x coordinate of the window
:param y: y coordinate of the window
Viz3d::setFullScreen
--------------------
Sets or unsets full-screen rendering mode.
.. ocv:function:: void setFullScreen(bool mode)
:param mode: If true, window will use full-screen mode.
Viz3d::setBackgroundColor
-------------------------
Sets background color.
.. ocv:function:: void setBackgroundColor(const Color& color = Color::black())
Viz3d::spin
-----------
The window renders and starts the event loop.
.. ocv:function:: void spin()
Viz3d::spinOnce
---------------
Starts the event loop for a given time.
.. ocv:function:: void spinOnce(int time = 1, bool force_redraw = false)
:param time: Amount of time in milliseconds for the event loop to keep running.
:param force_draw: If true, window renders.
Viz3d::wasStopped
-----------------
Returns whether the event loop has been stopped.
.. ocv:function:: bool wasStopped()
Viz3d::registerKeyboardCallback
-------------------------------
Sets keyboard handler.
.. ocv:function:: void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0)
:param callback: Keyboard callback.
:param cookie: The optional parameter passed to the callback.
Viz3d::registerMouseCallback
----------------------------
Sets mouse handler.
.. ocv:function:: void registerMouseCallback(MouseCallback callback, void* cookie = 0)
:param callback: Mouse callback.
:param cookie: The optional parameter passed to the callback.
Viz3d::setRenderingProperty
---------------------------
Sets rendering property of a widget.
.. ocv:function:: void setRenderingProperty(const String &id, int property, double value)
:param id: Id of the widget.
:param property: Property that will be modified.
:param value: The new value of the property.
Viz3d::getRenderingProperty
---------------------------
Returns rendering property of a widget.
.. ocv:function:: double getRenderingProperty(const String &id, int property)
:param id: Id of the widget.
:param property: Property.
Viz3d::setDesiredUpdateRate
---------------------------
Sets desired update rate of the window.
.. ocv:function:: void setDesiredUpdateRate(double rate)
:param rate: Desired update rate. The default is 30.
Viz3d::getDesiredUpdateRate
---------------------------
Returns desired update rate of the window.
.. ocv:function:: double getDesiredUpdateRate()
Viz3d::setRepresentationToSurface
---------------------------------
Sets geometry representation of the widgets to surface.
.. ocv:function:: void setRepresentationToSurface()
Viz3d::setRepresentationToWireframe
-----------------------------------
Sets geometry representation of the widgets to wireframe.
.. ocv:function:: void setRepresentationToWireframe()
Viz3d::setRepresentationToPoints
--------------------------------
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:
Color();
Color(double gray);
Color(double blue, double green, double red);
Color(const Scalar& color);
static Color black();
static Color blue();
static Color green();
static Color cyan();
static Color red();
static Color magenta();
static Color yellow();
static Color white();
static Color gray();
};
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;
Mat polygons;
//! Loads mesh from a given ply file
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.

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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()
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 &center, float radius, int sphere_resolution = 10, const Color &color = Color::white())
};
SphereWidget::SphereWidget
--------------------------
Constructs a SphereWidget.
.. ocv:function:: SphereWidget(const cv::Point3f &center, 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.