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rename widgets from *Widgets to W*

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This commit is contained in:
Ozan Tonkal 2013-09-15 16:26:53 +02:00
parent f570b3e18d
commit c31fb8ffff
11 changed files with 545 additions and 656 deletions
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18
doc/tutorials/viz/creating_widgets.rst
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@ -37,19 +37,19 @@ You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/
using namespace std; using namespace std;
/** /**
* @class TriangleWidget * @class WTriangle
* @brief Defining our own 3D Triangle widget * @brief Defining our own 3D Triangle widget
*/ */
class TriangleWidget : public viz::Widget3D class WTriangle : public viz::Widget3D
{ {
public: public:
TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
}; };
/** /**
* @function TriangleWidget::TriangleWidget * @function WTriangle::WTriangle
*/ */
TriangleWidget::TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color) WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
{ {
// Create a triangle // Create a triangle
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New(); vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
@ -99,7 +99,7 @@ You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/
viz::Viz3d myWindow("Creating Widgets"); viz::Viz3d myWindow("Creating Widgets");
/// Create a triangle widget /// 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), viz::Color::red()); WTriangle 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());
/// Show widget in the visualizer window /// Show widget in the visualizer window
myWindow.showWidget("TRIANGLE", tw); myWindow.showWidget("TRIANGLE", tw);
@ -119,10 +119,10 @@ Here is the general structure of the program:
.. code-block:: cpp .. code-block:: cpp
class TriangleWidget : public viz::Widget3D class WTriangle : public viz::Widget3D
{ {
public: public:
TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
}; };
* Assign a VTK actor to the widget. * Assign a VTK actor to the widget.
@ -144,7 +144,7 @@ Here is the general structure of the program:
.. code-block:: cpp .. code-block:: cpp
/// Create a triangle widget /// 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), viz::Color::red()); WTriangle 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());
/// Show widget in the visualizer window /// Show widget in the visualizer window
myWindow.showWidget("TRIANGLE", tw); myWindow.showWidget("TRIANGLE", tw);

14
doc/tutorials/viz/transformations.rst
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@ -67,7 +67,7 @@ You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/
viz::Viz3d myWindow("Coordinate Frame"); viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes /// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget()); myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Let's assume camera has the following properties /// Let's assume camera has the following properties
Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f); Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
@ -81,7 +81,7 @@ You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/
/// Create a cloud widget. /// Create a cloud widget.
Mat bunny_cloud = cvcloud_load(); Mat bunny_cloud = cvcloud_load();
viz::CloudWidget cloud_widget(bunny_cloud, viz::Color::green()); viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
/// Pose of the widget in camera frame /// Pose of the widget in camera frame
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f)); Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
@ -91,8 +91,8 @@ You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/
/// Visualize camera frame /// Visualize camera frame
if (!camera_pov) if (!camera_pov)
{ {
viz::CameraPositionWidget cpw(0.5); // Coordinate axes viz::WCameraPosition cpw(0.5); // Coordinate axes
viz::CameraPositionWidget cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
myWindow.showWidget("CPW", cpw, cam_pose); myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose); myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
} }
@ -147,7 +147,7 @@ Here is the general structure of the program:
/// Create a cloud widget. /// Create a cloud widget.
Mat bunny_cloud = cvcloud_load(); Mat bunny_cloud = cvcloud_load();
viz::CloudWidget cloud_widget(bunny_cloud, viz::Color::green()); viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
* Given the pose in camera coordinate system, estimate the global pose. * Given the pose in camera coordinate system, estimate the global pose.
@ -165,8 +165,8 @@ Here is the general structure of the program:
/// Visualize camera frame /// Visualize camera frame
if (!camera_pov) if (!camera_pov)
{ {
viz::CameraPositionWidget cpw(0.5); // Coordinate axes viz::WCameraPosition cpw(0.5); // Coordinate axes
viz::CameraPositionWidget cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
myWindow.showWidget("CPW", cpw, cam_pose); myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose); myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
} }

20
doc/tutorials/viz/widget_pose.rst
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@ -37,16 +37,16 @@ You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/
viz::Viz3d myWindow("Coordinate Frame"); viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes /// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget()); myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Add line to represent (1,1,1) axis /// Add line to represent (1,1,1) axis
viz::LineWidget axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::VIZ_LINE_WIDTH, 4.0); axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis); myWindow.showWidget("Line Widget", axis);
/// Construct a cube widget /// Construct a cube widget
viz::CubeWidget cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); 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::VIZ_LINE_WIDTH, 4.0); cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
/// Display widget (update if already displayed) /// Display widget (update if already displayed)
myWindow.showWidget("Cube Widget", cube_widget); myWindow.showWidget("Cube Widget", cube_widget);
@ -97,15 +97,15 @@ Here is the general structure of the program:
.. code-block:: cpp .. code-block:: cpp
/// Add coordinate axes /// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget()); myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
* Display a line representing the axis (1,1,1). * Display a line representing the axis (1,1,1).
.. code-block:: cpp .. code-block:: cpp
/// Add line to represent (1,1,1) axis /// Add line to represent (1,1,1) axis
viz::LineWidget axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::VIZ_LINE_WIDTH, 4.0); axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis); myWindow.showWidget("Line Widget", axis);
* Construct a cube. * Construct a cube.
@ -113,8 +113,8 @@ Here is the general structure of the program:
.. code-block:: cpp .. code-block:: cpp
/// Construct a cube widget /// Construct a cube widget
viz::CubeWidget cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); 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::VIZ_LINE_WIDTH, 4.0); cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Cube Widget", cube_widget); myWindow.showWidget("Cube Widget", cube_widget);
* Create rotation matrix from rodrigues vector * Create rotation matrix from rodrigues vector

488
modules/viz/doc/widget.rst
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@ -14,7 +14,7 @@ and modify the widget without re-adding the widget.
... ...
/// Create a cloud widget /// Create a cloud widget
viz::CloudWidget cw(cloud, viz::Color::red()); viz::WCloud cw(cloud, viz::Color::red());
/// Display it in a window /// Display it in a window
myWindow.showWidget("CloudWidget1", cw); myWindow.showWidget("CloudWidget1", cw);
/// Modify it, and it will be modified in the window. /// Modify it, and it will be modified in the window.
@ -118,9 +118,9 @@ Casts a widget to another.
.. code-block:: cpp .. code-block:: cpp
// Create a sphere widget // Create a sphere widget
viz::SphereWidget sw(Point3f(0.0f,0.0f,0.0f), 0.5f); viz::WSphere sw(Point3f(0.0f,0.0f,0.0f), 0.5f);
// Cast sphere widget to cloud widget // Cast sphere widget to cloud widget
viz::CloudWidget cw = sw.cast<viz::CloudWidget>(); viz::WCloud cw = sw.cast<viz::WCloud>();
.. note:: 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets. .. note:: 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets.
@ -231,100 +231,100 @@ Sets the color of the widget.
:param color: color of type :ocv:class:`Color` :param color: color of type :ocv:class:`Color`
viz::LineWidget viz::WLine
--------------- ----------
.. ocv:class:: LineWidget .. ocv:class:: WLine
This 3D Widget defines a finite line. :: This 3D Widget defines a finite line. ::
class CV_EXPORTS LineWidget : public Widget3D class CV_EXPORTS WLine : public Widget3D
{ {
public: public:
LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white()); WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
}; };
viz::LineWidget::LineWidget viz::WLine::WLine
--------------------------- -----------------
Constructs a LineWidget. Constructs a WLine.
.. ocv:function:: LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white()) .. ocv:function:: WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white())
:param pt1: Start point of the line. :param pt1: Start point of the line.
:param pt2: End point of the line. :param pt2: End point of the line.
:param color: :ocv:class:`Color` of the line. :param color: :ocv:class:`Color` of the line.
viz::PlaneWidget viz::WPlane
---------------- -----------
.. ocv:class:: PlaneWidget .. ocv:class:: WPlane
This 3D Widget defines a finite plane. :: This 3D Widget defines a finite plane. ::
class CV_EXPORTS PlaneWidget : public Widget3D class CV_EXPORTS WPlane : public Widget3D
{ {
public: public:
PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white()); WPlane(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()); WPlane(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
private: private:
/* hidden */ /* hidden */
}; };
viz::PlaneWidget::PlaneWidget viz::WPlane::WPlane
----------------------------- -------------------
Constructs a PlaneWidget. Constructs a WPlane.
.. ocv:function:: PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white()) .. ocv:function:: WPlane(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 coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param size: Size of the plane. :param size: Size of the plane.
:param color: :ocv:class:`Color` of the plane. :param color: :ocv:class:`Color` of the plane.
.. ocv:function:: PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white()) .. ocv:function:: WPlane(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 coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param pt: Position of the plane. :param pt: Position of the plane.
:param size: Size of the plane. :param size: Size of the plane.
:param color: :ocv:class:`Color` of the plane. :param color: :ocv:class:`Color` of the plane.
viz::SphereWidget viz::WSphere
----------------- ------------
.. ocv:class:: SphereWidget .. ocv:class:: WSphere
This 3D Widget defines a sphere. :: This 3D Widget defines a sphere. ::
class CV_EXPORTS SphereWidget : public Widget3D class CV_EXPORTS WSphere : public Widget3D
{ {
public: public:
SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white()) WSphere(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white())
}; };
viz::SphereWidget::SphereWidget viz::WSphere::WSphere
------------------------------- ---------------------
Constructs a SphereWidget. Constructs a WSphere.
.. ocv:function:: SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white()) .. ocv:function:: WSphere(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white())
:param center: Center of the sphere. :param center: Center of the sphere.
:param radius: Radius of the sphere. :param radius: Radius of the sphere.
:param sphere_resolution: Resolution of the sphere. :param sphere_resolution: Resolution of the sphere.
:param color: :ocv:class:`Color` of the sphere. :param color: :ocv:class:`Color` of the sphere.
viz::ArrowWidget viz::WArrow
---------------- ----------------
.. ocv:class:: ArrowWidget .. ocv:class:: WArrow
This 3D Widget defines an arrow. :: This 3D Widget defines an arrow. ::
class CV_EXPORTS ArrowWidget : public Widget3D class CV_EXPORTS WArrow : public Widget3D
{ {
public: public:
ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white()); WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
}; };
viz::ArrowWidget::ArrowWidget viz::WArrow::WArrow
----------------------------- -----------------------------
Constructs an ArrowWidget. Constructs an WArrow.
.. ocv:function:: ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white()) .. ocv:function:: WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white())
:param pt1: Start point of the arrow. :param pt1: Start point of the arrow.
:param pt2: End point of the arrow. :param pt2: End point of the arrow.
@ -333,46 +333,46 @@ Constructs an ArrowWidget.
Arrow head is located at the end point of the arrow. Arrow head is located at the end point of the arrow.
viz::CircleWidget viz::WCircle
----------------- -----------------
.. ocv:class:: CircleWidget .. ocv:class:: WCircle
This 3D Widget defines a circle. :: This 3D Widget defines a circle. ::
class CV_EXPORTS CircleWidget : public Widget3D class CV_EXPORTS WCircle : public Widget3D
{ {
public: public:
CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white()); WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
}; };
viz::CircleWidget::CircleWidget viz::WCircle::WCircle
------------------------------- -------------------------------
Constructs a CircleWidget. Constructs a WCircle.
.. ocv:function:: CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white()) .. ocv:function:: WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white())
:param pt: Center of the circle. :param pt: Center of the circle.
:param radius: Radius of the circle. :param radius: Radius of the circle.
:param thickness: Thickness of the circle. :param thickness: Thickness of the circle.
:param color: :ocv:class:`Color` of the circle. :param color: :ocv:class:`Color` of the circle.
viz::CylinderWidget viz::WCylinder
------------------- --------------
.. ocv:class:: CylinderWidget .. ocv:class:: WCylinder
This 3D Widget defines a cylinder. :: This 3D Widget defines a cylinder. ::
class CV_EXPORTS CylinderWidget : public Widget3D class CV_EXPORTS WCylinder : public Widget3D
{ {
public: public:
CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white()); WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
}; };
viz::CylinderWidget::CylinderWidget viz::WCylinder::WCylinder
----------------------------------- -----------------------------------
Constructs a CylinderWidget. Constructs a WCylinder.
.. ocv:function:: CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white()) .. ocv:function:: WCylinder(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 pt_on_axis: A point on the axis of the cylinder.
:param axis_direction: Direction of the axis of the cylinder. :param axis_direction: Direction of the axis of the cylinder.
@ -380,23 +380,23 @@ Constructs a CylinderWidget.
:param numsides: Resolution of the cylinder. :param numsides: Resolution of the cylinder.
:param color: :ocv:class:`Color` of the cylinder. :param color: :ocv:class:`Color` of the cylinder.
viz::CubeWidget viz::WCube
--------------- ----------
.. ocv:class:: CubeWidget .. ocv:class:: WCube
This 3D Widget defines a cube. :: This 3D Widget defines a cube. ::
class CV_EXPORTS CubeWidget : public Widget3D class CV_EXPORTS WCube : public Widget3D
{ {
public: public:
CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white()); WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
}; };
viz::CubeWidget::CubeWidget viz::WCube::WCube
--------------------------- ---------------------------
Constructs a CudeWidget. Constructs a WCube.
.. ocv:function:: CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white()) .. ocv:function:: WCube(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_min: Specifies minimum point of the bounding box.
:param pt_max: Specifies maximum point of the bounding box. :param pt_max: Specifies maximum point of the bounding box.
@ -407,104 +407,104 @@ Constructs a CudeWidget.
:alt: Cube Widget :alt: Cube Widget
:align: center :align: center
viz::CoordinateSystemWidget viz::WCoordinateSystem
--------------------------- ----------------------
.. ocv:class:: CoordinateSystemWidget .. ocv:class:: WCoordinateSystem
This 3D Widget represents a coordinate system. :: This 3D Widget represents a coordinate system. ::
class CV_EXPORTS CoordinateSystemWidget : public Widget3D class CV_EXPORTS WCoordinateSystem : public Widget3D
{ {
public: public:
CoordinateSystemWidget(double scale = 1.0); WCoordinateSystem(double scale = 1.0);
}; };
viz::CoordinateSystemWidget::CoordinateSystemWidget viz::WCoordinateSystem::WCoordinateSystem
--------------------------------------------------- ---------------------------------------------------
Constructs a CoordinateSystemWidget. Constructs a WCoordinateSystem.
.. ocv:function:: CoordinateSystemWidget(double scale = 1.0) .. ocv:function:: WCoordinateSystem(double scale = 1.0)
:param scale: Determines the size of the axes. :param scale: Determines the size of the axes.
viz::PolyLineWidget viz::WPolyLine
------------------- --------------
.. ocv:class:: PolyLineWidget .. ocv:class:: WPolyLine
This 3D Widget defines a poly line. :: This 3D Widget defines a poly line. ::
class CV_EXPORTS PolyLineWidget : public Widget3D class CV_EXPORTS WPolyLine : public Widget3D
{ {
public: public:
PolyLineWidget(InputArray points, const Color &color = Color::white()); WPolyLine(InputArray points, const Color &color = Color::white());
private: private:
/* hidden */ /* hidden */
}; };
viz::PolyLineWidget::PolyLineWidget viz::WPolyLine::WPolyLine
----------------------------------- -----------------------------------
Constructs a PolyLineWidget. Constructs a WPolyLine.
.. ocv:function:: PolyLineWidget(InputArray points, const Color &color = Color::white()) .. ocv:function:: WPolyLine(InputArray points, const Color &color = Color::white())
:param points: Point set. :param points: Point set.
:param color: :ocv:class:`Color` of the poly line. :param color: :ocv:class:`Color` of the poly line.
viz::GridWidget viz::WGrid
--------------- ----------
.. ocv:class:: GridWidget .. ocv:class:: WGrid
This 3D Widget defines a grid. :: This 3D Widget defines a grid. ::
class CV_EXPORTS GridWidget : public Widget3D class CV_EXPORTS WGrid : public Widget3D
{ {
public: public:
//! Creates grid at the origin //! Creates grid at the origin
GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
//! Creates grid based on the plane equation //! Creates grid based on the plane equation
GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
private: private:
/* hidden */ /* hidden */
}; };
viz::GridWidget::GridWidget viz::WGrid::WGrid
--------------------------- ---------------------------
Constructs a GridWidget. Constructs a WGrid.
.. ocv:function:: GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()) .. ocv:function:: WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
:param dimensions: Number of columns and rows, respectively. :param dimensions: Number of columns and rows, respectively.
:param spacing: Size of each column and row, respectively. :param spacing: Size of each column and row, respectively.
:param color: :ocv:class:`Color` of the grid. :param color: :ocv:class:`Color` of the grid.
.. ocv:function: GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()) .. ocv:function: WGrid(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 coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param dimensions: Number of columns and rows, respectively. :param dimensions: Number of columns and rows, respectively.
:param spacing: Size of each column and row, respectively. :param spacing: Size of each column and row, respectively.
:param color: :ocv:class:`Color` of the grid. :param color: :ocv:class:`Color` of the grid.
viz::Text3DWidget viz::WText3D
----------------- ------------
.. ocv:class:: Text3DWidget .. ocv:class:: WText3D
This 3D Widget represents 3D text. The text always faces the camera. :: This 3D Widget represents 3D text. The text always faces the camera. ::
class CV_EXPORTS Text3DWidget : public Widget3D class CV_EXPORTS WText3D : public Widget3D
{ {
public: public:
Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, double face_camera = true, const Color &color = Color::white()); WText3D(const String &text, const Point3f &position, double text_scale = 1.0, double face_camera = true, const Color &color = Color::white());
void setText(const String &text); void setText(const String &text);
String getText() const; String getText() const;
}; };
viz::Text3DWidget::Text3DWidget viz::WText3D::WText3D
------------------------------- -------------------------------
Constructs a Text3DWidget. Constructs a WText3D.
.. ocv:function:: Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, double face_camera = true, const Color &color = Color::white()) .. ocv:function:: WText3D(const String &text, const Point3f &position, double text_scale = 1.0, double face_camera = true, const Color &color = Color::white())
:param text: Text content of the widget. :param text: Text content of the widget.
:param position: Position of the text. :param position: Position of the text.
@ -512,126 +512,84 @@ Constructs a Text3DWidget.
:param face_camera: If true, text always faces the camera. :param face_camera: If true, text always faces the camera.
:param color: :ocv:class:`Color` of the text. :param color: :ocv:class:`Color` of the text.
viz::Text3DWidget::setText viz::WText3D::setText
-------------------------- ---------------------
Sets the text content of the widget. Sets the text content of the widget.
.. ocv:function:: void setText(const String &text) .. ocv:function:: void setText(const String &text)
:param text: Text content of the widget. :param text: Text content of the widget.
viz::Text3DWidget::getText viz::WText3D::getText
-------------------------- ---------------------
Returns the current text content of the widget. Returns the current text content of the widget.
.. ocv:function:: String getText() const .. ocv:function:: String getText() const
viz::TextWidget viz::WText
--------------- ----------
.. ocv:class:: TextWidget .. ocv:class:: WText
This 2D Widget represents text overlay. :: This 2D Widget represents text overlay. ::
class CV_EXPORTS TextWidget : public Widget2D class CV_EXPORTS WText : public Widget2D
{ {
public: public:
TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white()); WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
void setText(const String &text); void setText(const String &text);
String getText() const; String getText() const;
}; };
viz::TextWidget::TextWidget viz::WText::WText
--------------------------- -----------------
Constructs a TextWidget. Constructs a WText.
.. ocv:function:: TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white()) .. ocv:function:: WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white())
:param text: Text content of the widget. :param text: Text content of the widget.
:param pos: Position of the text. :param pos: Position of the text.
:param font_size: Font size. :param font_size: Font size.
:param color: :ocv:class:`Color` of the text. :param color: :ocv:class:`Color` of the text.
viz::TextWidget::setText viz::WText::setText
------------------------ -------------------
Sets the text content of the widget. Sets the text content of the widget.
.. ocv:function:: void setText(const String &text) .. ocv:function:: void setText(const String &text)
:param text: Text content of the widget. :param text: Text content of the widget.
viz::TextWidget::getText viz::WText::getText
------------------------ -------------------
Returns the current text content of the widget. Returns the current text content of the widget.
.. ocv:function:: String getText() const .. ocv:function:: String getText() const
viz::ImageOverlayWidget viz::WImageOverlay
----------------------- ------------------
.. ocv:class:: ImageOverlayWidget .. ocv:class:: WImageOverlay
This 2D Widget represents an image overlay. :: This 2D Widget represents an image overlay. ::
class CV_EXPORTS ImageOverlayWidget : public Widget2D class CV_EXPORTS WImageOverlay : public Widget2D
{ {
public: public:
ImageOverlayWidget(const Mat &image, const Rect &rect); WImageOverlay(const Mat &image, const Rect &rect);
void setImage(const Mat &image); void setImage(const Mat &image);
}; };
viz::ImageOverlayWidget::ImageOverlayWidget viz::WImageOverlay::WImageOverlay
------------------------------------------- ---------------------------------
Constructs an ImageOverlayWidget. Constructs an WImageOverlay.
.. ocv:function:: ImageOverlayWidget(const Mat &image, const Rect &rect) .. ocv:function:: WImageOverlay(const Mat &image, const Rect &rect)
:param image: BGR or Gray-Scale image. :param image: BGR or Gray-Scale image.
:param rect: Image is scaled and positioned based on rect. :param rect: Image is scaled and positioned based on rect.
viz::ImageOverlayWidget::setImage viz::WImageOverlay::setImage
---------------------------------
Sets the image content of the widget.
.. ocv:function:: void setImage(const Mat &image)
:param image: BGR or Gray-Scale image.
viz::Image3DWidget
------------------
.. ocv:class:: Image3DWidget
This 3D Widget represents an image in 3D space. ::
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);
};
viz::Image3DWidget::Image3DWidget
---------------------------------
Constructs an 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.
viz::Image3DWidget::setImage
---------------------------- ----------------------------
Sets the image content of the widget. Sets the image content of the widget.
@ -639,34 +597,76 @@ Sets the image content of the widget.
:param image: BGR or Gray-Scale image. :param image: BGR or Gray-Scale image.
viz::CameraPositionWidget viz::WImage3D
------------------------- -------------
.. ocv:class:: CameraPositionWidget .. ocv:class:: WImage3D
This 3D Widget represents an image in 3D space. ::
class CV_EXPORTS WImage3D : public Widget3D
{
public:
//! Creates 3D image at the origin
WImage3D(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
WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
void setImage(const Mat &image);
};
viz::WImage3D::WImage3D
-----------------------
Constructs an WImage3D.
.. ocv:function:: WImage3D(const Mat &image, const Size &size)
:param image: BGR or Gray-Scale image.
:param size: Size of the image.
.. ocv:function:: WImage3D(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.
viz::WImage3D::setImage
-----------------------
Sets the image content of the widget.
.. ocv:function:: void setImage(const Mat &image)
:param image: BGR or Gray-Scale image.
viz::WCameraPosition
--------------------
.. ocv:class:: WCameraPosition
This 3D Widget represents camera position in a scene by its axes or viewing frustum. :: This 3D Widget represents camera position in a scene by its axes or viewing frustum. ::
class CV_EXPORTS CameraPositionWidget : public Widget3D class CV_EXPORTS WCameraPosition : public Widget3D
{ {
public: public:
//! Creates camera coordinate frame (axes) at the origin //! Creates camera coordinate frame (axes) at the origin
CameraPositionWidget(double scale = 1.0); WCameraPosition(double scale = 1.0);
//! Creates frustum based on the intrinsic marix K at the origin //! Creates frustum based on the intrinsic marix K at the origin
CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); WCameraPosition(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum based on the field of view at the origin //! Creates frustum based on the field of view at the origin
CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()); WCameraPosition(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane //! 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()); WCameraPosition(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane //! Creates frustum and display given image at the far plane
CameraPositionWidget(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white()); WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
}; };
viz::CameraPositionWidget::CameraPositionWidget viz::WCameraPosition::WCameraPosition
----------------------------------------------- -------------------------------------
Constructs a CameraPositionWidget. Constructs a WCameraPosition.
- **Display camera coordinate frame.** - **Display camera coordinate frame.**
.. ocv:function:: CameraPositionWidget(double scale = 1.0) .. ocv:function:: WCameraPosition(double scale = 1.0)
Creates camera coordinate frame at the origin. Creates camera coordinate frame at the origin.
@ -676,7 +676,7 @@ Constructs a CameraPositionWidget.
- **Display the viewing frustum.** - **Display the viewing frustum.**
.. ocv:function:: CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white()) .. ocv:function:: WCameraPosition(const Matx33f &K, double scale = 1.0, const Color &color = Color::white())
:param K: Intrinsic matrix of the camera. :param K: Intrinsic matrix of the camera.
:param scale: Scale of the frustum. :param scale: Scale of the frustum.
@ -684,7 +684,7 @@ Constructs a CameraPositionWidget.
Creates viewing frustum of the camera based on its intrinsic matrix K. 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()) .. ocv:function:: WCameraPosition(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white())
:param fov: Field of view of the camera (horizontal, vertical). :param fov: Field of view of the camera (horizontal, vertical).
:param scale: Scale of the frustum. :param scale: Scale of the frustum.
@ -698,7 +698,7 @@ Constructs a CameraPositionWidget.
- **Display image on the far plane of the viewing frustum.** - **Display image on the far plane of the viewing frustum.**
.. ocv:function:: CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white()) .. ocv:function:: WCameraPosition(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white())
:param K: Intrinsic matrix of the camera. :param K: Intrinsic matrix of the camera.
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. :param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
@ -707,7 +707,7 @@ Constructs a CameraPositionWidget.
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane. Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
.. ocv:function:: CameraPositionWidget(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white()) .. ocv:function:: WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white())
:param fov: Field of view of the camera (horizontal, vertical). :param fov: Field of view of the camera (horizontal, vertical).
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. :param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
@ -720,33 +720,33 @@ Constructs a CameraPositionWidget.
:alt: Camera viewing frustum with image :alt: Camera viewing frustum with image
:align: center :align: center
viz::TrajectoryWidget viz::WTrajectory
--------------------- ----------------
.. ocv:class:: TrajectoryWidget .. ocv:class:: WTrajectory
This 3D Widget represents a trajectory. :: This 3D Widget represents a trajectory. ::
class CV_EXPORTS TrajectoryWidget : public Widget3D class CV_EXPORTS WTrajectory : public Widget3D
{ {
public: public:
enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2}; enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
//! Displays trajectory of the given path either by coordinate frames or polyline //! 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); WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
//! Displays trajectory of the given path by 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()); WTrajectory(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 //! 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()); WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
private: private:
/* hidden */ /* hidden */
}; };
viz::TrajectoryWidget::TrajectoryWidget viz::WTrajectory::WTrajectory
--------------------------------------- -----------------------------
Constructs a TrajectoryWidget. Constructs a WTrajectory.
.. ocv:function:: TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0) .. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0)
:param path: List of poses on a trajectory. :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 display_mode: Display mode. This can be DISPLAY_PATH, DISPLAY_FRAMES, DISPLAY_PATH & DISPLAY_FRAMES.
@ -759,7 +759,7 @@ Constructs a TrajectoryWidget.
* DISPLAY_FRAMES : Displays coordinate frames at each pose. * DISPLAY_FRAMES : Displays coordinate frames at each pose.
* DISPLAY_PATH & DISPLAY_FRAMES : Displays both poly line and coordinate frames. * 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()) .. ocv:function:: WTrajectory(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 path: List of poses on a trajectory.
:param K: Intrinsic matrix of the camera. :param K: Intrinsic matrix of the camera.
@ -768,7 +768,7 @@ Constructs a TrajectoryWidget.
Displays frustums at each pose of the trajectory. 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()) .. ocv:function:: WTrajectory(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 path: List of poses on a trajectory.
:param fov: Field of view of the camera (horizontal, vertical). :param fov: Field of view of the camera (horizontal, vertical).
@ -777,26 +777,26 @@ Constructs a TrajectoryWidget.
Displays frustums at each pose of the trajectory. Displays frustums at each pose of the trajectory.
viz::SpheresTrajectoryWidget viz::WSpheresTrajectory
---------------------------- -----------------------
.. ocv:class:: SpheresTrajectoryWidget .. ocv:class:: WSpheresTrajectory
This 3D Widget represents a trajectory using spheres and lines, where spheres represent the positions of the camera, and lines 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. :: represent the direction from previous position to the current. ::
class CV_EXPORTS SpheresTrajectoryWidget : public Widget3D class CV_EXPORTS WSpheresTrajectory : public Widget3D
{ {
public: public:
SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float line_length = 0.05f, WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f,
double init_sphere_radius = 0.021, sphere_radius = 0.007, double init_sphere_radius = 0.021, sphere_radius = 0.007,
Color &line_color = Color::white(), const Color &sphere_color = Color::white()); Color &line_color = Color::white(), const Color &sphere_color = Color::white());
}; };
viz::SpheresTrajectoryWidget::SpheresTrajectoryWidget viz::WSpheresTrajectory::WSpheresTrajectory
----------------------------------------------------- -------------------------------------------
Constructs a SpheresTrajectoryWidget. Constructs a WSpheresTrajectory.
.. 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()) .. ocv:function:: WSpheresTrajectory(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 path: List of poses on a trajectory.
:param line_length: Length of the lines. :param line_length: Length of the lines.
@ -805,36 +805,36 @@ Constructs a SpheresTrajectoryWidget.
:param line_color: :ocv:class:`Color` of the lines. :param line_color: :ocv:class:`Color` of the lines.
:param sphere_color: :ocv:class:`Color` of the spheres. :param sphere_color: :ocv:class:`Color` of the spheres.
viz::CloudWidget viz::WCloud
---------------- -----------
.. ocv:class:: CloudWidget .. ocv:class:: WCloud
This 3D Widget defines a point cloud. :: This 3D Widget defines a point cloud. ::
class CV_EXPORTS CloudWidget : public Widget3D class CV_EXPORTS WCloud : public Widget3D
{ {
public: public:
//! Each point in cloud is mapped to a color in colors //! Each point in cloud is mapped to a color in colors
CloudWidget(InputArray cloud, InputArray colors); WCloud(InputArray cloud, InputArray colors);
//! All points in cloud have the same color //! All points in cloud have the same color
CloudWidget(InputArray cloud, const Color &color = Color::white()); WCloud(InputArray cloud, const Color &color = Color::white());
private: private:
/* hidden */ /* hidden */
}; };
viz::CloudWidget::CloudWidget viz::WCloud::WCloud
----------------------------- -------------------
Constructs a CloudWidget. Constructs a WCloud.
.. ocv:function:: CloudWidget(InputArray cloud, InputArray colors) .. ocv:function:: WCloud(InputArray cloud, InputArray colors)
:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. :param cloud: Set of points 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 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). 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()) .. ocv:function:: WCloud(InputArray cloud, const Color &color = Color::white())
:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. :param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
:param color: A single :ocv:class:`Color` for the whole cloud. :param color: A single :ocv:class:`Color` for the whole cloud.
@ -843,16 +843,16 @@ Constructs a CloudWidget.
.. note:: In case there are four channels in the cloud, fourth channel is ignored. .. note:: In case there are four channels in the cloud, fourth channel is ignored.
viz::CloudCollectionWidget viz::WCloudCollection
-------------------------- ---------------------
.. ocv:class:: CloudCollectionWidget .. ocv:class:: WCloudCollection
This 3D Widget defines a collection of clouds. :: This 3D Widget defines a collection of clouds. ::
class CV_EXPORTS CloudCollectionWidget : public Widget3D class CV_EXPORTS WCloudCollection : public Widget3D
{ {
public: public:
CloudCollectionWidget(); WCloudCollection();
//! Each point in cloud is mapped to a color in colors //! Each point in cloud is mapped to a color in colors
void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity()); void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
@ -863,14 +863,14 @@ This 3D Widget defines a collection of clouds. ::
/* hidden */ /* hidden */
}; };
viz::CloudCollectionWidget::CloudCollectionWidget viz::WCloudCollection::WCloudCollection
------------------------------------------------- ---------------------------------------
Constructs a CloudCollectionWidget. Constructs a WCloudCollection.
.. ocv:function:: CloudCollectionWidget() .. ocv:function:: WCloudCollection()
viz::CloudCollectionWidget::addCloud viz::WCloudCollection::addCloud
------------------------------------ -------------------------------
Adds a cloud to the collection. Adds a cloud to the collection.
.. ocv:function:: void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity()) .. ocv:function:: void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity())
@ -891,26 +891,26 @@ Adds a cloud to the collection.
.. note:: In case there are four channels in the cloud, fourth channel is ignored. .. note:: In case there are four channels in the cloud, fourth channel is ignored.
viz::CloudNormalsWidget viz::WCloudNormals
----------------------- ------------------
.. ocv:class:: CloudNormalsWidget .. ocv:class:: WCloudNormals
This 3D Widget represents normals of a point cloud. :: This 3D Widget represents normals of a point cloud. ::
class CV_EXPORTS CloudNormalsWidget : public Widget3D class CV_EXPORTS WCloudNormals : public Widget3D
{ {
public: public:
CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white()); WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
private: private:
/* hidden */ /* hidden */
}; };
viz::CloudNormalsWidget::CloudNormalsWidget viz::WCloudNormals::WCloudNormals
------------------------------------------- ---------------------------------
Constructs a CloudNormalsWidget. Constructs a WCloudNormals.
.. ocv:function:: CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white()) .. ocv:function:: WCloudNormals(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 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 normals: A set of normals that has to be of same type with cloud.
@ -920,26 +920,26 @@ Constructs a CloudNormalsWidget.
.. note:: In case there are four channels in the cloud, fourth channel is ignored. .. note:: In case there are four channels in the cloud, fourth channel is ignored.
viz::MeshWidget viz::WMesh
--------------- ----------
.. ocv:class:: MeshWidget .. ocv:class:: WMesh
This 3D Widget defines a mesh. :: This 3D Widget defines a mesh. ::
class CV_EXPORTS MeshWidget : public Widget3D class CV_EXPORTS WMesh : public Widget3D
{ {
public: public:
MeshWidget(const Mesh3d &mesh); WMesh(const Mesh3d &mesh);
private: private:
/* hidden */ /* hidden */
}; };
viz::MeshWidget::MeshWidget viz::WMesh::WMesh
--------------------------- -----------------
Constructs a MeshWidget. Constructs a WMesh.
.. ocv:function:: MeshWidget(const Mesh3d &mesh) .. ocv:function:: WMesh(const Mesh3d &mesh)
:param mesh: :ocv:class:`Mesh3d` object that will be displayed. :param mesh: :ocv:class:`Mesh3d` object that will be displayed.

146
modules/viz/include/opencv2/viz/widgets.hpp
View File

@ -134,173 +134,173 @@ namespace cv
void setColor(const Color &color); void setColor(const Color &color);
}; };
class CV_EXPORTS LineWidget : public Widget3D class CV_EXPORTS WLine : public Widget3D
{ {
public: public:
LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white()); WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
}; };
class CV_EXPORTS PlaneWidget : public Widget3D class CV_EXPORTS WPlane : public Widget3D
{ {
public: public:
PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white()); WPlane(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()); WPlane(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
private: private:
struct SetSizeImpl; struct SetSizeImpl;
}; };
class CV_EXPORTS SphereWidget : public Widget3D class CV_EXPORTS WSphere : public Widget3D
{ {
public: public:
SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white()); WSphere(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white());
}; };
class CV_EXPORTS ArrowWidget : public Widget3D class CV_EXPORTS WArrow : public Widget3D
{ {
public: public:
ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white()); WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
}; };
class CV_EXPORTS CircleWidget : public Widget3D class CV_EXPORTS WCircle : public Widget3D
{ {
public: public:
CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white()); WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
}; };
class CV_EXPORTS CylinderWidget : public Widget3D class CV_EXPORTS WCylinder : public Widget3D
{ {
public: public:
CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white()); WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
}; };
class CV_EXPORTS CubeWidget : public Widget3D class CV_EXPORTS WCube : public Widget3D
{ {
public: public:
CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white()); WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
}; };
class CV_EXPORTS CoordinateSystemWidget : public Widget3D class CV_EXPORTS WCoordinateSystem : public Widget3D
{ {
public: public:
CoordinateSystemWidget(double scale = 1.0); WCoordinateSystem(double scale = 1.0);
}; };
class CV_EXPORTS PolyLineWidget : public Widget3D class CV_EXPORTS WPolyLine : public Widget3D
{ {
public: public:
PolyLineWidget(InputArray points, const Color &color = Color::white()); WPolyLine(InputArray points, const Color &color = Color::white());
private: private:
struct CopyImpl; struct CopyImpl;
}; };
class CV_EXPORTS GridWidget : public Widget3D class CV_EXPORTS WGrid : public Widget3D
{ {
public: public:
//! Creates grid at the origin //! Creates grid at the origin
GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
//! Creates grid based on the plane equation //! Creates grid based on the plane equation
GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
private: private:
struct GridImpl; struct GridImpl;
}; };
class CV_EXPORTS Text3DWidget : public Widget3D class CV_EXPORTS WText3D : public Widget3D
{ {
public: public:
Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, bool face_camera = true, const Color &color = Color::white()); WText3D(const String &text, const Point3f &position, double text_scale = 1.0, bool face_camera = true, const Color &color = Color::white());
void setText(const String &text); void setText(const String &text);
String getText() const; String getText() const;
}; };
class CV_EXPORTS TextWidget : public Widget2D class CV_EXPORTS WText : public Widget2D
{ {
public: public:
TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white()); WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
void setText(const String &text); void setText(const String &text);
String getText() const; String getText() const;
}; };
class CV_EXPORTS ImageOverlayWidget : public Widget2D class CV_EXPORTS WImageOverlay : public Widget2D
{ {
public: public:
ImageOverlayWidget(const Mat &image, const Rect &rect); WImageOverlay(const Mat &image, const Rect &rect);
void setImage(const Mat &image); void setImage(const Mat &image);
}; };
class CV_EXPORTS Image3DWidget : public Widget3D class CV_EXPORTS WImage3D : public Widget3D
{ {
public: public:
//! Creates 3D image at the origin //! Creates 3D image at the origin
Image3DWidget(const Mat &image, const Size &size); WImage3D(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 //! 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); WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
void setImage(const Mat &image); void setImage(const Mat &image);
}; };
class CV_EXPORTS CameraPositionWidget : public Widget3D class CV_EXPORTS WCameraPosition : public Widget3D
{ {
public: public:
//! Creates camera coordinate frame (axes) at the origin //! Creates camera coordinate frame (axes) at the origin
CameraPositionWidget(double scale = 1.0); WCameraPosition(double scale = 1.0);
//! Creates frustum based on the intrinsic marix K at the origin //! Creates frustum based on the intrinsic marix K at the origin
CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); WCameraPosition(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum based on the field of view at the origin //! Creates frustum based on the field of view at the origin
CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()); WCameraPosition(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane //! 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()); WCameraPosition(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane //! Creates frustum and display given image at the far plane
CameraPositionWidget(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white()); WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
private: private:
struct ProjectImage; struct ProjectImage;
}; };
class CV_EXPORTS TrajectoryWidget : public Widget3D class CV_EXPORTS WTrajectory : public Widget3D
{ {
public: public:
enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2}; enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
//! Displays trajectory of the given path either by coordinate frames or polyline //! 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); WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
//! Displays trajectory of the given path by 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()); WTrajectory(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 //! 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()); WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
private: private:
struct ApplyPath; struct ApplyPath;
}; };
class CV_EXPORTS SpheresTrajectoryWidget : public Widget3D class CV_EXPORTS WSpheresTrajectory: public Widget3D
{ {
public: public:
SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float line_length = 0.05f, double init_sphere_radius = 0.021, WSpheresTrajectory(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()); double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
}; };
class CV_EXPORTS CloudWidget : public Widget3D class CV_EXPORTS WCloud: public Widget3D
{ {
public: public:
//! Each point in cloud is mapped to a color in colors //! Each point in cloud is mapped to a color in colors
CloudWidget(InputArray cloud, InputArray colors); WCloud(InputArray cloud, InputArray colors);
//! All points in cloud have the same color //! All points in cloud have the same color
CloudWidget(InputArray cloud, const Color &color = Color::white()); WCloud(InputArray cloud, const Color &color = Color::white());
private: private:
struct CreateCloudWidget; struct CreateCloudWidget;
}; };
class CV_EXPORTS CloudCollectionWidget : public Widget3D class CV_EXPORTS WCloudCollection : public Widget3D
{ {
public: public:
CloudCollectionWidget(); WCloudCollection();
//! Each point in cloud is mapped to a color in colors //! Each point in cloud is mapped to a color in colors
void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity()); void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
@ -311,19 +311,19 @@ namespace cv
struct CreateCloudWidget; struct CreateCloudWidget;
}; };
class CV_EXPORTS CloudNormalsWidget : public Widget3D class CV_EXPORTS WCloudNormals : public Widget3D
{ {
public: public:
CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white()); WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
private: private:
struct ApplyCloudNormals; struct ApplyCloudNormals;
}; };
class CV_EXPORTS MeshWidget : public Widget3D class CV_EXPORTS WMesh : public Widget3D
{ {
public: public:
MeshWidget(const Mesh3d &mesh); WMesh(const Mesh3d &mesh);
private: private:
struct CopyImpl; struct CopyImpl;
@ -331,27 +331,27 @@ namespace cv
template<> CV_EXPORTS Widget2D Widget::cast<Widget2D>(); template<> CV_EXPORTS Widget2D Widget::cast<Widget2D>();
template<> CV_EXPORTS Widget3D Widget::cast<Widget3D>(); template<> CV_EXPORTS Widget3D Widget::cast<Widget3D>();
template<> CV_EXPORTS LineWidget Widget::cast<LineWidget>(); template<> CV_EXPORTS WLine Widget::cast<WLine>();
template<> CV_EXPORTS PlaneWidget Widget::cast<PlaneWidget>(); template<> CV_EXPORTS WPlane Widget::cast<WPlane>();
template<> CV_EXPORTS SphereWidget Widget::cast<SphereWidget>(); template<> CV_EXPORTS WSphere Widget::cast<WSphere>();
template<> CV_EXPORTS CylinderWidget Widget::cast<CylinderWidget>(); template<> CV_EXPORTS WCylinder Widget::cast<WCylinder>();
template<> CV_EXPORTS ArrowWidget Widget::cast<ArrowWidget>(); template<> CV_EXPORTS WArrow Widget::cast<WArrow>();
template<> CV_EXPORTS CircleWidget Widget::cast<CircleWidget>(); template<> CV_EXPORTS WCircle Widget::cast<WCircle>();
template<> CV_EXPORTS CubeWidget Widget::cast<CubeWidget>(); template<> CV_EXPORTS WCube Widget::cast<WCube>();
template<> CV_EXPORTS CoordinateSystemWidget Widget::cast<CoordinateSystemWidget>(); template<> CV_EXPORTS WCoordinateSystem Widget::cast<WCoordinateSystem>();
template<> CV_EXPORTS PolyLineWidget Widget::cast<PolyLineWidget>(); template<> CV_EXPORTS WPolyLine Widget::cast<WPolyLine>();
template<> CV_EXPORTS GridWidget Widget::cast<GridWidget>(); template<> CV_EXPORTS WGrid Widget::cast<WGrid>();
template<> CV_EXPORTS Text3DWidget Widget::cast<Text3DWidget>(); template<> CV_EXPORTS WText3D Widget::cast<WText3D>();
template<> CV_EXPORTS TextWidget Widget::cast<TextWidget>(); template<> CV_EXPORTS WText Widget::cast<WText>();
template<> CV_EXPORTS ImageOverlayWidget Widget::cast<ImageOverlayWidget>(); template<> CV_EXPORTS WImageOverlay Widget::cast<WImageOverlay>();
template<> CV_EXPORTS Image3DWidget Widget::cast<Image3DWidget>(); template<> CV_EXPORTS WImage3D Widget::cast<WImage3D>();
template<> CV_EXPORTS CameraPositionWidget Widget::cast<CameraPositionWidget>(); template<> CV_EXPORTS WCameraPosition Widget::cast<WCameraPosition>();
template<> CV_EXPORTS TrajectoryWidget Widget::cast<TrajectoryWidget>(); template<> CV_EXPORTS WTrajectory Widget::cast<WTrajectory>();
template<> CV_EXPORTS SpheresTrajectoryWidget Widget::cast<SpheresTrajectoryWidget>(); template<> CV_EXPORTS WSpheresTrajectory Widget::cast<WSpheresTrajectory>();
template<> CV_EXPORTS CloudWidget Widget::cast<CloudWidget>(); template<> CV_EXPORTS WCloud Widget::cast<WCloud>();
template<> CV_EXPORTS CloudCollectionWidget Widget::cast<CloudCollectionWidget>(); template<> CV_EXPORTS WCloudCollection Widget::cast<WCloudCollection>();
template<> CV_EXPORTS CloudNormalsWidget Widget::cast<CloudNormalsWidget>(); template<> CV_EXPORTS WCloudNormals Widget::cast<WCloudNormals>();
template<> CV_EXPORTS MeshWidget Widget::cast<MeshWidget>(); template<> CV_EXPORTS WMesh Widget::cast<WMesh>();
} /* namespace viz */ } /* namespace viz */
} /* namespace cv */ } /* namespace cv */

38
modules/viz/src/cloud_widgets.cpp
View File

@ -59,7 +59,7 @@ namespace cv
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// Point Cloud Widget implementation /// Point Cloud Widget implementation
struct cv::viz::CloudWidget::CreateCloudWidget struct cv::viz::WCloud::CreateCloudWidget
{ {
static inline vtkSmartPointer<vtkPolyData> create(const Mat &cloud, vtkIdType &nr_points) static inline vtkSmartPointer<vtkPolyData> create(const Mat &cloud, vtkIdType &nr_points)
{ {
@ -146,7 +146,7 @@ struct cv::viz::CloudWidget::CreateCloudWidget
} }
}; };
cv::viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors) cv::viz::WCloud::WCloud(InputArray _cloud, InputArray _colors)
{ {
Mat cloud = _cloud.getMat(); Mat cloud = _cloud.getMat();
Mat colors = _colors.getMat(); Mat colors = _colors.getMat();
@ -201,7 +201,7 @@ cv::viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
cv::viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color) cv::viz::WCloud::WCloud(InputArray _cloud, const Color &color)
{ {
Mat cloud = _cloud.getMat(); Mat cloud = _cloud.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
@ -233,16 +233,16 @@ cv::viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
setColor(color); setColor(color);
} }
template<> cv::viz::CloudWidget cv::viz::Widget::cast<cv::viz::CloudWidget>() template<> cv::viz::WCloud cv::viz::Widget::cast<cv::viz::WCloud>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<CloudWidget&>(widget); return static_cast<WCloud&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// Cloud Collection Widget implementation /// Cloud Collection Widget implementation
struct cv::viz::CloudCollectionWidget::CreateCloudWidget struct cv::viz::WCloudCollection::CreateCloudWidget
{ {
static inline vtkSmartPointer<vtkPolyData> create(const Mat &cloud, vtkIdType &nr_points) static inline vtkSmartPointer<vtkPolyData> create(const Mat &cloud, vtkIdType &nr_points)
{ {
@ -376,14 +376,14 @@ struct cv::viz::CloudCollectionWidget::CreateCloudWidget
} }
}; };
cv::viz::CloudCollectionWidget::CloudCollectionWidget() cv::viz::WCloudCollection::WCloudCollection()
{ {
// Just create the actor // Just create the actor
vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New(); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, InputArray _colors, const Affine3f &pose) void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors, const Affine3f &pose)
{ {
Mat cloud = _cloud.getMat(); Mat cloud = _cloud.getMat();
Mat colors = _colors.getMat(); Mat colors = _colors.getMat();
@ -432,7 +432,7 @@ void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, InputArray _col
CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax); CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
} }
void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, const Color &color, const Affine3f &pose) void cv::viz::WCloudCollection::addCloud(InputArray _cloud, const Color &color, const Affine3f &pose)
{ {
Mat cloud = _cloud.getMat(); Mat cloud = _cloud.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
@ -471,16 +471,16 @@ void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, const Color &co
CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax); CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
} }
template<> cv::viz::CloudCollectionWidget cv::viz::Widget::cast<cv::viz::CloudCollectionWidget>() template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollection>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<CloudCollectionWidget&>(widget); return static_cast<WCloudCollection&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// Cloud Normals Widget implementation /// Cloud Normals Widget implementation
struct cv::viz::CloudNormalsWidget::ApplyCloudNormals struct cv::viz::WCloudNormals::ApplyCloudNormals
{ {
template<typename _Tp> template<typename _Tp>
struct Impl struct Impl
@ -555,7 +555,7 @@ struct cv::viz::CloudNormalsWidget::ApplyCloudNormals
} }
}; };
cv::viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level, float scale, const Color &color) cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, float scale, const Color &color)
{ {
Mat cloud = _cloud.getMat(); Mat cloud = _cloud.getMat();
Mat normals = _normals.getMat(); Mat normals = _normals.getMat();
@ -610,16 +610,16 @@ cv::viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _n
setColor(color); setColor(color);
} }
template<> cv::viz::CloudNormalsWidget cv::viz::Widget::cast<cv::viz::CloudNormalsWidget>() template<> cv::viz::WCloudNormals cv::viz::Widget::cast<cv::viz::WCloudNormals>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<CloudNormalsWidget&>(widget); return static_cast<WCloudNormals&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// Mesh Widget implementation /// Mesh Widget implementation
struct cv::viz::MeshWidget::CopyImpl struct cv::viz::WMesh::CopyImpl
{ {
template<typename _Tp> template<typename _Tp>
static Vec<_Tp, 3> * copy(const Mat &source, Vec<_Tp, 3> *output, int *look_up, const Mat &nan_mask) static Vec<_Tp, 3> * copy(const Mat &source, Vec<_Tp, 3> *output, int *look_up, const Mat &nan_mask)
@ -648,7 +648,7 @@ struct cv::viz::MeshWidget::CopyImpl
} }
}; };
cv::viz::MeshWidget::MeshWidget(const Mesh3d &mesh) cv::viz::WMesh::WMesh(const Mesh3d &mesh)
{ {
CV_Assert(mesh.cloud.rows == 1 && (mesh.cloud.type() == CV_32FC3 || mesh.cloud.type() == CV_64FC3 || mesh.cloud.type() == CV_32FC4 || mesh.cloud.type() == CV_64FC4)); CV_Assert(mesh.cloud.rows == 1 && (mesh.cloud.type() == CV_32FC3 || mesh.cloud.type() == CV_64FC3 || mesh.cloud.type() == CV_32FC4 || mesh.cloud.type() == CV_64FC4));
CV_Assert(mesh.colors.empty() || (mesh.colors.type() == CV_8UC3 && mesh.cloud.size() == mesh.colors.size())); CV_Assert(mesh.colors.empty() || (mesh.colors.type() == CV_8UC3 && mesh.cloud.size() == mesh.colors.size()));
@ -766,8 +766,8 @@ cv::viz::MeshWidget::MeshWidget(const Mesh3d &mesh)
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
template<> CV_EXPORTS cv::viz::MeshWidget cv::viz::Widget::cast<cv::viz::MeshWidget>() template<> CV_EXPORTS cv::viz::WMesh cv::viz::Widget::cast<cv::viz::WMesh>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<MeshWidget&>(widget); return static_cast<WMesh&>(widget);
} }

146
modules/viz/src/shape_widgets.cpp
View File

@ -58,7 +58,7 @@ namespace cv
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// line widget implementation /// line widget implementation
cv::viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color) cv::viz::WLine::WLine(const Point3f &pt1, const Point3f &pt2, const Color &color)
{ {
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New(); vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
line->SetPoint1(pt1.x, pt1.y, pt1.z); line->SetPoint1(pt1.x, pt1.y, pt1.z);
@ -75,16 +75,16 @@ cv::viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Co
setColor(color); setColor(color);
} }
template<> cv::viz::LineWidget cv::viz::Widget::cast<cv::viz::LineWidget>() template<> cv::viz::WLine cv::viz::Widget::cast<cv::viz::WLine>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<LineWidget&>(widget); return static_cast<WLine&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// plane widget implementation /// plane widget implementation
struct cv::viz::PlaneWidget::SetSizeImpl struct cv::viz::WPlane::SetSizeImpl
{ {
template<typename _Tp> template<typename _Tp>
static vtkSmartPointer<vtkTransformPolyDataFilter> setSize(const Vec<_Tp, 3> &center, vtkSmartPointer<vtkAlgorithmOutput> poly_data_port, double size) static vtkSmartPointer<vtkTransformPolyDataFilter> setSize(const Vec<_Tp, 3> &center, vtkSmartPointer<vtkAlgorithmOutput> poly_data_port, double size)
@ -104,7 +104,7 @@ struct cv::viz::PlaneWidget::SetSizeImpl
} }
}; };
cv::viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color &color) cv::viz::WPlane::WPlane(const Vec4f& coefs, double size, const Color &color)
{ {
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New(); vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
plane->SetNormal(coefs[0], coefs[1], coefs[2]); plane->SetNormal(coefs[0], coefs[1], coefs[2]);
@ -124,7 +124,7 @@ cv::viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color &
setColor(color); setColor(color);
} }
cv::viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size, const Color &color) cv::viz::WPlane::WPlane(const Vec4f& coefs, const Point3f& pt, double size, const Color &color)
{ {
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New(); vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
Point3f coefs3(coefs[0], coefs[1], coefs[2]); Point3f coefs3(coefs[0], coefs[1], coefs[2]);
@ -145,16 +145,16 @@ cv::viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double
setColor(color); setColor(color);
} }
template<> cv::viz::PlaneWidget cv::viz::Widget::cast<cv::viz::PlaneWidget>() template<> cv::viz::WPlane cv::viz::Widget::cast<cv::viz::WPlane>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<PlaneWidget&>(widget); return static_cast<WPlane&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// sphere widget implementation /// sphere widget implementation
cv::viz::SphereWidget::SphereWidget(const Point3f &center, float radius, int sphere_resolution, const Color &color) cv::viz::WSphere::WSphere(const Point3f &center, float radius, int sphere_resolution, const Color &color)
{ {
vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New(); vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New();
sphere->SetRadius(radius); sphere->SetRadius(radius);
@ -174,16 +174,16 @@ cv::viz::SphereWidget::SphereWidget(const Point3f &center, float radius, int sph
setColor(color); setColor(color);
} }
template<> cv::viz::SphereWidget cv::viz::Widget::cast<cv::viz::SphereWidget>() template<> cv::viz::WSphere cv::viz::Widget::cast<cv::viz::WSphere>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<SphereWidget&>(widget); return static_cast<WSphere&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// arrow widget implementation /// arrow widget implementation
cv::viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness, const Color &color) cv::viz::WArrow::WArrow(const Point3f& pt1, const Point3f& pt2, double thickness, const Color &color)
{ {
vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New(); vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New();
arrowSource->SetShaftRadius(thickness); arrowSource->SetShaftRadius(thickness);
@ -247,16 +247,16 @@ cv::viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, double
setColor(color); setColor(color);
} }
template<> cv::viz::ArrowWidget cv::viz::Widget::cast<cv::viz::ArrowWidget>() template<> cv::viz::WArrow cv::viz::Widget::cast<cv::viz::WArrow>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<ArrowWidget&>(widget); return static_cast<WArrow&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// circle widget implementation /// circle widget implementation
cv::viz::CircleWidget::CircleWidget(const Point3f& pt, double radius, double thickness, const Color& color) cv::viz::WCircle::WCircle(const Point3f& pt, double radius, double thickness, const Color& color)
{ {
vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New(); vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New();
// Maybe the resolution should be lower e.g. 50 or 25 // Maybe the resolution should be lower e.g. 50 or 25
@ -283,16 +283,16 @@ cv::viz::CircleWidget::CircleWidget(const Point3f& pt, double radius, double thi
setColor(color); setColor(color);
} }
template<> cv::viz::CircleWidget cv::viz::Widget::cast<cv::viz::CircleWidget>() template<> cv::viz::WCircle cv::viz::Widget::cast<cv::viz::WCircle>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<CircleWidget&>(widget); return static_cast<WCircle&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// cylinder widget implementation /// cylinder widget implementation
cv::viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides, const Color &color) cv::viz::WCylinder::WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides, const Color &color)
{ {
const Point3f pt2 = pt_on_axis + axis_direction; const Point3f pt2 = pt_on_axis + axis_direction;
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New(); vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
@ -314,16 +314,16 @@ cv::viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3f
setColor(color); setColor(color);
} }
template<> cv::viz::CylinderWidget cv::viz::Widget::cast<cv::viz::CylinderWidget>() template<> cv::viz::WCylinder cv::viz::Widget::cast<cv::viz::WCylinder>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<CylinderWidget&>(widget); return static_cast<WCylinder&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// cylinder widget implementation /// cylinder widget implementation
cv::viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color) cv::viz::WCube::WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color)
{ {
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New(); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
if (wire_frame) if (wire_frame)
@ -346,16 +346,16 @@ cv::viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bo
setColor(color); setColor(color);
} }
template<> cv::viz::CubeWidget cv::viz::Widget::cast<cv::viz::CubeWidget>() template<> cv::viz::WCube cv::viz::Widget::cast<cv::viz::WCube>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<CubeWidget&>(widget); return static_cast<WCube&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// coordinate system widget implementation /// coordinate system widget implementation
cv::viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale) cv::viz::WCoordinateSystem::WCoordinateSystem(double scale)
{ {
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New(); vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin(0, 0, 0); axes->SetOrigin(0, 0, 0);
@ -397,16 +397,16 @@ cv::viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale)
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
template<> cv::viz::CoordinateSystemWidget cv::viz::Widget::cast<cv::viz::CoordinateSystemWidget>() template<> cv::viz::WCoordinateSystem cv::viz::Widget::cast<cv::viz::WCoordinateSystem>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<CoordinateSystemWidget&>(widget); return static_cast<WCoordinateSystem&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// polyline widget implementation /// polyline widget implementation
struct cv::viz::PolyLineWidget::CopyImpl struct cv::viz::WPolyLine::CopyImpl
{ {
template<typename _Tp> template<typename _Tp>
static void copy(const Mat& source, Vec<_Tp, 3> *output, vtkSmartPointer<vtkPolyLine> polyLine) static void copy(const Mat& source, Vec<_Tp, 3> *output, vtkSmartPointer<vtkPolyLine> polyLine)
@ -426,7 +426,7 @@ struct cv::viz::PolyLineWidget::CopyImpl
} }
}; };
cv::viz::PolyLineWidget::PolyLineWidget(InputArray _pointData, const Color &color) cv::viz::WPolyLine::WPolyLine(InputArray _pointData, const Color &color)
{ {
Mat pointData = _pointData.getMat(); Mat pointData = _pointData.getMat();
CV_Assert(pointData.type() == CV_32FC3 || pointData.type() == CV_32FC4 || pointData.type() == CV_64FC3 || pointData.type() == CV_64FC4); CV_Assert(pointData.type() == CV_32FC3 || pointData.type() == CV_32FC4 || pointData.type() == CV_64FC3 || pointData.type() == CV_64FC4);
@ -477,16 +477,16 @@ cv::viz::PolyLineWidget::PolyLineWidget(InputArray _pointData, const Color &colo
setColor(color); setColor(color);
} }
template<> cv::viz::PolyLineWidget cv::viz::Widget::cast<cv::viz::PolyLineWidget>() template<> cv::viz::WPolyLine cv::viz::Widget::cast<cv::viz::WPolyLine>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<PolyLineWidget&>(widget); return static_cast<WPolyLine&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// grid widget implementation /// grid widget implementation
struct cv::viz::GridWidget::GridImpl struct cv::viz::WGrid::GridImpl
{ {
static vtkSmartPointer<vtkPolyData> createGrid(const Vec2i &dimensions, const Vec2d &spacing) static vtkSmartPointer<vtkPolyData> createGrid(const Vec2i &dimensions, const Vec2d &spacing)
{ {
@ -513,7 +513,7 @@ struct cv::viz::GridWidget::GridImpl
} }
}; };
cv::viz::GridWidget::GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color) cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
{ {
vtkSmartPointer<vtkPolyData> grid = GridImpl::createGrid(dimensions, spacing); vtkSmartPointer<vtkPolyData> grid = GridImpl::createGrid(dimensions, spacing);
@ -531,7 +531,7 @@ cv::viz::GridWidget::GridWidget(const Vec2i &dimensions, const Vec2d &spacing, c
setColor(color); setColor(color);
} }
cv::viz::GridWidget::GridWidget(const Vec4f &coefs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color) cv::viz::WGrid::WGrid(const Vec4f &coefs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
{ {
vtkSmartPointer<vtkPolyData> grid = GridImpl::createGrid(dimensions, spacing); vtkSmartPointer<vtkPolyData> grid = GridImpl::createGrid(dimensions, spacing);
@ -584,16 +584,16 @@ cv::viz::GridWidget::GridWidget(const Vec4f &coefs, const Vec2i &dimensions, con
setColor(color); setColor(color);
} }
template<> cv::viz::GridWidget cv::viz::Widget::cast<cv::viz::GridWidget>() template<> cv::viz::WGrid cv::viz::Widget::cast<cv::viz::WGrid>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<GridWidget&>(widget); return static_cast<WGrid&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// text3D widget implementation /// text3D widget implementation
cv::viz::Text3DWidget::Text3DWidget(const String &text, const Point3f &position, double text_scale, bool face_camera, const Color &color) cv::viz::WText3D::WText3D(const String &text, const Point3f &position, double text_scale, bool face_camera, const Color &color)
{ {
vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New(); vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New();
textSource->SetText(text.c_str()); textSource->SetText(text.c_str());
@ -622,7 +622,7 @@ cv::viz::Text3DWidget::Text3DWidget(const String &text, const Point3f &position,
setColor(color); setColor(color);
} }
void cv::viz::Text3DWidget::setText(const String &text) void cv::viz::WText3D::setText(const String &text)
{ {
vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this)); vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("This widget does not support text." && actor); CV_Assert("This widget does not support text." && actor);
@ -636,7 +636,7 @@ void cv::viz::Text3DWidget::setText(const String &text)
textSource->Update(); textSource->Update();
} }
cv::String cv::viz::Text3DWidget::getText() const cv::String cv::viz::WText3D::getText() const
{ {
vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this)); vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("This widget does not support text." && actor); CV_Assert("This widget does not support text." && actor);
@ -648,16 +648,16 @@ cv::String cv::viz::Text3DWidget::getText() const
return textSource->GetText(); return textSource->GetText();
} }
template<> cv::viz::Text3DWidget cv::viz::Widget::cast<cv::viz::Text3DWidget>() template<> cv::viz::WText3D cv::viz::Widget::cast<cv::viz::WText3D>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<Text3DWidget&>(widget); return static_cast<WText3D&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// text widget implementation /// text widget implementation
cv::viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color) cv::viz::WText::WText(const String &text, const Point2i &pos, int font_size, const Color &color)
{ {
vtkSmartPointer<vtkTextActor> actor = vtkSmartPointer<vtkTextActor>::New(); vtkSmartPointer<vtkTextActor> actor = vtkSmartPointer<vtkTextActor>::New();
actor->SetPosition(pos.x, pos.y); actor->SetPosition(pos.x, pos.y);
@ -675,20 +675,20 @@ cv::viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
template<> cv::viz::TextWidget cv::viz::Widget::cast<cv::viz::TextWidget>() template<> cv::viz::WText cv::viz::Widget::cast<cv::viz::WText>()
{ {
Widget2D widget = this->cast<Widget2D>(); Widget2D widget = this->cast<Widget2D>();
return static_cast<TextWidget&>(widget); return static_cast<WText&>(widget);
} }
void cv::viz::TextWidget::setText(const String &text) void cv::viz::WText::setText(const String &text)
{ {
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this)); vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("This widget does not support text." && actor); CV_Assert("This widget does not support text." && actor);
actor->SetInput(text.c_str()); actor->SetInput(text.c_str());
} }
cv::String cv::viz::TextWidget::getText() const cv::String cv::viz::WText::getText() const
{ {
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this)); vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("This widget does not support text." && actor); CV_Assert("This widget does not support text." && actor);
@ -698,7 +698,7 @@ cv::String cv::viz::TextWidget::getText() const
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// image overlay widget implementation /// image overlay widget implementation
cv::viz::ImageOverlayWidget::ImageOverlayWidget(const Mat &image, const Rect &rect) cv::viz::WImageOverlay::WImageOverlay(const Mat &image, const Rect &rect)
{ {
CV_Assert(!image.empty() && image.depth() == CV_8U); CV_Assert(!image.empty() && image.depth() == CV_8U);
@ -739,7 +739,7 @@ cv::viz::ImageOverlayWidget::ImageOverlayWidget(const Mat &image, const Rect &re
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
void cv::viz::ImageOverlayWidget::setImage(const Mat &image) void cv::viz::WImageOverlay::setImage(const Mat &image)
{ {
CV_Assert(!image.empty() && image.depth() == CV_8U); CV_Assert(!image.empty() && image.depth() == CV_8U);
@ -766,16 +766,16 @@ void cv::viz::ImageOverlayWidget::setImage(const Mat &image)
mapper->SetInputConnection(flipFilter->GetOutputPort()); mapper->SetInputConnection(flipFilter->GetOutputPort());
} }
template<> cv::viz::ImageOverlayWidget cv::viz::Widget::cast<cv::viz::ImageOverlayWidget>() template<> cv::viz::WImageOverlay cv::viz::Widget::cast<cv::viz::WImageOverlay>()
{ {
Widget2D widget = this->cast<Widget2D>(); Widget2D widget = this->cast<Widget2D>();
return static_cast<ImageOverlayWidget&>(widget); return static_cast<WImageOverlay&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// image 3D widget implementation /// image 3D widget implementation
cv::viz::Image3DWidget::Image3DWidget(const Mat &image, const Size &size) cv::viz::WImage3D::WImage3D(const Mat &image, const Size &size)
{ {
CV_Assert(!image.empty() && image.depth() == CV_8U); CV_Assert(!image.empty() && image.depth() == CV_8U);
@ -827,7 +827,7 @@ cv::viz::Image3DWidget::Image3DWidget(const Mat &image, const Size &size)
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
cv::viz::Image3DWidget::Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size) cv::viz::WImage3D::WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size)
{ {
CV_Assert(!image.empty() && image.depth() == CV_8U); CV_Assert(!image.empty() && image.depth() == CV_8U);
@ -901,7 +901,7 @@ cv::viz::Image3DWidget::Image3DWidget(const Vec3f &position, const Vec3f &normal
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
void cv::viz::Image3DWidget::setImage(const Mat &image) void cv::viz::WImage3D::setImage(const Mat &image)
{ {
CV_Assert(!image.empty() && image.depth() == CV_8U); CV_Assert(!image.empty() && image.depth() == CV_8U);
@ -929,16 +929,16 @@ void cv::viz::Image3DWidget::setImage(const Mat &image)
actor->SetTexture(texture); actor->SetTexture(texture);
} }
template<> cv::viz::Image3DWidget cv::viz::Widget::cast<cv::viz::Image3DWidget>() template<> cv::viz::WImage3D cv::viz::Widget::cast<cv::viz::WImage3D>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<Image3DWidget&>(widget); return static_cast<WImage3D&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// camera position widget implementation /// camera position widget implementation
struct cv::viz::CameraPositionWidget::ProjectImage struct cv::viz::WCameraPosition::ProjectImage
{ {
static void projectImage(float fovy, float far_end_height, const Mat &image, static void projectImage(float fovy, float far_end_height, const Mat &image,
double scale, const Color &color, vtkSmartPointer<vtkActor> actor) double scale, const Color &color, vtkSmartPointer<vtkActor> actor)
@ -1032,7 +1032,7 @@ struct cv::viz::CameraPositionWidget::ProjectImage
} }
}; };
cv::viz::CameraPositionWidget::CameraPositionWidget(double scale) cv::viz::WCameraPosition::WCameraPosition(double scale)
{ {
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New(); vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
axes->SetOrigin(0, 0, 0); axes->SetOrigin(0, 0, 0);
@ -1074,7 +1074,7 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(double scale)
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, double scale, const Color &color) cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, double scale, const Color &color)
{ {
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New(); vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
float f_x = K(0,0); float f_x = K(0,0);
@ -1116,7 +1116,7 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, double sca
} }
cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec2f &fov, double scale, const Color &color) cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, double scale, const Color &color)
{ {
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New(); vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
@ -1154,7 +1154,7 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec2f &fov, double sca
setColor(color); setColor(color);
} }
cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Mat &image, double scale, const Color &color) cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, const Mat &image, double scale, const Color &color)
{ {
CV_Assert(!image.empty() && image.depth() == CV_8U); CV_Assert(!image.empty() && image.depth() == CV_8U);
float f_y = K(1,1); float f_y = K(1,1);
@ -1168,7 +1168,7 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Mat
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec2f &fov, const Mat &image, double scale, const Color &color) cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, const Mat &image, double scale, const Color &color)
{ {
CV_Assert(!image.empty() && image.depth() == CV_8U); CV_Assert(!image.empty() && image.depth() == CV_8U);
float fovy = fov[1] * 180.0f / CV_PI; float fovy = fov[1] * 180.0f / CV_PI;
@ -1179,16 +1179,16 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Vec2f &fov, const Mat
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
template<> cv::viz::CameraPositionWidget cv::viz::Widget::cast<cv::viz::CameraPositionWidget>() template<> cv::viz::WCameraPosition cv::viz::Widget::cast<cv::viz::WCameraPosition>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<CameraPositionWidget&>(widget); return static_cast<WCameraPosition&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// trajectory widget implementation /// trajectory widget implementation
struct cv::viz::TrajectoryWidget::ApplyPath struct cv::viz::WTrajectory::ApplyPath
{ {
static void applyPath(vtkSmartPointer<vtkPolyData> poly_data, vtkSmartPointer<vtkAppendPolyData> append_filter, const std::vector<Affine3f> &path) static void applyPath(vtkSmartPointer<vtkPolyData> poly_data, vtkSmartPointer<vtkAppendPolyData> append_filter, const std::vector<Affine3f> &path)
{ {
@ -1220,12 +1220,12 @@ struct cv::viz::TrajectoryWidget::ApplyPath
} }
}; };
cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode, const Color &color, double scale) cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display_mode, const Color &color, double scale)
{ {
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New(); vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
// Bitwise and with 3 in order to limit the domain to 2 bits // Bitwise and with 3 in order to limit the domain to 2 bits
if ((~display_mode & 3) ^ TrajectoryWidget::DISPLAY_PATH) if ((~display_mode & 3) ^ WTrajectory::DISPLAY_PATH)
{ {
// Create a poly line along the path // Create a poly line along the path
vtkIdType nr_points = path.size(); vtkIdType nr_points = path.size();
@ -1269,7 +1269,7 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, i
#endif #endif
} }
if ((~display_mode & 3) ^ TrajectoryWidget::DISPLAY_FRAMES) if ((~display_mode & 3) ^ WTrajectory::DISPLAY_FRAMES)
{ {
// Create frames and transform along the path // Create frames and transform along the path
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New(); vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
@ -1316,7 +1316,7 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, i
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale, const Color &color) cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, double scale, const Color &color)
{ {
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New(); vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
float f_x = K(0,0); float f_x = K(0,0);
@ -1360,7 +1360,7 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, c
setColor(color); setColor(color);
} }
cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale, const Color &color) cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale, const Color &color)
{ {
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New(); vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
@ -1400,16 +1400,16 @@ cv::viz::TrajectoryWidget::TrajectoryWidget(const std::vector<Affine3f> &path, c
setColor(color); setColor(color);
} }
template<> cv::viz::TrajectoryWidget cv::viz::Widget::cast<cv::viz::TrajectoryWidget>() template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<TrajectoryWidget&>(widget); return static_cast<WTrajectory&>(widget);
} }
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// spheres trajectory widget implementation /// spheres trajectory widget implementation
cv::viz::SpheresTrajectoryWidget::SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float line_length, double init_sphere_radius, double sphere_radius, cv::viz::WSpheresTrajectory::WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length, double init_sphere_radius, double sphere_radius,
const Color &line_color, const Color &sphere_color) const Color &line_color, const Color &sphere_color)
{ {
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New(); vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
@ -1490,8 +1490,8 @@ cv::viz::SpheresTrajectoryWidget::SpheresTrajectoryWidget(const std::vector<Affi
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }
template<> cv::viz::SpheresTrajectoryWidget cv::viz::Widget::cast<cv::viz::SpheresTrajectoryWidget>() template<> cv::viz::WSpheresTrajectory cv::viz::Widget::cast<cv::viz::WSpheresTrajectory>()
{ {
Widget3D widget = this->cast<Widget3D>(); Widget3D widget = this->cast<Widget3D>();
return static_cast<SpheresTrajectoryWidget&>(widget); return static_cast<WSpheresTrajectory&>(widget);
} }

309
modules/viz/test/test_viz3d.cpp
View File

@ -41,15 +41,9 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include <opencv2/viz.hpp> #include <opencv2/viz.hpp>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp> #include <opencv2/highgui.hpp>
#include <opencv2/calib3d.hpp>
#include <fstream>
#include <string> #include <string>
#include <opencv2/viz.hpp>
using namespace cv; using namespace cv;
cv::Mat cvcloud_load() cv::Mat cvcloud_load()
@ -68,226 +62,121 @@ cv::Mat cvcloud_load()
return cloud; return cloud;
} }
bool constant_cam = true;
cv::viz::Widget cam_1, cam_coordinates;
void keyboard_callback(const viz::KeyboardEvent & event, void * cookie)
{
if (event.keyDown())
{
if (event.getKeySym() == "space")
{
viz::Viz3d &viz = *((viz::Viz3d *) cookie);
constant_cam = !constant_cam;
if (constant_cam)
{
viz.showWidget("cam_1", cam_1);
viz.showWidget("cam_coordinate", cam_coordinates);
viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28));
viz.resetCamera();
}
else
{
viz.showWidget("cam_text", viz::WText("Cam View", Point2i(5,5), 28));
viz.removeWidget("cam_1");
viz.removeWidget("cam_coordinate");
}
}
}
}
TEST(Viz_viz3d, accuracy) TEST(Viz_viz3d, accuracy)
{ {
cv::Mat cloud = cvcloud_load();
cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));
cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0));
//cv::viz::Mesh3d::Ptr mesh = cv::viz::Mesh3d::mesh_load("/Users/nerei/horse.ply");
const Vec4d data[] = { Vec4d(0.0, 0.0, 0.0, 0.0), Vec4d(1.0, 1.0, 1.0, 1.0), cv::Vec4d(0.0, 2.0, 0.0, 0.0), cv::Vec4d(3.0, 4.0, 1.0, 1.0) };
cv::Mat points(1, sizeof(data)/sizeof(data[0]), CV_64FC4, (void*)data);
points = points.reshape(4, 2);
cv::viz::Viz3d viz("abc"); cv::viz::Viz3d viz("abc");
viz.setBackgroundColor();
Vec3f angle = Vec3f::all(0);
Vec3f pos = Vec3f::all(0);
//viz.addPolygonMesh(*mesh, "pq"); cv::viz::Mesh3d bunny_mesh = cv::viz::Mesh3d::loadMesh("bunny.ply");
cv::viz::WMesh bunny_widget(bunny_mesh);
bunny_widget.setColor(cv::viz::Color::cyan());
viz::Color color = viz::Color::black(); cam_1 = cv::viz::WCameraPosition(cv::Vec2f(0.6, 0.4), 0.2, cv::viz::Color::green());
cam_coordinates = cv::viz::WCameraPosition(0.2);
viz::LineWidget lw(Point3f(0, 0, 0), Point3f(4.f, 4.f,4.f), viz::Color::green()); viz.showWidget("bunny", bunny_widget);
viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0)); viz.showWidget("cam_1", cam_1, viz::makeCameraPose(Point3f(1.0,0.0,0.0), Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
viz::PlaneWidget pw2(Vec4f(0.0,1.0,2.0,3.0), 2.0, viz::Color::red()); viz.showWidget("cam_coordinate", cam_coordinates, viz::makeCameraPose(Point3f(1.0,0.0,0.0), Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
viz::PlaneWidget pw3(Vec4f(0.0,1.0,2.0,3.0), 3.0, viz::Color::blue());
viz::SphereWidget sw(Point3f(0, 0, 0), 0.2);
viz::ArrowWidget aw(Point3f(0, 0, 0), Point3f(1, 1, 1), 0.01, viz::Color::red());
viz::CircleWidget cw(Point3f(0, 0, 0), 0.5, 0.01, viz::Color::green());
viz::CylinderWidget cyw(Point3f(0, 0, 0), Point3f(-1, -1, -1), 0.5, 30, viz::Color::green());
viz::CubeWidget cuw(Point3f(-2, -2, -2), Point3f(-1, -1, -1));
viz::CoordinateSystemWidget csw;
viz::TextWidget tw("TEST", Point(100, 100), 20);
viz::CloudWidget pcw(cloud, colors);
// pcw.setRenderingProperty(VIZ_LINE_WIDTH));
viz::CloudWidget pcw2(cloud, viz::Color::magenta());
// viz.showWidget("line", lw);
viz.showWidget("plane", pw);
viz.showWidget("plane2", pw2);
viz.showWidget("plane3", pw3);
// viz.showWidget("sphere", sw);
// viz.showWidget("arrow", aw);
// viz.showWidget("circle", cw);
// viz.showWidget("cylinder", cyw);
// viz.showWidget("cube", cuw);
viz.showWidget("coordinateSystem", csw);
// viz.showWidget("coordinateSystem2", viz::CoordinateSystemWidget(2.0), Affine3f().translate(Vec3f(2, 0, 0)));
// viz.showWidget("text",tw);
// viz.showWidget("pcw",pcw);
// viz.showWidget("pcw2",pcw2);
// viz::LineWidget lw2 = lw;
// v.showPointCloud("cld",cloud, colors);
// v.addPointCloudNormals(cloud, normals, 100, 0.02, "n"); std::vector<Affine3f> cam_path;
//viz::CloudNormalsWidget cnw(cloud, normals);
//v.showWidget("n", cnw);
for (int i = 0, j = 0; i <= 360; ++i, j+=5)
// lw = v.getWidget("n").cast<viz::LineWidget>(); {
// pw = v.getWidget("n").cast<viz::PlaneWidget>(); cam_path.push_back(viz::makeCameraPose(Point3f(0.5*cos(double(i)*CV_PI/180.0), 0.5*sin(double(j)*CV_PI/180.0), 0.5*sin(double(i)*CV_PI/180.0)),
Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
}
viz::PolyLineWidget plw(points, viz::Color::green());
// viz.showWidget("polyline", plw); int path_counter = 0;
// lw = v.getWidget("polyline").cast<viz::LineWidget>(); int cam_path_size = cam_path.size();
viz::Mesh3d mesh = cv::viz::Mesh3d::loadMesh("/Users/nerei/horse.ply");
// viz::MeshWidget mw(mesh);
// viz.showWidget("mesh", mw);
Mat img = imread("opencv.png");
// resize(img, img, Size(50,50));
// viz.showWidget("img", viz::ImageOverlayWidget(img, Point2i(50,50)));
Matx33f K(657, 0, 320,
0, 657, 240,
0, 0, 1);
//viz::CameraPositionWidget cpw(Vec3f(0.5, 0.5, 3.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,-1.0,0.0), 0.5);
viz::CameraPositionWidget cpw2(0.5);
viz::CameraPositionWidget frustum(K, 2.0, viz::Color::green());
// viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
viz::CameraPositionWidget frustum3(Vec2f(CV_PI, CV_PI/2), 4.0);
viz::Text3DWidget t3w1("Camera1", Point3f(0.4, 0.6, 3.0), 0.1);
viz::Text3DWidget t3w2("Camera2", Point3f(0,0,0), 0.1);
// viz.showWidget("CameraPositionWidget", cpw);
// viz.showWidget("CameraPositionWidget2", cpw2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("camera_label", t3w1);
// viz.showWidget("camera_label2", t3w2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustrum", frustum, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustrum2", frustum2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustum3", frustum3, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
std::vector<Affine3f> trajectory;
trajectory.push_back(Affine3f().translate(Vec3f(0.5,0.5,0.5)));
trajectory.push_back(Affine3f().translate(Vec3f(1.0,0.0,0.0)));
trajectory.push_back(Affine3f().translate(Vec3f(2.0,0.5,0.0)));
trajectory.push_back(Affine3f(0.5, 0.0, 0.0, Vec3f(1.0,0.0,1.0)));
//
//viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory, viz::Color(0,255,255), true, 0.5));
viz.showWidget("trajectory2", viz::TrajectoryWidget(trajectory, K, 1.0, viz::Color(255,0,255)));
// cv::Rodrigues2(Vec3f(), Mat());
// viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory/*, viz::Color::yellow()*/));
// viz.showWidget("CameraPositionWidget2", cpw2);
// viz.showWidget("CameraPositionWidget3", cpw3);
viz.spin();
//viz::GridWidget gw(viz::Vec2i(100,100), viz::Vec2d(1,1)); // OTHER WIDGETS
//v.showWidget("grid", gw); cv::Mat img = imread("opencv.png");
// lw = viz.getWidget("grid").cast<cv::viz::LineWidget>();
//viz::Text3DWidget t3w("OpenCV", cv::Point3f(0.0, 2.0, 0.0), 1.0, viz::Color(255,255,0)); int downSample = 4;
//v.showWidget("txt3d", t3w);
int row_max = img.rows/downSample;
int col_max = img.cols/downSample;
cv::Mat clouds[img.cols/downSample];
cv::Mat colors[img.cols/downSample];
for (int col = 0; col < col_max; ++col)
{
clouds[col] = Mat::zeros(img.rows/downSample, 1, CV_32FC3);
colors[col] = Mat::zeros(img.rows/downSample, 1, CV_8UC3);
for (int row = 0; row < row_max; ++row)
{
clouds[col].at<Vec3f>(row) = Vec3f(downSample * float(col) / img.cols, 1.0-(downSample * float(row) / img.rows), 0.0);
colors[col].at<Vec3b>(row) = img.at<Vec3b>(row*downSample,col*downSample);
}
}
for (int col = 0; col < col_max; ++col)
{
std::stringstream strstrm;
strstrm << "cloud_" << col;
viz.showWidget(strstrm.str(), viz::WCloud(clouds[col], colors[col]));
viz.getWidget(strstrm.str()).setRenderingProperty(viz::POINT_SIZE, 3.0);
viz.getWidget(strstrm.str()).setRenderingProperty(viz::OPACITY, 0.45);
}
viz.showWidget("trajectory", viz::WTrajectory(cam_path, viz::WTrajectory::DISPLAY_PATH, viz::Color::yellow()));
viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28));
viz.registerKeyboardCallback(keyboard_callback, (void *) &viz);
// float grid_x_angle = 0.0; int angle = 0;
while(!viz.wasStopped()) while(!viz.wasStopped())
{ {
// Creating new point cloud with id cloud1 if (path_counter == cam_path_size)
cv::Affine3f cloudPosition(angle, pos); {
cv::Affine3f cloudPosition2(angle, pos + Vec3f(0.2f, 0.2f, 0.2f)); path_counter = 0;
}
lw.setColor(color); if (!constant_cam)
// lw.setLineWidth(pos_x * 10); {
viz.setViewerPose(cam_path[path_counter]);
}
//plw.setColor(viz::Color(col_blue, col_green, col_red)); if (angle == 360) angle = 0;
// sw.setPose(cloudPosition);
// pw.setPose(cloudPosition);
aw.setPose(cloudPosition);
cw.setPose(cloudPosition);
cyw.setPose(cloudPosition);
frustum.setPose(cloudPosition);
// lw.setPose(cloudPosition);
// cpw.updatePose(Affine3f(0.1,0.0,0.0, cv::Vec3f(0.0,0.0,0.0)));
// cpw.setPose(cloudPosition);
// cnw.setPose(cloudPosition);
// v.showWidget("pcw",pcw, cloudPosition);
// v.showWidget("pcw2",pcw2, cloudPosition2);
// v.showWidget("plane", pw, cloudPosition);
// v.setWidgetPose("n",cloudPosition);
// v.setWidgetPose("pcw2", cloudPosition);
//cnw.setColor(viz::Color(col_blue, col_green, col_red));
//pcw2.setColor(viz::Color(col_blue, col_green, col_red));
//gw.updatePose(viz::Affine3f(0.0, 0.1, 0.0, cv::Vec3f(0.0,0.0,0.0)));
angle[0] += 0.1f;
angle[1] -= 0.1f;
angle[2] += 0.1f;
pos[0] = std::sin(angle[0]);
pos[1] = std::sin(angle[1]);
pos[2] = std::sin(angle[2]);
color[0] = int(angle[0] * 10) % 256; cam_1.cast<viz::WCameraPosition>().setPose(cam_path[path_counter]);
color[1] = int(angle[0] * 20) % 256; cam_coordinates.cast<viz::WCameraPosition>().setPose(cam_path[path_counter++]);
color[2] = int(angle[0] * 30) % 256;
for (int i = 0; i < col_max; ++i)
viz.spinOnce(1, true); {
std::stringstream strstrm;
strstrm << "cloud_" << i;
viz.setWidgetPose(strstrm.str(), Affine3f().translate(Vec3f(-0.5,0.0, -0.7 + 0.2*sin((angle+i*10)*CV_PI / 180.0))));
}
angle += 10;
viz.spinOnce(42, true);
} }
//
//
// viz::ModelCoefficients mc;
// mc.values.resize(4);
// mc.values[0] = mc.values[1] = mc.values[2] = mc.values[3] = 1;
// v.addPlane(mc);
//
//
// viz::Mesh3d::Ptr mesh = viz::mesh_load("horse.ply");
// v.addPolygonMesh(*mesh, "pq");
//
// v.spinOnce(1000, true);
//
// v.removeCoordinateSystem();
//
// for(int i = 0; i < mesh->cloud.cols; ++i)
// mesh->cloud.ptr<cv::Point3f>()[i] += cv::Point3f(1, 1, 1);
//
// v.updatePolygonMesh(*mesh, "pq");
//
//
// for(int i = 0; i < mesh->cloud.cols; ++i)
// mesh->cloud.ptr<cv::Point3f>()[i] -= cv::Point3f(2, 2, 2);
// v.addPolylineFromPolygonMesh(*mesh);
//
//
// v.addText("===Abd sadfljsadlk", 100, 100, cv::Scalar(255, 0, 0), 15);
// for(int i = 0; i < cloud.cols; ++i)
// cloud.ptr<cv::Point3f>()[i].x *=2;
//
// colors.setTo(cv::Scalar(255, 0, 0));
//
// v.addSphere(cv::Point3f(0, 0, 0), 0.3, viz::Color::blue());
//
// cv::Mat cvpoly(1, 5, CV_32FC3);
// cv::Point3f* pdata = cvpoly.ptr<cv::Point3f>();
// pdata[0] = cv::Point3f(0, 0, 0);
// pdata[1] = cv::Point3f(0, 1, 1);
// pdata[2] = cv::Point3f(3, 1, 2);
// pdata[3] = cv::Point3f(0, 2, 4);
// pdata[4] = cv::Point3f(7, 2, 3);
// v.addPolygon(cvpoly, viz::Color::white());
//
// // Updating cloud1
// v.showPointCloud("cloud1", cloud, colors);
// v.spin();
} }

8
samples/cpp/tutorial_code/viz/creating_widgets.cpp
View File

@ -39,17 +39,17 @@ void help()
* @class TriangleWidget * @class TriangleWidget
* @brief Defining our own 3D Triangle widget * @brief Defining our own 3D Triangle widget
*/ */
class TriangleWidget : public viz::Widget3D class WTriangle : public viz::Widget3D
{ {
public: public:
TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
}; };
/** /**
* @function TriangleWidget::TriangleWidget * @function TriangleWidget::TriangleWidget
* @brief Constructor * @brief Constructor
*/ */
TriangleWidget::TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color) WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
{ {
// Create a triangle // Create a triangle
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New(); vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
@ -101,7 +101,7 @@ int main()
viz::Viz3d myWindow("Creating Widgets"); viz::Viz3d myWindow("Creating Widgets");
/// Create a triangle widget /// 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), viz::Color::red()); WTriangle 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());
/// Show widget in the visualizer window /// Show widget in the visualizer window
myWindow.showWidget("TRIANGLE", tw); myWindow.showWidget("TRIANGLE", tw);

8
samples/cpp/tutorial_code/viz/transformations.cpp
View File

@ -68,7 +68,7 @@ int main(int argn, char **argv)
viz::Viz3d myWindow("Coordinate Frame"); viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes /// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget()); myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Let's assume camera has the following properties /// Let's assume camera has the following properties
Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f); Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
@ -82,7 +82,7 @@ int main(int argn, char **argv)
/// Create a cloud widget. /// Create a cloud widget.
Mat bunny_cloud = cvcloud_load(); Mat bunny_cloud = cvcloud_load();
viz::CloudWidget cloud_widget(bunny_cloud, viz::Color::green()); viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
/// Pose of the widget in camera frame /// Pose of the widget in camera frame
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f)); Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
@ -92,8 +92,8 @@ int main(int argn, char **argv)
/// Visualize camera frame /// Visualize camera frame
if (!camera_pov) if (!camera_pov)
{ {
viz::CameraPositionWidget cpw(0.5); // Coordinate axes viz::WCameraPosition cpw(0.5); // Coordinate axes
viz::CameraPositionWidget cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
myWindow.showWidget("CPW", cpw, cam_pose); myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose); myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
} }

6
samples/cpp/tutorial_code/viz/widget_pose.cpp
View File

@ -37,15 +37,15 @@ int main()
viz::Viz3d myWindow("Coordinate Frame"); viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes /// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget()); myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Add line to represent (1,1,1) axis /// Add line to represent (1,1,1) axis
viz::LineWidget axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis); myWindow.showWidget("Line Widget", axis);
/// Construct a cube widget /// Construct a cube widget
viz::CubeWidget cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); 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); cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Cube Widget", cube_widget); myWindow.showWidget("Cube Widget", cube_widget);