83 lines
3.5 KiB
C++
83 lines
3.5 KiB
C++
#pragma once
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#if !defined YES_I_AGREE_THAT_VIZ_API_IS_NOT_STABLE_NOW_AND_BINARY_COMPARTIBILITY_WONT_BE_SUPPORTED
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//#error "Viz is in beta state now. Please define macro above to use it"
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#endif
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#include <opencv2/core/cvdef.h>
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#include <opencv2/core.hpp>
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#include <string>
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#include <opencv2/viz/types.hpp>
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#include <opencv2/viz/events.hpp>
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namespace temp_viz
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{
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class CV_EXPORTS Viz3d
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{
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public:
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typedef cv::Ptr<Viz3d> Ptr;
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Viz3d(const String& window_name = String());
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~Viz3d();
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void setBackgroundColor(const Color& color = Color::black());
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void addCoordinateSystem(double scale, const Affine3f& t, const String &id = "coordinate");
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void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
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void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
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bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String &id = "cloud");
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void showLine(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
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void showPlane(const String &id, const Vec4f &coefs, const Color &color = Color(255,255,255));
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void showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color = Color(255,255,255));
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void showCube(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
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void showCylinder(const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color = Color(255,255,255));
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void showCircle(const String &id, const Point3f &pt, double radius, const Color &color = Color(255,255,255));
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void showSphere (const String &id, const Point3f &pt, double radius, const Color &color = Color(255,255,255));
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void showArrow (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
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Affine3f getShapePose(const String &id);
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bool setShapePose(const String &id, const Affine3f &pose);
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bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
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bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");
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bool removeCoordinateSystem (const String &id = "coordinate");
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bool addPolygonMesh (const Mesh3d& mesh, const String &id = "polygon");
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bool updatePolygonMesh (const Mesh3d& mesh, const String &id = "polygon");
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bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String &id = "polyline");
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bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String &id = "");
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bool addPolygon(const Mat& cloud, const Color& color, const String &id = "polygon");
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bool addSphere (const Point3f ¢er, double radius, const Color& color, const String &id = "sphere");
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void spin ();
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void spinOnce (int time = 1, bool force_redraw = false);
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void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void* cookie = 0);
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void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0);
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bool wasStopped() const;
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private:
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Viz3d(const Viz3d&);
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Viz3d& operator=(const Viz3d&);
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struct VizImpl;
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VizImpl* impl_;
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};
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}
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