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opencv/modules/viz/include/opencv2/viz/widgets.hpp

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
// Authors:
// * Ozan Tonkal, ozantonkal@gmail.com
// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
//
// OpenCV Viz module is complete rewrite of
// PCL visualization module (www.pointclouds.org)
//
//M*/
#ifndef __OPENCV_VIZ_WIDGETS_HPP__
#define __OPENCV_VIZ_WIDGETS_HPP__
#include <opencv2/viz/types.hpp>
namespace cv
{
namespace viz
{
/////////////////////////////////////////////////////////////////////////////
/// Widget rendering properties
enum RenderingProperties
{
POINT_SIZE,
OPACITY,
LINE_WIDTH,
FONT_SIZE,
REPRESENTATION,
IMMEDIATE_RENDERING,
SHADING
};
enum RenderingRepresentationProperties
{
REPRESENTATION_POINTS,
REPRESENTATION_WIREFRAME,
REPRESENTATION_SURFACE
};
enum ShadingRepresentationProperties
{
SHADING_FLAT,
SHADING_GOURAUD,
SHADING_PHONG
};
/////////////////////////////////////////////////////////////////////////////
/// The base class for all widgets
class CV_EXPORTS Widget
{
public:
Widget();
Widget(const Widget& other);
Widget& operator=(const Widget& other);
~Widget();
//! Create a widget directly from ply file
static Widget fromPlyFile(const String &file_name);
//! Rendering properties of this particular widget
void setRenderingProperty(int property, double value);
double getRenderingProperty(int property) const;
//! Casting between widgets
template<typename _W> _W cast();
private:
class Impl;
Impl *impl_;
friend struct WidgetAccessor;
};
/////////////////////////////////////////////////////////////////////////////
/// The base class for all 3D widgets
class CV_EXPORTS Widget3D : public Widget
{
public:
Widget3D() {}
void setPose(const Affine3f &pose);
void updatePose(const Affine3f &pose);
Affine3f getPose() const;
void setColor(const Color &color);
private:
struct MatrixConverter;
};
/////////////////////////////////////////////////////////////////////////////
/// The base class for all 2D widgets
class CV_EXPORTS Widget2D : public Widget
{
public:
Widget2D() {}
void setColor(const Color &color);
};
class CV_EXPORTS WLine : public Widget3D
{
public:
WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
};
class CV_EXPORTS WPlane : public Widget3D
{
public:
WPlane(const Vec4f& coefs, float size = 1.f, const Color &color = Color::white());
WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.f, const Color &color = Color::white());
private:
struct SetSizeImpl;
};
class CV_EXPORTS WSphere : public Widget3D
{
public:
WSphere(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white());
};
class CV_EXPORTS WArrow : public Widget3D
{
public:
WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03f, const Color &color = Color::white());
};
class CV_EXPORTS WCircle : public Widget3D
{
public:
WCircle(const Point3f& pt, float radius, float thickness = 0.01f, const Color &color = Color::white());
};
class CV_EXPORTS WCylinder : public Widget3D
{
public:
WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white());
};
class CV_EXPORTS WCube : public Widget3D
{
public:
WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
};
class CV_EXPORTS WCoordinateSystem : public Widget3D
{
public:
WCoordinateSystem(float scale = 1.f);
};
class CV_EXPORTS WPolyLine : public Widget3D
{
public:
WPolyLine(InputArray points, const Color &color = Color::white());
private:
struct CopyImpl;
};
class CV_EXPORTS WGrid : public Widget3D
{
public:
//! Creates grid at the origin
WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
//! Creates grid based on the plane equation
WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
private:
struct GridImpl;
};
class CV_EXPORTS WText3D : public Widget3D
{
public:
WText3D(const String &text, const Point3f &position, float text_scale = 1.f, bool face_camera = true, const Color &color = Color::white());
void setText(const String &text);
String getText() const;
};
class CV_EXPORTS WText : public Widget2D
{
public:
WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
void setText(const String &text);
String getText() const;
};
class CV_EXPORTS WImageOverlay : public Widget2D
{
public:
WImageOverlay(const Mat &image, const Rect &rect);
void setImage(const Mat &image);
};
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);
};
class CV_EXPORTS WCameraPosition : public Widget3D
{
public:
//! Creates camera coordinate frame (axes) at the origin
WCameraPosition(float scale = 1.f);
//! Creates frustum based on the intrinsic marix K at the origin
WCameraPosition(const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
//! Creates frustum based on the field of view at the origin
WCameraPosition(const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.f, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.f, const Color &color = Color::white());
private:
struct ProjectImage;
};
class CV_EXPORTS WTrajectory : public Widget3D
{
public:
enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
//! Displays trajectory of the given path either by coordinate frames or polyline
WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), float scale = 1.f);
//! Displays trajectory of the given path by frustums
WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
//! Displays trajectory of the given path by frustums
WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
private:
struct ApplyPath;
};
class CV_EXPORTS WSpheresTrajectory: public Widget3D
{
public:
WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f, float init_sphere_radius = 0.021f,
float sphere_radius = 0.007f, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
};
class CV_EXPORTS WCloud: public Widget3D
{
public:
//! Each point in cloud is mapped to a color in colors
WCloud(InputArray cloud, InputArray colors);
//! All points in cloud have the same color
WCloud(InputArray cloud, const Color &color = Color::white());
private:
struct CreateCloudWidget;
};
class CV_EXPORTS WCloudCollection : public Widget3D
{
public:
WCloudCollection();
//! Each point in cloud is mapped to a color in colors
void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
//! All points in cloud have the same color
void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity());
private:
struct CreateCloudWidget;
};
class CV_EXPORTS WCloudNormals : public Widget3D
{
public:
WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
private:
struct ApplyCloudNormals;
};
class CV_EXPORTS WMesh : public Widget3D
{
public:
WMesh(const Mesh3d &mesh);
private:
struct CopyImpl;
};
template<> CV_EXPORTS Widget2D Widget::cast<Widget2D>();
template<> CV_EXPORTS Widget3D Widget::cast<Widget3D>();
template<> CV_EXPORTS WLine Widget::cast<WLine>();
template<> CV_EXPORTS WPlane Widget::cast<WPlane>();
template<> CV_EXPORTS WSphere Widget::cast<WSphere>();
template<> CV_EXPORTS WCylinder Widget::cast<WCylinder>();
template<> CV_EXPORTS WArrow Widget::cast<WArrow>();
template<> CV_EXPORTS WCircle Widget::cast<WCircle>();
template<> CV_EXPORTS WCube Widget::cast<WCube>();
template<> CV_EXPORTS WCoordinateSystem Widget::cast<WCoordinateSystem>();
template<> CV_EXPORTS WPolyLine Widget::cast<WPolyLine>();
template<> CV_EXPORTS WGrid Widget::cast<WGrid>();
template<> CV_EXPORTS WText3D Widget::cast<WText3D>();
template<> CV_EXPORTS WText Widget::cast<WText>();
template<> CV_EXPORTS WImageOverlay Widget::cast<WImageOverlay>();
template<> CV_EXPORTS WImage3D Widget::cast<WImage3D>();
template<> CV_EXPORTS WCameraPosition Widget::cast<WCameraPosition>();
template<> CV_EXPORTS WTrajectory Widget::cast<WTrajectory>();
template<> CV_EXPORTS WSpheresTrajectory Widget::cast<WSpheresTrajectory>();
template<> CV_EXPORTS WCloud Widget::cast<WCloud>();
template<> CV_EXPORTS WCloudCollection Widget::cast<WCloudCollection>();
template<> CV_EXPORTS WCloudNormals Widget::cast<WCloudNormals>();
template<> CV_EXPORTS WMesh Widget::cast<WMesh>();
} /* namespace viz */
} /* namespace cv */
#endif
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