163 lines
4.0 KiB
ReStructuredText
163 lines
4.0 KiB
ReStructuredText
.. _widget_pose:
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Pose of a widget
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****************
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Goal
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====
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In this tutorial you will learn how to
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.. container:: enumeratevisibleitemswithsquare
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* Add widgets to the visualization window
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* Use Affine3 to set pose of a widget
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* Rotating and translating a widget along an axis
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Code
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====
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You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/widget_pose.cpp>`.
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.. code-block:: cpp
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#include <opencv2/viz/vizcore.hpp>
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#include <opencv2/calib3d/calib3d.hpp>
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#include <iostream>
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using namespace cv;
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using namespace std;
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/**
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* @function main
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*/
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int main()
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{
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/// Create a window
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viz::Viz3d myWindow("Coordinate Frame");
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/// Add coordinate axes
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myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
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/// Add line to represent (1,1,1) axis
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viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
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axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
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myWindow.showWidget("Line Widget", axis);
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/// Construct a cube widget
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viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
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cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
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/// Display widget (update if already displayed)
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myWindow.showWidget("Cube Widget", cube_widget);
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/// Rodrigues vector
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Mat rot_vec = Mat::zeros(1,3,CV_32F);
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float translation_phase = 0.0, translation = 0.0;
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while(!myWindow.wasStopped())
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{
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/* Rotation using rodrigues */
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/// Rotate around (1,1,1)
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rot_vec.at<float>(0,0) += CV_PI * 0.01f;
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rot_vec.at<float>(0,1) += CV_PI * 0.01f;
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rot_vec.at<float>(0,2) += CV_PI * 0.01f;
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/// Shift on (1,1,1)
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translation_phase += CV_PI * 0.01f;
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translation = sin(translation_phase);
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Mat rot_mat;
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Rodrigues(rot_vec, rot_mat);
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/// Construct pose
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Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
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myWindow.setWidgetPose("Cube Widget", pose);
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myWindow.spinOnce(1, true);
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}
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return 0;
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}
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Explanation
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===========
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Here is the general structure of the program:
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* Create a visualization window.
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.. code-block:: cpp
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/// Create a window
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viz::Viz3d myWindow("Coordinate Frame");
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* Show coordinate axes in the window using CoordinateSystemWidget.
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.. code-block:: cpp
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/// Add coordinate axes
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myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
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* Display a line representing the axis (1,1,1).
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.. code-block:: cpp
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/// Add line to represent (1,1,1) axis
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viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
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axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
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myWindow.showWidget("Line Widget", axis);
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* Construct a cube.
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.. code-block:: cpp
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/// Construct a cube widget
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viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
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cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
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myWindow.showWidget("Cube Widget", cube_widget);
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* Create rotation matrix from rodrigues vector
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.. code-block:: cpp
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/// Rotate around (1,1,1)
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rot_vec.at<float>(0,0) += CV_PI * 0.01f;
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rot_vec.at<float>(0,1) += CV_PI * 0.01f;
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rot_vec.at<float>(0,2) += CV_PI * 0.01f;
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...
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Mat rot_mat;
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Rodrigues(rot_vec, rot_mat);
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* Use Affine3f to set pose of the cube.
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.. code-block:: cpp
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/// Construct pose
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Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
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myWindow.setWidgetPose("Cube Widget", pose);
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* Animate the rotation using wasStopped and spinOnce
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.. code-block:: cpp
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while(!myWindow.wasStopped())
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{
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...
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myWindow.spinOnce(1, true);
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}
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Results
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=======
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Here is the result of the program.
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.. raw:: html
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<div align="center">
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<iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
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</div>
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