304 lines
12 KiB
C++
304 lines
12 KiB
C++
#pragma once
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#include <opencv2/viz/types.hpp>
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namespace cv
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{
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namespace viz
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{
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/////////////////////////////////////////////////////////////////////////////
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/// Widget rendering properties
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enum RenderingProperties
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{
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POINT_SIZE,
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OPACITY,
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LINE_WIDTH,
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FONT_SIZE,
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COLOR,
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REPRESENTATION,
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IMMEDIATE_RENDERING,
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SHADING
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};
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enum RenderingRepresentationProperties
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{
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REPRESENTATION_POINTS,
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REPRESENTATION_WIREFRAME,
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REPRESENTATION_SURFACE
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};
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enum ShadingRepresentationProperties
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{
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SHADING_FLAT,
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SHADING_GOURAUD,
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SHADING_PHONG
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};
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/////////////////////////////////////////////////////////////////////////////
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/// The base class for all widgets
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class CV_EXPORTS Widget
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{
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public:
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Widget();
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Widget(const Widget& other);
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Widget& operator=(const Widget& other);
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~Widget();
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//! Create a widget directly from ply file
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static Widget fromPlyFile(const String &file_name);
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//! Rendering properties of this particular widget
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void setRenderingProperty(int property, double value);
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double getRenderingProperty(int property) const;
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//! Casting between widgets
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template<typename _W> _W cast();
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private:
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class Impl;
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Impl *impl_;
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friend struct WidgetAccessor;
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};
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/////////////////////////////////////////////////////////////////////////////
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/// The base class for all 3D widgets
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class CV_EXPORTS Widget3D : public Widget
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{
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public:
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Widget3D() {}
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void setPose(const Affine3f &pose);
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void updatePose(const Affine3f &pose);
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Affine3f getPose() const;
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void setColor(const Color &color);
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private:
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struct MatrixConverter;
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};
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/////////////////////////////////////////////////////////////////////////////
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/// The base class for all 2D widgets
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class CV_EXPORTS Widget2D : public Widget
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{
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public:
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Widget2D() {}
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void setColor(const Color &color);
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};
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class CV_EXPORTS LineWidget : public Widget3D
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{
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public:
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LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
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};
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class CV_EXPORTS PlaneWidget : public Widget3D
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{
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public:
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PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
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PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
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private:
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struct SetSizeImpl;
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};
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class CV_EXPORTS SphereWidget : public Widget3D
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{
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public:
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SphereWidget(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white());
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};
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class CV_EXPORTS ArrowWidget : public Widget3D
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{
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public:
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ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
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};
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class CV_EXPORTS CircleWidget : public Widget3D
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{
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public:
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CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
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};
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class CV_EXPORTS CylinderWidget : public Widget3D
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{
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public:
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CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
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};
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class CV_EXPORTS CubeWidget : public Widget3D
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{
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public:
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CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
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};
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class CV_EXPORTS CoordinateSystemWidget : public Widget3D
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{
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public:
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CoordinateSystemWidget(double scale = 1.0);
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};
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class CV_EXPORTS PolyLineWidget : public Widget3D
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{
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public:
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PolyLineWidget(InputArray points, const Color &color = Color::white());
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private:
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struct CopyImpl;
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};
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class CV_EXPORTS GridWidget : public Widget3D
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{
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public:
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//! Creates grid at the origin
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GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
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//! Creates grid based on the plane equation
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GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
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private:
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struct GridImpl;
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};
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class CV_EXPORTS Text3DWidget : public Widget3D
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{
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public:
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Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white());
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void setText(const String &text);
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String getText() const;
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};
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class CV_EXPORTS TextWidget : public Widget2D
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{
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public:
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TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
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void setText(const String &text);
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String getText() const;
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};
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class CV_EXPORTS ImageOverlayWidget : public Widget2D
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{
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public:
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ImageOverlayWidget(const Mat &image, const Rect &rect);
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void setImage(const Mat &image);
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};
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class CV_EXPORTS Image3DWidget : public Widget3D
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{
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public:
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//! Creates 3D image at the origin
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Image3DWidget(const Mat &image, const Size &size);
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//! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
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Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
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void setImage(const Mat &image);
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};
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class CV_EXPORTS CameraPositionWidget : public Widget3D
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{
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public:
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//! Creates camera coordinate frame (axes) at the origin
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CameraPositionWidget(double scale = 1.0);
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//! Creates frustum based on the intrinsic marix K at the origin
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CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
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//! Creates frustum based on the field of view at the origin
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CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
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//! Creates frustum and display given image at the far plane
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CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
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};
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class CV_EXPORTS TrajectoryWidget : public Widget3D
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{
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public:
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enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
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//! Displays trajectory of the given path either by coordinate frames or polyline
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TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
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//! Displays trajectory of the given path by frustums
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TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
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//! Displays trajectory of the given path by frustums
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TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
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private:
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struct ApplyPath;
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};
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class CV_EXPORTS SpheresTrajectoryWidget : public Widget3D
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{
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public:
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SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float line_length = 0.05f, double init_sphere_radius = 0.021,
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double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
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};
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class CV_EXPORTS CloudWidget : public Widget3D
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{
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public:
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//! Each point in cloud is mapped to a color in colors
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CloudWidget(InputArray cloud, InputArray colors);
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//! All points in cloud have the same color
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CloudWidget(InputArray cloud, const Color &color = Color::white());
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private:
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struct CreateCloudWidget;
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};
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class CV_EXPORTS CloudCollectionWidget : public Widget3D
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{
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public:
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CloudCollectionWidget();
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//! Each point in cloud is mapped to a color in colors
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void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
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//! All points in cloud have the same color
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void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity());
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private:
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struct CreateCloudWidget;
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};
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class CV_EXPORTS CloudNormalsWidget : public Widget3D
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{
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public:
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CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
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private:
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struct ApplyCloudNormals;
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};
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class CV_EXPORTS MeshWidget : public Widget3D
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{
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public:
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MeshWidget(const Mesh3d &mesh);
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private:
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struct CopyImpl;
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};
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template<> CV_EXPORTS Widget2D Widget::cast<Widget2D>();
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template<> CV_EXPORTS Widget3D Widget::cast<Widget3D>();
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template<> CV_EXPORTS LineWidget Widget::cast<LineWidget>();
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template<> CV_EXPORTS PlaneWidget Widget::cast<PlaneWidget>();
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template<> CV_EXPORTS SphereWidget Widget::cast<SphereWidget>();
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template<> CV_EXPORTS CylinderWidget Widget::cast<CylinderWidget>();
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template<> CV_EXPORTS ArrowWidget Widget::cast<ArrowWidget>();
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template<> CV_EXPORTS CircleWidget Widget::cast<CircleWidget>();
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template<> CV_EXPORTS CubeWidget Widget::cast<CubeWidget>();
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template<> CV_EXPORTS CoordinateSystemWidget Widget::cast<CoordinateSystemWidget>();
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template<> CV_EXPORTS PolyLineWidget Widget::cast<PolyLineWidget>();
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template<> CV_EXPORTS GridWidget Widget::cast<GridWidget>();
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template<> CV_EXPORTS Text3DWidget Widget::cast<Text3DWidget>();
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template<> CV_EXPORTS TextWidget Widget::cast<TextWidget>();
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template<> CV_EXPORTS ImageOverlayWidget Widget::cast<ImageOverlayWidget>();
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template<> CV_EXPORTS Image3DWidget Widget::cast<Image3DWidget>();
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template<> CV_EXPORTS CameraPositionWidget Widget::cast<CameraPositionWidget>();
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template<> CV_EXPORTS TrajectoryWidget Widget::cast<TrajectoryWidget>();
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template<> CV_EXPORTS SpheresTrajectoryWidget Widget::cast<SpheresTrajectoryWidget>();
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template<> CV_EXPORTS CloudWidget Widget::cast<CloudWidget>();
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template<> CV_EXPORTS CloudCollectionWidget Widget::cast<CloudCollectionWidget>();
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template<> CV_EXPORTS CloudNormalsWidget Widget::cast<CloudNormalsWidget>();
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template<> CV_EXPORTS MeshWidget Widget::cast<MeshWidget>();
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} /* namespace viz */
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} /* namespace cv */ |