80 lines
2.2 KiB
C++
80 lines
2.2 KiB
C++
/**
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* @file widget_pose.cpp
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* @brief Setting pose of a widget
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* @author Ozan Cagri Tonkal
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*/
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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 help
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* @brief Display instructions to use this tutorial program
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*/
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void help()
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{
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cout
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<< "--------------------------------------------------------------------------" << endl
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<< "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
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<< "using Rodrigues vector." << endl
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<< "Usage:" << endl
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<< "./widget_pose" << endl
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<< endl;
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}
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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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help();
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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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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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