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https://github.com/opencv/opencv.git
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switched completer API to doubles, updated docs
This commit is contained in:
Anatoly Baksheev
parent
d264465422
commit
56819eaf19
@ -262,8 +262,8 @@ This 3D Widget defines a finite plane. ::
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class CV_EXPORTS WPlane : public Widget3D
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{
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public:
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WPlane(const Vec4f& coefs, float size = 1.0, const Color &color = Color::white());
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WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.0, const Color &color = Color::white());
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WPlane(const Vec4d& coefs, double size = 1.0, const Color &color = Color::white());
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WPlane(const Vec4d& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
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private:
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/* hidden */
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};
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@ -272,13 +272,13 @@ viz::WPlane::WPlane
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-------------------
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Constructs a WPlane.
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.. ocv:function:: WPlane(const Vec4f& coefs, float size = 1.0, const Color &color = Color::white())
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.. ocv:function:: WPlane(const Vec4d& coefs, double size = 1.0, const Color &color = Color::white())
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:param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
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:param size: Size of the plane.
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:param color: :ocv:class:`Color` of the plane.
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.. ocv:function:: WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.0, const Color &color = Color::white())
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.. ocv:function:: WPlane(const Vec4d& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white())
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:param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
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:param pt: Position of the plane.
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@ -294,14 +294,14 @@ This 3D Widget defines a sphere. ::
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class CV_EXPORTS WSphere : public Widget3D
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{
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public:
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WSphere(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white())
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WSphere(const cv::Point3f ¢er, double radius, int sphere_resolution = 10, const Color &color = Color::white())
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};
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viz::WSphere::WSphere
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---------------------
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Constructs a WSphere.
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.. ocv:function:: WSphere(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white())
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.. ocv:function:: WSphere(const cv::Point3f ¢er, double radius, int sphere_resolution = 10, const Color &color = Color::white())
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:param center: Center of the sphere.
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:param radius: Radius of the sphere.
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@ -317,14 +317,14 @@ This 3D Widget defines an arrow. ::
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class CV_EXPORTS WArrow : public Widget3D
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{
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public:
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WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03, const Color &color = Color::white());
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WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
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};
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viz::WArrow::WArrow
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-----------------------------
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Constructs an WArrow.
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.. ocv:function:: WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03, const Color &color = Color::white())
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.. ocv:function:: WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white())
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:param pt1: Start point of the arrow.
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:param pt2: End point of the arrow.
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@ -342,14 +342,14 @@ This 3D Widget defines a circle. ::
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class CV_EXPORTS WCircle : public Widget3D
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{
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public:
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WCircle(const Point3f& pt, float radius, float thickness = 0.01, const Color &color = Color::white());
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WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
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};
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viz::WCircle::WCircle
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-------------------------------
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Constructs a WCircle.
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.. ocv:function:: WCircle(const Point3f& pt, float radius, float thickness = 0.01, const Color &color = Color::white())
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.. ocv:function:: WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white())
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:param pt: Center of the circle.
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:param radius: Radius of the circle.
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@ -365,14 +365,14 @@ This 3D Widget defines a cylinder. ::
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class CV_EXPORTS WCylinder : public Widget3D
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{
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public:
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WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white());
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WCylinder(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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viz::WCylinder::WCylinder
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-----------------------------------
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Constructs a WCylinder.
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.. ocv:function:: WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white())
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.. ocv:function:: WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white())
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:param pt_on_axis: A point on the axis of the cylinder.
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:param axis_direction: Direction of the axis of the cylinder.
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@ -416,14 +416,14 @@ This 3D Widget represents a coordinate system. ::
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class CV_EXPORTS WCoordinateSystem : public Widget3D
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{
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public:
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WCoordinateSystem(float scale = 1.0);
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WCoordinateSystem(double scale = 1.0);
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};
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viz::WCoordinateSystem::WCoordinateSystem
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---------------------------------------------------
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Constructs a WCoordinateSystem.
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.. ocv:function:: WCoordinateSystem(float scale = 1.0)
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.. ocv:function:: WCoordinateSystem(double scale = 1.0)
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:param scale: Determines the size of the axes.
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@ -463,7 +463,7 @@ This 3D Widget defines a grid. ::
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//! Creates grid at the origin
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WGrid(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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WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
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WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
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private:
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/* hidden */
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};
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@ -478,7 +478,7 @@ Constructs a WGrid.
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:param spacing: Size of each column and row, respectively.
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:param color: :ocv:class:`Color` of the grid.
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.. ocv:function: WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
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.. ocv:function: WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
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:param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
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:param dimensions: Number of columns and rows, respectively.
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@ -494,7 +494,7 @@ This 3D Widget represents 3D text. The text always faces the camera. ::
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class CV_EXPORTS WText3D : public Widget3D
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{
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public:
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WText3D(const String &text, const Point3f &position, float text_scale = 1.0, bool face_camera = true, const Color &color = Color::white());
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WText3D(const String &text, const Point3f &position, double text_scale = 1.0, bool face_camera = true, 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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@ -504,7 +504,7 @@ viz::WText3D::WText3D
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-------------------------------
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Constructs a WText3D.
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.. ocv:function:: WText3D(const String &text, const Point3f &position, float text_scale = 1.0, bool face_camera = true, const Color &color = Color::white())
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.. ocv:function:: WText3D(const String &text, const Point3f &position, double text_scale = 1.0, bool face_camera = true, const Color &color = Color::white())
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:param text: Text content of the widget.
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:param position: Position of the text.
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@ -609,7 +609,7 @@ This 3D Widget represents an image in 3D space. ::
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//! Creates 3D image at the origin
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WImage3D(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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WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
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WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &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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@ -623,7 +623,7 @@ Constructs an WImage3D.
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:param image: BGR or Gray-Scale image.
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:param size: Size of the image.
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.. ocv:function:: WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size)
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.. ocv:function:: WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size)
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:param position: Position of the image.
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:param normal: Normal of the plane that represents the image.
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@ -649,15 +649,15 @@ This 3D Widget represents camera position in a scene by its axes or viewing frus
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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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WCameraPosition(float scale = 1.0);
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WCameraPosition(double scale = 1.0);
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//! Creates frustum based on the intrinsic marix K at the origin
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WCameraPosition(const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
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WCameraPosition(const Matx33d &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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WCameraPosition(const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
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WCameraPosition(const Vec2d &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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WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.0, const Color &color = Color::white());
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WCameraPosition(const Matx33d &K, const Mat &img, 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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WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.0, const Color &color = Color::white());
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WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
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};
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viz::WCameraPosition::WCameraPosition
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@ -666,7 +666,7 @@ Constructs a WCameraPosition.
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- **Display camera coordinate frame.**
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.. ocv:function:: WCameraPosition(float scale = 1.0)
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.. ocv:function:: WCameraPosition(double scale = 1.0)
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Creates camera coordinate frame at the origin.
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@ -676,7 +676,7 @@ Constructs a WCameraPosition.
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- **Display the viewing frustum.**
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.. ocv:function:: WCameraPosition(const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
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.. ocv:function:: WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white())
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:param K: Intrinsic matrix of the camera.
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:param scale: Scale of the frustum.
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@ -684,7 +684,7 @@ Constructs a WCameraPosition.
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Creates viewing frustum of the camera based on its intrinsic matrix K.
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.. ocv:function:: WCameraPosition(const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
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.. ocv:function:: WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white())
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:param fov: Field of view of the camera (horizontal, vertical).
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:param scale: Scale of the frustum.
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@ -698,7 +698,7 @@ Constructs a WCameraPosition.
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- **Display image on the far plane of the viewing frustum.**
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.. ocv:function:: WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.0, const Color &color = Color::white())
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.. ocv:function:: WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white())
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:param K: Intrinsic matrix of the camera.
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:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
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@ -707,7 +707,7 @@ Constructs a WCameraPosition.
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Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
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.. ocv:function:: WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.0, const Color &color = Color::white())
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.. ocv:function:: WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white())
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:param fov: Field of view of the camera (horizontal, vertical).
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:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
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@ -732,14 +732,14 @@ This 3D Widget represents a trajectory. ::
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enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH};
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//! Displays trajectory of the given path either by coordinate frames or polyline
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WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white(),;
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WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, const Color &color = Color::white(),;
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};
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viz::WTrajectory::WTrajectory
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-----------------------------
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Constructs a WTrajectory.
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.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white())
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.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, const Color &color = Color::white())
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:param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
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:param display_mode: Display mode. This can be PATH, FRAMES, and BOTH.
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@ -762,16 +762,16 @@ This 3D Widget represents a trajectory. ::
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{
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public:
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//! Displays trajectory of the given path by frustums
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WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white());
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WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &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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WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white());
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WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
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};
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viz::WTrajectoryFrustums::WTrajectoryFrustums
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-----------------------------
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Constructs a WTrajectoryFrustums.
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.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white())
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.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white())
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:param path: List of poses on a trajectory.
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:param K: Intrinsic matrix of the camera.
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@ -780,7 +780,7 @@ Constructs a WTrajectoryFrustums.
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Displays frustums at each pose of the trajectory.
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.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white())
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.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white())
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:param path: List of poses on a trajectory.
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:param fov: Field of view of the camera (horizontal, vertical).
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@ -799,8 +799,8 @@ represent the direction from previous position to the current. ::
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class CV_EXPORTS WTrajectorySpheres : public Widget3D
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{
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public:
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WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length = 0.05f,
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float init_sphere_radius = 0.021, sphere_radius = 0.007,
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WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05f,
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double init_sphere_radius = 0.021, sphere_radius = 0.007,
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Color &line_color = Color::white(), const Color &sphere_color = Color::white());
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};
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@ -808,7 +808,7 @@ viz::WTrajectorySpheres::WTrajectorySpheres
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-------------------------------------------
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Constructs a WTrajectorySpheres.
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.. ocv:function:: WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length = 0.05f, float init_sphere_radius = 0.021, float sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
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.. ocv:function:: WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05f, double init_sphere_radius = 0.021, double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
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:param path: List of poses on a trajectory.
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:param line_length: Length of the lines.
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@ -912,7 +912,7 @@ This 3D Widget represents normals of a point cloud. ::
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class CV_EXPORTS WCloudNormals : public Widget3D
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{
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public:
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WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
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WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white());
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private:
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/* hidden */
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@ -922,7 +922,7 @@ viz::WCloudNormals::WCloudNormals
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---------------------------------
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Constructs a WCloudNormals.
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.. ocv:function:: WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white())
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.. ocv:function:: WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white())
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:param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
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:param normals: A set of normals that has to be of same type with cloud.
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@ -135,44 +135,44 @@ namespace cv
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class CV_EXPORTS WLine : public Widget3D
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{
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public:
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WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
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WLine(const Point3d &pt1, const Point3d &pt2, const Color &color = Color::white());
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};
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class CV_EXPORTS WPlane : public Widget3D
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{
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public:
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WPlane(const Vec4f& coefs, float size = 1.f, const Color &color = Color::white());
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WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.f, const Color &color = Color::white());
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WPlane(const Vec4d& coefs, double size = 1.f, const Color &color = Color::white());
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WPlane(const Vec4d& coefs, const Point3d& pt, double size = 1.f, const Color &color = Color::white());
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};
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class CV_EXPORTS WSphere : public Widget3D
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{
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public:
|
||||
WSphere(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white());
|
||||
WSphere(const cv::Point3d ¢er, double 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());
|
||||
WArrow(const Point3d& pt1, const Point3d& pt2, double thickness = 0.03, 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());
|
||||
WCircle(const Point3d& pt, double radius, double thickness = 0.01, 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());
|
||||
WCylinder(const Point3d& pt_on_axis, const Point3d& axis_direction, double 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());
|
||||
WCube(const Point3d& pt_min, const Point3d& pt_max, bool wire_frame = true, const Color &color = Color::white());
|
||||
};
|
||||
|
||||
class CV_EXPORTS WPolyLine : public Widget3D
|
||||
@ -196,7 +196,7 @@ namespace cv
|
||||
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());
|
||||
WText3D(const String &text, const Point3d &position, double text_scale = 1., bool face_camera = true, const Color &color = Color::white());
|
||||
|
||||
void setText(const String &text);
|
||||
String getText() const;
|
||||
@ -216,7 +216,7 @@ namespace cv
|
||||
//! 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);
|
||||
WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size);
|
||||
|
||||
void setImage(const Mat &image);
|
||||
};
|
||||
@ -234,24 +234,24 @@ namespace cv
|
||||
{
|
||||
public:
|
||||
//! Creates grid at the origin
|
||||
WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color &color = Color::white());
|
||||
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 Vec2f &spacing, const Color &color = Color::white());
|
||||
WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
|
||||
};
|
||||
|
||||
class CV_EXPORTS WCameraPosition : public Widget3D
|
||||
{
|
||||
public:
|
||||
//! Creates camera coordinate frame (axes) at the origin
|
||||
WCameraPosition(float scale = 1.f);
|
||||
WCameraPosition(double scale = 1.0);
|
||||
//! Creates frustum based on the intrinsic marix K at the origin
|
||||
WCameraPosition(const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
|
||||
WCameraPosition(const Matx33d &K, double scale = 1.0, 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());
|
||||
WCameraPosition(const Vec2d &fov, double scale = 1.0, 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());
|
||||
WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, 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());
|
||||
WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
|
||||
};
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
@ -270,16 +270,16 @@ namespace cv
|
||||
{
|
||||
public:
|
||||
//! Displays trajectory of the given path by frustums
|
||||
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
|
||||
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1., const Color &color = Color::white());
|
||||
//! Displays trajectory of the given path by frustums
|
||||
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
|
||||
WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1., const Color &color = Color::white());
|
||||
};
|
||||
|
||||
class CV_EXPORTS WTrajectorySpheres: public Widget3D
|
||||
{
|
||||
public:
|
||||
WTrajectorySpheres(const std::vector<Affine3d> &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());
|
||||
WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05, double init_sphere_radius = 0.021,
|
||||
double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white());
|
||||
};
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
@ -308,7 +308,7 @@ namespace cv
|
||||
class CV_EXPORTS WCloudNormals : public Widget3D
|
||||
{
|
||||
public:
|
||||
WCloudNormals(InputArray cloud, InputArray normals, int level = 64, float scale = 0.1f, const Color &color = Color::white());
|
||||
WCloudNormals(InputArray cloud, InputArray normals, int level = 64, double scale = 0.1, const Color &color = Color::white());
|
||||
};
|
||||
|
||||
class CV_EXPORTS WMesh : public Widget3D
|
||||
|
||||
@ -175,7 +175,7 @@ template<> cv::viz::WCloudCollection cv::viz::Widget::cast<cv::viz::WCloudCollec
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// Cloud Normals Widget implementation
|
||||
|
||||
cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, float scale, const Color &color)
|
||||
cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, int level, double scale, const Color &color)
|
||||
{
|
||||
Mat cloud = _cloud.getMat();
|
||||
Mat normals = _normals.getMat();
|
||||
@ -207,7 +207,7 @@ cv::viz::WCloudNormals::WCloudNormals(InputArray _cloud, InputArray _normals, in
|
||||
for (; srow < send; srow += xstep * s_chs, nrow += xstep * n_chs)
|
||||
if (!isNan(srow) && !isNan(nrow))
|
||||
{
|
||||
Vec3f endp = Vec3f(srow) + Vec3f(nrow) * scale;
|
||||
Vec3f endp = Vec3f(srow) + Vec3f(nrow) * (float)scale;
|
||||
|
||||
points->InsertNextPoint(srow);
|
||||
points->InsertNextPoint(endp.val);
|
||||
|
||||
@ -55,7 +55,7 @@ namespace cv
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// line widget implementation
|
||||
cv::viz::WLine::WLine(const Point3f &pt1, const Point3f &pt2, const Color &color)
|
||||
cv::viz::WLine::WLine(const Point3d &pt1, const Point3d &pt2, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
|
||||
line->SetPoint1(pt1.x, pt1.y, pt1.z);
|
||||
@ -103,11 +103,11 @@ namespace cv { namespace viz { namespace
|
||||
};
|
||||
}}}
|
||||
|
||||
cv::viz::WPlane::WPlane(const Vec4f& coefs, float size, const Color &color)
|
||||
cv::viz::WPlane::WPlane(const Vec4d& coefs, double size, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
|
||||
plane->SetNormal(coefs[0], coefs[1], coefs[2]);
|
||||
double norm = cv::norm(Vec3f(coefs.val));
|
||||
double norm = cv::norm(Vec3d(coefs.val));
|
||||
plane->Push(-coefs[3] / norm);
|
||||
|
||||
Vec3d p_center;
|
||||
@ -123,15 +123,15 @@ cv::viz::WPlane::WPlane(const Vec4f& coefs, float size, const Color &color)
|
||||
setColor(color);
|
||||
}
|
||||
|
||||
cv::viz::WPlane::WPlane(const Vec4f& coefs, const Point3f& pt, float size, const Color &color)
|
||||
cv::viz::WPlane::WPlane(const Vec4d& coefs, const Point3d& pt, double size, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
|
||||
Point3f coefs3(coefs[0], coefs[1], coefs[2]);
|
||||
Point3d coefs3(coefs[0], coefs[1], coefs[2]);
|
||||
double norm_sqr = 1.0 / coefs3.dot(coefs3);
|
||||
plane->SetNormal(coefs[0], coefs[1], coefs[2]);
|
||||
|
||||
double t = coefs3.dot(pt) + coefs[3];
|
||||
Vec3f p_center = pt - coefs3 * t * norm_sqr;
|
||||
Vec3d p_center = pt - coefs3 * t * norm_sqr;
|
||||
plane->SetCenter(p_center[0], p_center[1], p_center[2]);
|
||||
|
||||
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
|
||||
@ -153,7 +153,7 @@ template<> cv::viz::WPlane cv::viz::Widget::cast<cv::viz::WPlane>()
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// sphere widget implementation
|
||||
|
||||
cv::viz::WSphere::WSphere(const Point3f ¢er, float radius, int sphere_resolution, const Color &color)
|
||||
cv::viz::WSphere::WSphere(const Point3d ¢er, double radius, int sphere_resolution, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New();
|
||||
sphere->SetRadius(radius);
|
||||
@ -181,7 +181,7 @@ template<> cv::viz::WSphere cv::viz::Widget::cast<cv::viz::WSphere>()
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// arrow widget implementation
|
||||
|
||||
cv::viz::WArrow::WArrow(const Point3f& pt1, const Point3f& pt2, float thickness, const Color &color)
|
||||
cv::viz::WArrow::WArrow(const Point3d& pt1, const Point3d& pt2, double thickness, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New();
|
||||
arrowSource->SetShaftRadius(thickness);
|
||||
@ -231,7 +231,7 @@ template<> cv::viz::WArrow cv::viz::Widget::cast<cv::viz::WArrow>()
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// circle widget implementation
|
||||
|
||||
cv::viz::WCircle::WCircle(const Point3f& pt, float radius, float thickness, const Color& color)
|
||||
cv::viz::WCircle::WCircle(const Point3d& pt, double radius, double thickness, const Color& color)
|
||||
{
|
||||
vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New();
|
||||
// Maybe the resolution should be lower e.g. 50 or 25
|
||||
@ -267,9 +267,9 @@ template<> cv::viz::WCircle cv::viz::Widget::cast<cv::viz::WCircle>()
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// cylinder widget implementation
|
||||
|
||||
cv::viz::WCylinder::WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides, const Color &color)
|
||||
cv::viz::WCylinder::WCylinder(const Point3d& pt_on_axis, const Point3d& axis_direction, double radius, int numsides, const Color &color)
|
||||
{
|
||||
const Point3f pt2 = pt_on_axis + axis_direction;
|
||||
const Point3d pt2 = pt_on_axis + axis_direction;
|
||||
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
|
||||
line->SetPoint1(pt_on_axis.x, pt_on_axis.y, pt_on_axis.z);
|
||||
line->SetPoint2(pt2.x, pt2.y, pt2.z);
|
||||
@ -298,7 +298,7 @@ template<> cv::viz::WCylinder cv::viz::Widget::cast<cv::viz::WCylinder>()
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// cylinder widget implementation
|
||||
|
||||
cv::viz::WCube::WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color)
|
||||
cv::viz::WCube::WCube(const Point3d& pt_min, const Point3d& pt_max, bool wire_frame, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
|
||||
if (wire_frame)
|
||||
@ -330,7 +330,7 @@ template<> cv::viz::WCube cv::viz::Widget::cast<cv::viz::WCube>()
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// coordinate system widget implementation
|
||||
|
||||
cv::viz::WCoordinateSystem::WCoordinateSystem(float scale)
|
||||
cv::viz::WCoordinateSystem::WCoordinateSystem(double scale)
|
||||
{
|
||||
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
|
||||
axes->SetOrigin(0, 0, 0);
|
||||
@ -461,7 +461,7 @@ namespace cv { namespace viz { namespace
|
||||
};
|
||||
}}}
|
||||
|
||||
cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color &color)
|
||||
cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
|
||||
|
||||
@ -479,14 +479,14 @@ cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color
|
||||
setColor(color);
|
||||
}
|
||||
|
||||
cv::viz::WGrid::WGrid(const Vec4f &coefs, const Vec2i &dimensions, const Vec2f &spacing, const Color &color)
|
||||
cv::viz::WGrid::WGrid(const Vec4d &coefs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
|
||||
|
||||
// Estimate the transform to set the normal based on the coefficients
|
||||
Vec3d normal(coefs[0], coefs[1], coefs[2]);
|
||||
Vec3d up_vector(0.0, 1.0, 0.0); // Just set as default
|
||||
double push_distance = -coefs[3]/cv::norm(Vec3f(coefs.val));
|
||||
double push_distance = -coefs[3]/cv::norm(Vec3d(coefs.val));
|
||||
Vec3d n = normalize(normal);
|
||||
Vec3d u = normalize(up_vector.cross(n));
|
||||
Vec3d v = n.cross(u);
|
||||
@ -525,7 +525,7 @@ template<> cv::viz::WGrid cv::viz::Widget::cast<cv::viz::WGrid>()
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// text3D widget implementation
|
||||
|
||||
cv::viz::WText3D::WText3D(const String &text, const Point3f &position, float text_scale, bool face_camera, const Color &color)
|
||||
cv::viz::WText3D::WText3D(const String &text, const Point3d &position, double text_scale, bool face_camera, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkVectorText> textSource = vtkSmartPointer<vtkVectorText>::New();
|
||||
textSource->SetText(text.c_str());
|
||||
@ -759,7 +759,7 @@ cv::viz::WImage3D::WImage3D(const Mat &image, const Size &size)
|
||||
WidgetAccessor::setProp(*this, actor);
|
||||
}
|
||||
|
||||
cv::viz::WImage3D::WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size)
|
||||
cv::viz::WImage3D::WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size)
|
||||
{
|
||||
CV_Assert(!image.empty() && image.depth() == CV_8U);
|
||||
|
||||
@ -857,7 +857,7 @@ namespace cv { namespace viz { namespace
|
||||
{
|
||||
struct CameraPositionUtils
|
||||
{
|
||||
static void projectImage(float fovy, float far_end_height, const Mat &image,
|
||||
static void projectImage(double fovy, double far_end_height, const Mat &image,
|
||||
double scale, const Color &color, vtkSmartPointer<vtkActor> actor)
|
||||
{
|
||||
// Create a camera
|
||||
@ -950,7 +950,7 @@ namespace cv { namespace viz { namespace
|
||||
};
|
||||
}}}
|
||||
|
||||
cv::viz::WCameraPosition::WCameraPosition(float scale)
|
||||
cv::viz::WCameraPosition::WCameraPosition(double scale)
|
||||
{
|
||||
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New();
|
||||
axes->SetOrigin(0, 0, 0);
|
||||
@ -992,20 +992,20 @@ cv::viz::WCameraPosition::WCameraPosition(float scale)
|
||||
WidgetAccessor::setProp(*this, actor);
|
||||
}
|
||||
|
||||
cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, float scale, const Color &color)
|
||||
cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, double scale, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
|
||||
float f_x = K(0,0);
|
||||
float f_y = K(1,1);
|
||||
float c_y = K(1,2);
|
||||
float aspect_ratio = f_y / f_x;
|
||||
double f_x = K(0,0);
|
||||
double f_y = K(1,1);
|
||||
double c_y = K(1,2);
|
||||
double aspect_ratio = f_y / f_x;
|
||||
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
|
||||
float fovy = 2.0f * atan2(c_y,f_y) * 180 / CV_PI;
|
||||
double fovy = 2.0 * atan2(c_y,f_y) * 180 / CV_PI;
|
||||
|
||||
camera->SetViewAngle(fovy);
|
||||
camera->SetPosition(0.0,0.0,0.0);
|
||||
camera->SetViewUp(0.0,1.0,0.0);
|
||||
camera->SetFocalPoint(0.0,0.0,1.0);
|
||||
camera->SetPosition(0.0, 0.0, 0.0);
|
||||
camera->SetViewUp(0.0, 1.0, 0.0);
|
||||
camera->SetFocalPoint(0.0, 0.0, 1.0);
|
||||
camera->SetClippingRange(0.01, scale);
|
||||
|
||||
double planesArray[24];
|
||||
@ -1014,8 +1014,7 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, float scale, const C
|
||||
vtkSmartPointer<vtkPlanes> planes = vtkSmartPointer<vtkPlanes>::New();
|
||||
planes->SetFrustumPlanes(planesArray);
|
||||
|
||||
vtkSmartPointer<vtkFrustumSource> frustumSource =
|
||||
vtkSmartPointer<vtkFrustumSource>::New();
|
||||
vtkSmartPointer<vtkFrustumSource> frustumSource = vtkSmartPointer<vtkFrustumSource>::New();
|
||||
frustumSource->SetPlanes(planes);
|
||||
frustumSource->Update();
|
||||
|
||||
@ -1034,14 +1033,14 @@ cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, float scale, const C
|
||||
}
|
||||
|
||||
|
||||
cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, float scale, const Color &color)
|
||||
cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, double scale, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
|
||||
|
||||
camera->SetViewAngle(fov[1] * 180 / CV_PI); // Vertical field of view
|
||||
camera->SetPosition(0.0,0.0,0.0);
|
||||
camera->SetViewUp(0.0,1.0,0.0);
|
||||
camera->SetFocalPoint(0.0,0.0,1.0);
|
||||
camera->SetPosition(0.0, 0.0, 0.0);
|
||||
camera->SetViewUp(0.0, 1.0, 0.0);
|
||||
camera->SetFocalPoint(0.0, 0.0, 1.0);
|
||||
camera->SetClippingRange(0.01, scale);
|
||||
|
||||
double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
|
||||
@ -1072,25 +1071,25 @@ cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, float scale, const C
|
||||
setColor(color);
|
||||
}
|
||||
|
||||
cv::viz::WCameraPosition::WCameraPosition(const Matx33f &K, const Mat &image, float scale, const Color &color)
|
||||
cv::viz::WCameraPosition::WCameraPosition(const Matx33d &K, const Mat &image, double scale, const Color &color)
|
||||
{
|
||||
CV_Assert(!image.empty() && image.depth() == CV_8U);
|
||||
float f_y = K(1,1);
|
||||
float c_y = K(1,2);
|
||||
double f_y = K(1,1);
|
||||
double c_y = K(1,2);
|
||||
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
|
||||
float fovy = 2.0f * atan2(c_y,f_y) * 180.0f / CV_PI;
|
||||
float far_end_height = 2.0f * c_y * scale / f_y;
|
||||
double fovy = 2.0 * atan2(c_y,f_y) * 180.0 / CV_PI;
|
||||
double far_end_height = 2.0f * c_y * scale / f_y;
|
||||
|
||||
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
|
||||
CameraPositionUtils::projectImage(fovy, far_end_height, image, scale, color, actor);
|
||||
WidgetAccessor::setProp(*this, actor);
|
||||
}
|
||||
|
||||
cv::viz::WCameraPosition::WCameraPosition(const Vec2f &fov, const Mat &image, float scale, const Color &color)
|
||||
cv::viz::WCameraPosition::WCameraPosition(const Vec2d &fov, const Mat &image, double scale, const Color &color)
|
||||
{
|
||||
CV_Assert(!image.empty() && image.depth() == CV_8U);
|
||||
float fovy = fov[1] * 180.0f / CV_PI;
|
||||
float far_end_height = 2.0 * scale * tan(fov[1] * 0.5);
|
||||
double fovy = fov[1] * 180.0 / CV_PI;
|
||||
double far_end_height = 2.0 * scale * tan(fov[1] * 0.5);
|
||||
|
||||
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
|
||||
CameraPositionUtils::projectImage(fovy, far_end_height, image, scale, color, actor);
|
||||
@ -1141,7 +1140,7 @@ namespace cv { namespace viz { namespace
|
||||
};
|
||||
}}}
|
||||
|
||||
cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, float scale, const Color &color)
|
||||
cv::viz::WTrajectory::WTrajectory(InputArray _path, int display_mode, double scale, const Color &color)
|
||||
{
|
||||
CV_Assert(_path.kind() == _InputArray::STD_VECTOR || _path.kind() == _InputArray::MAT);
|
||||
CV_Assert(_path.type() == CV_32FC(16) || _path.type() == CV_64FC(16));
|
||||
@ -1259,15 +1258,15 @@ template<> cv::viz::WTrajectory cv::viz::Widget::cast<cv::viz::WTrajectory>()
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// WTrajectoryFrustums widget implementation
|
||||
|
||||
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33f &K, float scale, const Color &color)
|
||||
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
|
||||
float f_x = K(0,0);
|
||||
float f_y = K(1,1);
|
||||
float c_y = K(1,2);
|
||||
float aspect_ratio = f_y / f_x;
|
||||
double f_x = K(0,0);
|
||||
double f_y = K(1,1);
|
||||
double c_y = K(1,2);
|
||||
double aspect_ratio = f_y / f_x;
|
||||
// Assuming that this is an ideal camera (c_y and c_x are at the center of the image)
|
||||
float fovy = 2.0f * atan2(c_y,f_y) * 180 / CV_PI;
|
||||
double fovy = 2.0 * atan2(c_y,f_y) * 180 / CV_PI;
|
||||
|
||||
camera->SetViewAngle(fovy);
|
||||
camera->SetPosition(0.0,0.0,0.0);
|
||||
@ -1303,14 +1302,14 @@ cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &p
|
||||
setColor(color);
|
||||
}
|
||||
|
||||
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2f &fov, float scale, const Color &color)
|
||||
cv::viz::WTrajectoryFrustums::WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale, const Color &color)
|
||||
{
|
||||
vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
|
||||
|
||||
camera->SetViewAngle(fov[1] * 180 / CV_PI); // Vertical field of view
|
||||
camera->SetPosition(0.0,0.0,0.0);
|
||||
camera->SetViewUp(0.0,1.0,0.0);
|
||||
camera->SetFocalPoint(0.0,0.0,1.0);
|
||||
camera->SetPosition(0.0, 0.0, 0.0);
|
||||
camera->SetViewUp(0.0, 1.0, 0.0);
|
||||
camera->SetFocalPoint(0.0, 0.0, 1.0);
|
||||
camera->SetClippingRange(0.01, scale);
|
||||
|
||||
double aspect_ratio = tan(fov[0] * 0.5) / tan(fov[1] * 0.5);
|
||||
@ -1352,7 +1351,7 @@ template<> cv::viz::WTrajectoryFrustums cv::viz::Widget::cast<cv::viz::WTrajecto
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/// WTrajectorySpheres widget implementation
|
||||
|
||||
cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3d> &path, float line_length, float init_sphere_radius, float sphere_radius,
|
||||
cv::viz::WTrajectorySpheres::WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length, double init_sphere_radius, double sphere_radius,
|
||||
const Color &line_color, const Color &sphere_color)
|
||||
{
|
||||
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
|
||||
|
||||
Loading…
Reference in New Issue
Block a user