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viz: move samples/tutorials to opencv_contrib
This commit is contained in:
Alexander Alekhin
parent
787f5236a9
commit
dadba232de
@ -87,7 +87,3 @@ As always, we would be happy to hear your comments and receive your contribution
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- @subpage tutorial_table_of_content_ios
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- @subpage tutorial_table_of_content_ios
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Run OpenCV and your vision apps on an iDevice
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Run OpenCV and your vision apps on an iDevice
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- @subpage tutorial_table_of_content_viz
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These tutorials show how to use Viz module effectively.
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@ -1,55 +0,0 @@
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Creating Widgets {#tutorial_creating_widgets}
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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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- Create your own widgets using WidgetAccessor and VTK.
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- Show your widget in the visualization window.
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Code
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----
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You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/creating_widgets.cpp).
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@include samples/cpp/tutorial_code/viz/creating_widgets.cpp
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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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- Extend Widget3D class to create a new 3D widget.
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@code{.cpp}
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class WTriangle : public viz::Widget3D
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{
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public:
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WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
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};
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@endcode
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- Assign a VTK actor to the widget.
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@code{.cpp}
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// Store this actor in the widget in order that visualizer can access it
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viz::WidgetAccessor::setProp(*this, actor);
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@endcode
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- Set color of the widget.
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@code{.cpp}
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// Set the color of the widget. This has to be called after WidgetAccessor.
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setColor(color);
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@endcode
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- Construct a triangle widget and display it in the window.
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@code{.cpp}
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/// Create a triangle widget
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WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
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/// Show widget in the visualizer window
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myWindow.showWidget("TRIANGLE", tw);
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@endcode
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Results
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-------
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Here is the result of the program.
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Binary file not shown.
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@ -1,51 +0,0 @@
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Creating a 3D histogram {#tutorial_histo3D}
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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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- Create your own callback keyboard function for viz window.
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- Show your 3D histogram in a viz window.
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Code
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----
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You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/histo3D.cpp).
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@include samples/cpp/tutorial_code/viz/histo3D.cpp
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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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- You can give full path to an image in command line
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@snippet histo3D.cpp command_line_parser
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or without path, a synthetic image is generated with pixel values are a gaussian distribution @ref cv::RNG::fill center(60+/-10,40+/-5,50+/-20) in first quadrant,
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(160+/-20,10+/-5,50+/-10) in second quadrant, (90+/-10,100+/-20,50+/-20) in third quadrant, (100+/-10,10+/-5,150+/-40) in last quadrant.
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@snippet histo3D.cpp synthetic_image
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Image tridimensional histogram is calculated using opencv @ref cv::calcHist and @ref cv::normalize between 0 and 100.
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@snippet histo3D.cpp calchist_for_histo3d
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channel are 2, 1 and 0 to synchronise color with Viz axis color in objetc cv::viz::WCoordinateSystem.
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A slidebar is inserted in image window. Init slidebar value is 90, it means that only histogram cell greater than 9/100000.0 (23 pixels for an 512X512 pixels) will be display.
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@snippet histo3D.cpp slide_bar_for_thresh
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We are ready to open a viz window with a callback function to capture keyboard event in viz window. Using @ref cv::viz::Viz3d::spinOnce enable keyboard event to be capture in @ref cv::imshow window too.
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@snippet histo3D.cpp manage_viz_imshow_window
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The function DrawHistogram3D processes histogram Mat to display it in a Viz window. Number of plan, row and column in [three dimensional Mat](@ref CVMat_Details ) can be found using this code :
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@snippet histo3D.cpp get_cube_size
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To get histogram value at a specific location we use @ref cv::Mat::at(int i0,int i1, int i2) method with three arguments k, i and j where k is plane number, i row number and j column number.
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@snippet histo3D.cpp get_cube_values
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- Callback function
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Principle are as mouse callback function. Key code pressed is in field code of class @ref cv::viz::KeyboardEvent.
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@snippet histo3D.cpp viz_keyboard_callback
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Results
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-------
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Here is the result of the program with no argument and threshold equal to 50.
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@ -1,64 +0,0 @@
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Launching Viz {#tutorial_launching_viz}
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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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- Open a visualization window.
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- Access a window by its name.
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- Start event loop.
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- Start event loop for a given amount of time.
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Code
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----
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You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/launching_viz.cpp).
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@include samples/cpp/tutorial_code/viz/launching_viz.cpp
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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 window.
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@code{.cpp}
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/// Create a window
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viz::Viz3d myWindow("Viz Demo");
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@endcode
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- Start event loop. This event loop will run until user terminates it by pressing **e**, **E**,
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**q**, **Q**.
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@code{.cpp}
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/// Start event loop
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myWindow.spin();
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@endcode
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- Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly
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the same with **myWindow**. If the name does not exist, a new window is created.
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@code{.cpp}
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/// Access window via its name
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viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
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@endcode
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- Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while
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loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping.
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Inside the while loop, user can execute other statements including those which interact with the
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window.
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@code{.cpp}
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/// Event loop is over when pressed q, Q, e, E
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/// Start event loop once for 1 millisecond
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sameWindow.spinOnce(1, true);
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while(!sameWindow.wasStopped())
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{
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/// Interact with window
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/// Event loop for 1 millisecond
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sameWindow.spinOnce(1, true);
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}
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@endcode
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Results
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-------
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Here is the result of the program.
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@ -1,42 +0,0 @@
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OpenCV Viz {#tutorial_table_of_content_viz}
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==========
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- @subpage tutorial_launching_viz
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*Compatibility:* \> OpenCV 3.0.0
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*Author:* Ozan Tonkal
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You will learn how to launch a viz window.
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- @subpage tutorial_widget_pose
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*Compatibility:* \> OpenCV 3.0.0
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*Author:* Ozan Tonkal
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You will learn how to change pose of a widget.
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- @subpage tutorial_transformations
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*Compatibility:* \> OpenCV 3.0.0
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*Author:* Ozan Tonkal
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You will learn how to transform between global and camera frames.
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- @subpage tutorial_creating_widgets
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*Compatibility:* \> OpenCV 3.0.0
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*Author:* Ozan Tonkal
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You will learn how to create your own widgets.
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- @subpage tutorial_histo3D
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*Compatibility:* \> OpenCV 3.0.0
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*Author:* Laurent Berger
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You will learn how to plot a 3D histogram.
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Transformations {#tutorial_transformations}
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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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- How to use makeTransformToGlobal to compute pose
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- How to use makeCameraPose and Viz3d::setViewerPose
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- How to visualize camera position by axes and by viewing frustum
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Code
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----
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You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/transformations.cpp).
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@include samples/cpp/tutorial_code/viz/transformations.cpp
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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{.cpp}
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/// Create a window
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viz::Viz3d myWindow("Transformations");
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@endcode
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- Get camera pose from camera position, camera focal point and y direction.
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@code{.cpp}
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/// Let's assume camera has the following properties
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Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
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/// We can get the pose of the cam using makeCameraPose
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Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
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@endcode
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- Obtain transform matrix knowing the axes of camera coordinate system.
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@code{.cpp}
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/// We can get the transformation matrix from camera coordinate system to global using
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/// - makeTransformToGlobal. We need the axes of the camera
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Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
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@endcode
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- Create a cloud widget from bunny.ply file
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@code{.cpp}
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/// Create a cloud widget.
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Mat bunny_cloud = cvcloud_load();
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viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
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@endcode
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- Given the pose in camera coordinate system, estimate the global pose.
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@code{.cpp}
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/// Pose of the widget in camera frame
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Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
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/// Pose of the widget in global frame
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Affine3f cloud_pose_global = transform * cloud_pose;
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@endcode
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- If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
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@code{.cpp}
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/// Visualize camera frame
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if (!camera_pov)
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{
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viz::WCameraPosition cpw(0.5); // Coordinate axes
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viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
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myWindow.showWidget("CPW", cpw, cam_pose);
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myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
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}
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@endcode
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- Visualize the cloud widget with the estimated global pose
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@code{.cpp}
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/// Visualize widget
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myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
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@endcode
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- If the view point is set to be camera's, set viewer pose to **cam_pose**.
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@code{.cpp}
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/// Set the viewer pose to that of camera
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if (camera_pov)
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myWindow.setViewerPose(cam_pose);
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@endcode
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Results
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-------
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-# Here is the result from the camera point of view.
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-# Here is the result from global point of view.
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Binary file not shown.
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Pose of a widget {#tutorial_widget_pose}
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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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- 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 [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/widget_pose.cpp).
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@include samples/cpp/tutorial_code/viz/widget_pose.cpp
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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{.cpp}
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/// Create a window
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viz::Viz3d myWindow("Coordinate Frame");
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@endcode
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- Show coordinate axes in the window using CoordinateSystemWidget.
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@code{.cpp}
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/// Add coordinate axes
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myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
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@endcode
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- Display a line representing the axis (1,1,1).
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@code{.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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@endcode
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- Construct a cube.
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@code{.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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@endcode
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- Create rotation matrix from rodrigues vector
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@code{.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;
|
|
||||||
Rodrigues(rot_vec, rot_mat);
|
|
||||||
@endcode
|
|
||||||
- Use Affine3f to set pose of the cube.
|
|
||||||
@code{.cpp}
|
|
||||||
/// Construct pose
|
|
||||||
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
|
|
||||||
myWindow.setWidgetPose("Cube Widget", pose);
|
|
||||||
@endcode
|
|
||||||
- Animate the rotation using wasStopped and spinOnce
|
|
||||||
@code{.cpp}
|
|
||||||
while(!myWindow.wasStopped())
|
|
||||||
{
|
|
||||||
...
|
|
||||||
|
|
||||||
myWindow.spinOnce(1, true);
|
|
||||||
}
|
|
||||||
@endcode
|
|
||||||
|
|
||||||
Results
|
|
||||||
-------
|
|
||||||
|
|
||||||
Here is the result of the program.
|
|
||||||
|
|
||||||
\htmlonly
|
|
||||||
<div align="center">
|
|
||||||
<iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
|
|
||||||
</div>
|
|
||||||
\endhtmlonly
|
|
||||||
@ -29,17 +29,8 @@ file(GLOB_RECURSE cpp_samples RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.cpp)
|
|||||||
if(NOT HAVE_opencv_cudaarithm OR NOT HAVE_opencv_cudafilters)
|
if(NOT HAVE_opencv_cudaarithm OR NOT HAVE_opencv_cudafilters)
|
||||||
ocv_list_filterout(cpp_samples "/gpu/")
|
ocv_list_filterout(cpp_samples "/gpu/")
|
||||||
endif()
|
endif()
|
||||||
if(NOT BUILD_opencv_viz OR NOT VTK_USE_FILE)
|
|
||||||
ocv_list_filterout(cpp_samples "/viz/")
|
|
||||||
endif()
|
|
||||||
ocv_list_filterout(cpp_samples "real_time_pose_estimation/")
|
ocv_list_filterout(cpp_samples "real_time_pose_estimation/")
|
||||||
foreach(sample_filename ${cpp_samples})
|
foreach(sample_filename ${cpp_samples})
|
||||||
if(sample_filename MATCHES "/viz/")
|
|
||||||
include(${VTK_USE_FILE})
|
|
||||||
if(COMMAND ocv_warnings_disable) # eliminate warnings from VTK headers (include directory is not "SYSTEM")
|
|
||||||
ocv_warnings_disable(CMAKE_CXX_FLAGS -Winconsistent-missing-override -Wsuggest-override)
|
|
||||||
endif()
|
|
||||||
endif()
|
|
||||||
set(package "cpp")
|
set(package "cpp")
|
||||||
if(sample_filename MATCHES "tutorial_code")
|
if(sample_filename MATCHES "tutorial_code")
|
||||||
set(package "tutorial")
|
set(package "tutorial")
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
@ -1,122 +0,0 @@
|
|||||||
/**
|
|
||||||
* @file creating_widgets.cpp
|
|
||||||
* @brief Creating custom widgets using VTK
|
|
||||||
* @author Ozan Cagri Tonkal
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef USE_VTK
|
|
||||||
#include <iostream>
|
|
||||||
int main()
|
|
||||||
{
|
|
||||||
std::cout << "This sample requires direct compilation with VTK. Stop" << std::endl;
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
#else
|
|
||||||
#include <opencv2/viz.hpp>
|
|
||||||
#include <opencv2/viz/widget_accessor.hpp>
|
|
||||||
#include <iostream>
|
|
||||||
|
|
||||||
#include <vtkPoints.h>
|
|
||||||
#include <vtkTriangle.h>
|
|
||||||
#include <vtkCellArray.h>
|
|
||||||
#include <vtkPolyData.h>
|
|
||||||
#include <vtkPolyDataMapper.h>
|
|
||||||
#include <vtkIdList.h>
|
|
||||||
#include <vtkActor.h>
|
|
||||||
#include <vtkProp.h>
|
|
||||||
|
|
||||||
using namespace cv;
|
|
||||||
using namespace std;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @function help
|
|
||||||
* @brief Display instructions to use this tutorial program
|
|
||||||
*/
|
|
||||||
static void help()
|
|
||||||
{
|
|
||||||
cout
|
|
||||||
<< "--------------------------------------------------------------------------" << endl
|
|
||||||
<< "This program shows how to create a custom widget. You can create your own "
|
|
||||||
<< "widgets by extending Widget2D/Widget3D, and with the help of WidgetAccessor." << endl
|
|
||||||
<< "Usage:" << endl
|
|
||||||
<< "./creating_widgets" << endl
|
|
||||||
<< endl;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @class TriangleWidget
|
|
||||||
* @brief Defining our own 3D Triangle widget
|
|
||||||
*/
|
|
||||||
class WTriangle : public viz::Widget3D
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
|
|
||||||
};
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @function TriangleWidget::TriangleWidget
|
|
||||||
* @brief Constructor
|
|
||||||
*/
|
|
||||||
WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
|
|
||||||
{
|
|
||||||
// Create a triangle
|
|
||||||
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
|
|
||||||
points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
|
|
||||||
points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
|
|
||||||
points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
|
|
||||||
|
|
||||||
vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
|
|
||||||
triangle->GetPointIds()->SetId(0,0);
|
|
||||||
triangle->GetPointIds()->SetId(1,1);
|
|
||||||
triangle->GetPointIds()->SetId(2,2);
|
|
||||||
|
|
||||||
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
|
|
||||||
cells->InsertNextCell(triangle);
|
|
||||||
|
|
||||||
// Create a polydata object
|
|
||||||
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
|
|
||||||
|
|
||||||
// Add the geometry and topology to the polydata
|
|
||||||
polyData->SetPoints(points);
|
|
||||||
polyData->SetPolys(cells);
|
|
||||||
|
|
||||||
// Create mapper and actor
|
|
||||||
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
|
|
||||||
#if VTK_MAJOR_VERSION <= 5
|
|
||||||
mapper->SetInput(polyData);
|
|
||||||
#else
|
|
||||||
mapper->SetInputData(polyData);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
|
|
||||||
actor->SetMapper(mapper);
|
|
||||||
|
|
||||||
// Store this actor in the widget in order that visualizer can access it
|
|
||||||
viz::WidgetAccessor::setProp(*this, actor);
|
|
||||||
|
|
||||||
// Set the color of the widget. This has to be called after WidgetAccessor.
|
|
||||||
setColor(color);
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @function main
|
|
||||||
*/
|
|
||||||
int main()
|
|
||||||
{
|
|
||||||
help();
|
|
||||||
|
|
||||||
/// Create a window
|
|
||||||
viz::Viz3d myWindow("Creating Widgets");
|
|
||||||
|
|
||||||
/// Create a triangle widget
|
|
||||||
WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
|
|
||||||
|
|
||||||
/// Show widget in the visualizer window
|
|
||||||
myWindow.showWidget("TRIANGLE", tw);
|
|
||||||
|
|
||||||
/// Start event loop
|
|
||||||
myWindow.spin();
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
@ -1,188 +0,0 @@
|
|||||||
#include <opencv2/core.hpp>
|
|
||||||
#include <opencv2/imgproc.hpp>
|
|
||||||
#include <opencv2/highgui.hpp>
|
|
||||||
#include <iostream>
|
|
||||||
|
|
||||||
using namespace std;
|
|
||||||
using namespace cv;
|
|
||||||
|
|
||||||
#ifdef HAVE_OPENCV_VIZ
|
|
||||||
|
|
||||||
#include <opencv2/viz.hpp>
|
|
||||||
|
|
||||||
const String keys =
|
|
||||||
"{Aide h usage ? help | | print this message }"
|
|
||||||
"{@arg1 | | Full path to color imag (3 channels)}"
|
|
||||||
;
|
|
||||||
|
|
||||||
|
|
||||||
struct Histo3DData {
|
|
||||||
Mat histogram;
|
|
||||||
int seuil;
|
|
||||||
double threshold;
|
|
||||||
Ptr<viz::Viz3d> fen3D;
|
|
||||||
int nbWidget;
|
|
||||||
bool status;
|
|
||||||
double maxH;
|
|
||||||
int code;
|
|
||||||
};
|
|
||||||
|
|
||||||
void DrawHistogram3D(Histo3DData &);
|
|
||||||
void AddSlidebar(String sliderName, String windowName, int sliderMin, int sliderMax, int valeurDefaut, int *sliderVal, void(*f)(int, void *), void *r);
|
|
||||||
void UpdateThreshold(int , void * r);
|
|
||||||
void KeyboardViz3d(const viz::KeyboardEvent &w, void *t);
|
|
||||||
|
|
||||||
|
|
||||||
void DrawHistogram3D(Histo3DData &h)
|
|
||||||
{
|
|
||||||
//! [get_cube_size]
|
|
||||||
int planSize = (int)h.histogram.step1(0);
|
|
||||||
int cols = (int)h.histogram.step1(1);
|
|
||||||
int rows = (int)planSize / cols;
|
|
||||||
int plans = (int)h.histogram.total() / planSize;
|
|
||||||
h.fen3D->removeAllWidgets();
|
|
||||||
h.nbWidget=0;
|
|
||||||
if (h.nbWidget==0)
|
|
||||||
h.fen3D->showWidget("Axis", viz::WCoordinateSystem(10));
|
|
||||||
//! [get_cube_size]
|
|
||||||
//! [get_cube_values]
|
|
||||||
for (int k = 0; k < plans; k++)
|
|
||||||
{
|
|
||||||
for (int i = 0; i < rows; i++)
|
|
||||||
{
|
|
||||||
for (int j = 0; j < cols; j++)
|
|
||||||
{
|
|
||||||
double x = h.histogram.at<float>(k, i, j);
|
|
||||||
if (x >= h.threshold)
|
|
||||||
{
|
|
||||||
double r=std::max(x/h.maxH,0.1);
|
|
||||||
viz::WCube s(Point3d(k - r / 2, i - r / 2, j - r / 2), Point3d(k + r / 2, i + r / 2, j + r / 2), false, viz::Color(j / double(plans) * 255, i / double(rows) * 255, k / double(cols) * 255));
|
|
||||||
h.fen3D->showWidget(format("I3d%d", h.nbWidget++), s);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
//! [get_cube_values]
|
|
||||||
h.status = false;
|
|
||||||
}
|
|
||||||
//! [viz_keyboard_callback]
|
|
||||||
void KeyboardViz3d(const viz::KeyboardEvent &w, void *t)
|
|
||||||
{
|
|
||||||
Histo3DData *x=(Histo3DData *)t;
|
|
||||||
if (w.action)
|
|
||||||
cout << "you pressed "<< w.symbol<< " in viz window "<<x->fen3D->getWindowName()<<"\n";
|
|
||||||
x->code= w.code;
|
|
||||||
switch (w.code) {
|
|
||||||
case '/':
|
|
||||||
x->status=true;
|
|
||||||
x->threshold *= 0.9;
|
|
||||||
break;
|
|
||||||
case '*':
|
|
||||||
x->status = true;
|
|
||||||
x->threshold *= 1.1;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
if (x->status)
|
|
||||||
{
|
|
||||||
cout << x->threshold << "\n";
|
|
||||||
DrawHistogram3D(*x);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
//! [viz_keyboard_callback]
|
|
||||||
|
|
||||||
|
|
||||||
void AddSlidebar(String sliderName, String windowName, int sliderMin, int sliderMax, int defaultSlider, int *sliderVal, void(*f)(int, void *), void *r)
|
|
||||||
{
|
|
||||||
createTrackbar(sliderName, windowName, sliderVal, 1, f, r);
|
|
||||||
setTrackbarMin(sliderName, windowName, sliderMin);
|
|
||||||
setTrackbarMax(sliderName, windowName, sliderMax);
|
|
||||||
setTrackbarPos(sliderName, windowName, defaultSlider);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void UpdateThreshold(int , void * r)
|
|
||||||
{
|
|
||||||
Histo3DData *h = (Histo3DData *)r;
|
|
||||||
h->status=true;
|
|
||||||
h->threshold = h->seuil/1000000.0;
|
|
||||||
cout<<"Widget : "<<h->nbWidget<<","<< h->threshold<<"\n";
|
|
||||||
}
|
|
||||||
|
|
||||||
int main (int argc,char **argv)
|
|
||||||
{
|
|
||||||
//! [command_line_parser]
|
|
||||||
CommandLineParser parser(argc, argv, keys);
|
|
||||||
|
|
||||||
if (parser.has("help"))
|
|
||||||
{
|
|
||||||
parser.printMessage();
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
String nomFic = parser.get<String>(0);
|
|
||||||
Mat img;
|
|
||||||
if (nomFic.length() != 0)
|
|
||||||
{
|
|
||||||
img = imread(nomFic, IMREAD_COLOR);
|
|
||||||
if (img.empty())
|
|
||||||
{
|
|
||||||
cout << "Image does not exist!";
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
//! [command_line_parser]
|
|
||||||
//! [synthetic_image]
|
|
||||||
else
|
|
||||||
{
|
|
||||||
img = Mat(512,512,CV_8UC3);
|
|
||||||
parser.printMessage();
|
|
||||||
RNG r;
|
|
||||||
r.fill(img(Rect(0, 0, 256, 256)), RNG::NORMAL, Vec3b(60, 40, 50), Vec3b(10, 5, 20));
|
|
||||||
r.fill(img(Rect(256, 0, 256, 256)), RNG::NORMAL, Vec3b(160, 10, 50), Vec3b(20, 5, 10));
|
|
||||||
r.fill(img(Rect(0, 256, 256, 256)), RNG::NORMAL, Vec3b(90, 100, 50), Vec3b(10, 20, 20));
|
|
||||||
r.fill(img(Rect(256, 256, 256, 256)), RNG::NORMAL, Vec3b(100, 10, 150), Vec3b(10, 5, 40));
|
|
||||||
}
|
|
||||||
//! [synthetic_image]
|
|
||||||
//! [calchist_for_histo3d]
|
|
||||||
Histo3DData h;
|
|
||||||
h.status=true;
|
|
||||||
h.seuil=90;
|
|
||||||
h.threshold= h.seuil/1000000.0;
|
|
||||||
float hRange[] = { 0, 256 };
|
|
||||||
const float* etendu[] = { hRange, hRange,hRange };
|
|
||||||
int hBins = 32;
|
|
||||||
int histSize[] = { hBins, hBins , hBins };
|
|
||||||
int channel[] = { 2, 1,0 };
|
|
||||||
calcHist(&img, 1, channel, Mat(), h.histogram, 3, histSize, etendu, true, false);
|
|
||||||
normalize(h.histogram, h.histogram, 100.0/(img.total()), 0, NORM_MINMAX, -1, Mat());
|
|
||||||
minMaxIdx(h.histogram,NULL,&h.maxH,NULL,NULL);
|
|
||||||
//! [calchist_for_histo3d]
|
|
||||||
//! [slide_bar_for_thresh]
|
|
||||||
namedWindow("Image");
|
|
||||||
imshow("Image",img);
|
|
||||||
AddSlidebar("threshold","Image",0,100,h.seuil,&h.seuil, UpdateThreshold,&h);
|
|
||||||
waitKey(30);
|
|
||||||
//! [slide_bar_for_thresh]
|
|
||||||
//! [manage_viz_imshow_window]
|
|
||||||
h.fen3D = makePtr<viz::Viz3d>("3D Histogram");
|
|
||||||
h.nbWidget=0;
|
|
||||||
h.fen3D->registerKeyboardCallback(KeyboardViz3d,&h);
|
|
||||||
DrawHistogram3D(h);
|
|
||||||
while (h.code!=27)
|
|
||||||
{
|
|
||||||
h.fen3D->spinOnce(1);
|
|
||||||
if (h.status)
|
|
||||||
DrawHistogram3D(h);
|
|
||||||
if (h.code!=27)
|
|
||||||
h.code= waitKey(30);
|
|
||||||
}
|
|
||||||
//! [manage_viz_imshow_window]
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
#else
|
|
||||||
|
|
||||||
int main(int argc, char **argv)
|
|
||||||
{
|
|
||||||
cout << " you need VIZ module\n";
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
@ -1,66 +0,0 @@
|
|||||||
/**
|
|
||||||
* @file launching_viz.cpp
|
|
||||||
* @brief Launching visualization window
|
|
||||||
* @author Ozan Cagri Tonkal
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <opencv2/viz.hpp>
|
|
||||||
#include <iostream>
|
|
||||||
|
|
||||||
using namespace cv;
|
|
||||||
using namespace std;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @function help
|
|
||||||
* @brief Display instructions to use this tutorial program
|
|
||||||
*/
|
|
||||||
static void help()
|
|
||||||
{
|
|
||||||
cout
|
|
||||||
<< "--------------------------------------------------------------------------" << endl
|
|
||||||
<< "This program shows how to launch a 3D visualization window. You can stop event loop to continue executing. "
|
|
||||||
<< "You can access the same window via its name. You can run event loop for a given period of time. " << endl
|
|
||||||
<< "Usage:" << endl
|
|
||||||
<< "./launching_viz" << endl
|
|
||||||
<< endl;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @function main
|
|
||||||
*/
|
|
||||||
int main()
|
|
||||||
{
|
|
||||||
help();
|
|
||||||
/// Create a window
|
|
||||||
viz::Viz3d myWindow("Viz Demo");
|
|
||||||
|
|
||||||
/// Start event loop
|
|
||||||
myWindow.spin();
|
|
||||||
|
|
||||||
/// Event loop is over when pressed q, Q, e, E
|
|
||||||
cout << "First event loop is over" << endl;
|
|
||||||
|
|
||||||
/// Access window via its name
|
|
||||||
viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
|
|
||||||
|
|
||||||
/// Start event loop
|
|
||||||
sameWindow.spin();
|
|
||||||
|
|
||||||
/// Event loop is over when pressed q, Q, e, E
|
|
||||||
cout << "Second event loop is over" << endl;
|
|
||||||
|
|
||||||
/// Event loop is over when pressed q, Q, e, E
|
|
||||||
/// Start event loop once for 1 millisecond
|
|
||||||
sameWindow.spinOnce(1, true);
|
|
||||||
while(!sameWindow.wasStopped())
|
|
||||||
{
|
|
||||||
/// Interact with window
|
|
||||||
|
|
||||||
/// Event loop for 1 millisecond
|
|
||||||
sameWindow.spinOnce(1, true);
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Once more event loop is stopped
|
|
||||||
cout << "Last event loop is over" << endl;
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
@ -1,112 +0,0 @@
|
|||||||
/**
|
|
||||||
* @file transformations.cpp
|
|
||||||
* @brief Visualizing cloud in different positions, coordinate frames, camera frustums
|
|
||||||
* @author Ozan Cagri Tonkal
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <opencv2/viz.hpp>
|
|
||||||
#include <iostream>
|
|
||||||
#include <fstream>
|
|
||||||
|
|
||||||
using namespace cv;
|
|
||||||
using namespace std;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @function help
|
|
||||||
* @brief Display instructions to use this tutorial program
|
|
||||||
*/
|
|
||||||
static void help()
|
|
||||||
{
|
|
||||||
cout
|
|
||||||
<< "--------------------------------------------------------------------------" << endl
|
|
||||||
<< "This program shows how to use makeTransformToGlobal() to compute required pose,"
|
|
||||||
<< "how to use makeCameraPose and Viz3d::setViewerPose. You can observe the scene "
|
|
||||||
<< "from camera point of view (C) or global point of view (G)" << endl
|
|
||||||
<< "Usage:" << endl
|
|
||||||
<< "./transformations [ G | C ]" << endl
|
|
||||||
<< endl;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @function cvcloud_load
|
|
||||||
* @brief load bunny.ply
|
|
||||||
*/
|
|
||||||
static Mat cvcloud_load()
|
|
||||||
{
|
|
||||||
Mat cloud(1, 1889, CV_32FC3);
|
|
||||||
ifstream ifs("bunny.ply");
|
|
||||||
|
|
||||||
string str;
|
|
||||||
for(size_t i = 0; i < 12; ++i)
|
|
||||||
getline(ifs, str);
|
|
||||||
|
|
||||||
Point3f* data = cloud.ptr<cv::Point3f>();
|
|
||||||
float dummy1, dummy2;
|
|
||||||
for(size_t i = 0; i < 1889; ++i)
|
|
||||||
ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
|
|
||||||
|
|
||||||
cloud *= 5.0f;
|
|
||||||
return cloud;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @function main
|
|
||||||
*/
|
|
||||||
int main(int argn, char **argv)
|
|
||||||
{
|
|
||||||
help();
|
|
||||||
|
|
||||||
if (argn < 2)
|
|
||||||
{
|
|
||||||
cout << "Missing arguments." << endl;
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool camera_pov = (argv[1][0] == 'C');
|
|
||||||
|
|
||||||
/// Create a window
|
|
||||||
viz::Viz3d myWindow("Coordinate Frame");
|
|
||||||
|
|
||||||
/// Add coordinate axes
|
|
||||||
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
|
|
||||||
|
|
||||||
/// Let's assume camera has the following properties
|
|
||||||
Vec3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
|
|
||||||
|
|
||||||
/// We can get the pose of the cam using makeCameraPose
|
|
||||||
Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
|
|
||||||
|
|
||||||
/// We can get the transformation matrix from camera coordinate system to global using
|
|
||||||
/// - makeTransformToGlobal. We need the axes of the camera
|
|
||||||
Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
|
|
||||||
|
|
||||||
/// Create a cloud widget.
|
|
||||||
Mat bunny_cloud = cvcloud_load();
|
|
||||||
viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
|
|
||||||
|
|
||||||
/// Pose of the widget in camera frame
|
|
||||||
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
|
|
||||||
/// Pose of the widget in global frame
|
|
||||||
Affine3f cloud_pose_global = transform * cloud_pose;
|
|
||||||
|
|
||||||
/// Visualize camera frame
|
|
||||||
if (!camera_pov)
|
|
||||||
{
|
|
||||||
viz::WCameraPosition cpw(0.5); // Coordinate axes
|
|
||||||
viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
|
|
||||||
myWindow.showWidget("CPW", cpw, cam_pose);
|
|
||||||
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Visualize widget
|
|
||||||
myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
|
|
||||||
|
|
||||||
/// Set the viewer pose to that of camera
|
|
||||||
if (camera_pov)
|
|
||||||
myWindow.setViewerPose(cam_pose);
|
|
||||||
|
|
||||||
/// Start event loop.
|
|
||||||
myWindow.spin();
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
@ -1,79 +0,0 @@
|
|||||||
/**
|
|
||||||
* @file widget_pose.cpp
|
|
||||||
* @brief Setting pose of a widget
|
|
||||||
* @author Ozan Cagri Tonkal
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <opencv2/viz.hpp>
|
|
||||||
#include <opencv2/calib3d.hpp>
|
|
||||||
#include <iostream>
|
|
||||||
|
|
||||||
using namespace cv;
|
|
||||||
using namespace std;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @function help
|
|
||||||
* @brief Display instructions to use this tutorial program
|
|
||||||
*/
|
|
||||||
static void help()
|
|
||||||
{
|
|
||||||
cout
|
|
||||||
<< "--------------------------------------------------------------------------" << endl
|
|
||||||
<< "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
|
|
||||||
<< "using Rodrigues vector." << endl
|
|
||||||
<< "Usage:" << endl
|
|
||||||
<< "./widget_pose" << endl
|
|
||||||
<< endl;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @function main
|
|
||||||
*/
|
|
||||||
int main()
|
|
||||||
{
|
|
||||||
help();
|
|
||||||
|
|
||||||
/// Create a window
|
|
||||||
viz::Viz3d myWindow("Coordinate Frame");
|
|
||||||
|
|
||||||
/// Add coordinate axes
|
|
||||||
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
|
|
||||||
|
|
||||||
/// Add line to represent (1,1,1) axis
|
|
||||||
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
|
|
||||||
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
|
||||||
myWindow.showWidget("Line Widget", axis);
|
|
||||||
|
|
||||||
/// Construct a cube widget
|
|
||||||
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
|
|
||||||
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
|
||||||
myWindow.showWidget("Cube Widget", cube_widget);
|
|
||||||
|
|
||||||
/// Rodrigues vector
|
|
||||||
Mat rot_vec = Mat::zeros(1,3,CV_32F);
|
|
||||||
float translation_phase = 0.0, translation = 0.0;
|
|
||||||
while(!myWindow.wasStopped())
|
|
||||||
{
|
|
||||||
/* Rotation using rodrigues */
|
|
||||||
/// Rotate around (1,1,1)
|
|
||||||
rot_vec.at<float>(0,0) += (float)CV_PI * 0.01f;
|
|
||||||
rot_vec.at<float>(0,1) += (float)CV_PI * 0.01f;
|
|
||||||
rot_vec.at<float>(0,2) += (float)CV_PI * 0.01f;
|
|
||||||
|
|
||||||
/// Shift on (1,1,1)
|
|
||||||
translation_phase += (float)CV_PI * 0.01f;
|
|
||||||
translation = sin(translation_phase);
|
|
||||||
|
|
||||||
Mat rot_mat;
|
|
||||||
Rodrigues(rot_vec, rot_mat);
|
|
||||||
|
|
||||||
/// Construct pose
|
|
||||||
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
|
|
||||||
|
|
||||||
myWindow.setWidgetPose("Cube Widget", pose);
|
|
||||||
|
|
||||||
myWindow.spinOnce(1, true);
|
|
||||||
}
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
Loading…
Reference in New Issue
Block a user