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957 lines
30 KiB
ReStructuredText
957 lines
30 KiB
ReStructuredText
Widget
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======
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.. highlight:: cpp
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In this section, the widget framework is explained. Widgets represent
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2D or 3D objects, varying from simple ones such as lines to complex one such as
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point clouds and meshes.
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Widgets are **implicitly shared**. Therefore, one can add a widget to the scene,
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and modify the widget without re-adding the widget.
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.. code-block:: cpp
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...
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/// Create a cloud widget
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viz::WCloud cw(cloud, viz::Color::red());
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/// Display it in a window
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myWindow.showWidget("CloudWidget1", cw);
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/// Modify it, and it will be modified in the window.
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cw.setColor(viz::Color::yellow());
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...
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viz::Widget
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-----------
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.. ocv:class:: Widget
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Base class of all widgets. Widget is implicitly shared. ::
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class CV_EXPORTS Widget
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{
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public:
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Widget();
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Widget(const Widget& other);
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Widget& operator=(const Widget& other);
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~Widget();
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//! Create a widget directly from ply file
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static Widget fromPlyFile(const String &file_name);
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//! Rendering properties of this particular widget
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void setRenderingProperty(int property, double value);
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double getRenderingProperty(int property) const;
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//! Casting between widgets
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template<typename _W> _W cast();
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private:
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/* hidden */
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};
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viz::Widget::fromPlyFile
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------------------------
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Creates a widget from ply file.
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.. ocv:function:: static Widget fromPlyFile(const String &file_name)
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:param file_name: Ply file name.
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viz::Widget::setRenderingProperty
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---------------------------------
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Sets rendering property of the widget.
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.. ocv:function:: void setRenderingProperty(int property, double value)
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:param property: Property that will be modified.
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:param value: The new value of the property.
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**Rendering property** can be one of the following:
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* **POINT_SIZE**
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* **OPACITY**
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* **LINE_WIDTH**
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* **FONT_SIZE**
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* **REPRESENTATION**: Expected values are
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* **REPRESENTATION_POINTS**
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* **REPRESENTATION_WIREFRAME**
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* **REPRESENTATION_SURFACE**
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* **IMMEDIATE_RENDERING**:
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* Turn on immediate rendering by setting the value to ``1``.
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* Turn off immediate rendering by setting the value to ``0``.
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* **SHADING**: Expected values are
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* **SHADING_FLAT**
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* **SHADING_GOURAUD**
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* **SHADING_PHONG**
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viz::Widget::getRenderingProperty
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---------------------------------
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Returns rendering property of the widget.
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.. ocv:function:: double getRenderingProperty(int property) const
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:param property: Property.
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**Rendering property** can be one of the following:
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* **POINT_SIZE**
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* **OPACITY**
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* **LINE_WIDTH**
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* **FONT_SIZE**
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* **REPRESENTATION**: Expected values are
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* **REPRESENTATION_POINTS**
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* **REPRESENTATION_WIREFRAME**
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* **REPRESENTATION_SURFACE**
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* **IMMEDIATE_RENDERING**:
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* Turn on immediate rendering by setting the value to ``1``.
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* Turn off immediate rendering by setting the value to ``0``.
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* **SHADING**: Expected values are
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* **SHADING_FLAT**
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* **SHADING_GOURAUD**
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* **SHADING_PHONG**
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viz::Widget::cast
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-----------------
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Casts a widget to another.
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.. ocv:function:: template<typename _W> _W cast()
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.. code-block:: cpp
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// Create a sphere widget
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viz::WSphere sw(Point3f(0.0f,0.0f,0.0f), 0.5f);
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// Cast sphere widget to cloud widget
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viz::WCloud cw = sw.cast<viz::WCloud>();
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.. note:: 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets.
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viz::WidgetAccessor
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-------------------
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.. ocv:class:: WidgetAccessor
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This class is for users who want to develop their own widgets using VTK library API. ::
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struct CV_EXPORTS WidgetAccessor
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{
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static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
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static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
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};
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viz::WidgetAccessor::getProp
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----------------------------
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Returns ``vtkProp`` of a given widget.
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.. ocv:function:: static vtkSmartPointer<vtkProp> getProp(const Widget &widget)
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:param widget: Widget whose ``vtkProp`` is to be returned.
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.. note:: vtkProp has to be down cast appropriately to be modified.
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.. code-block:: cpp
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vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget));
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viz::WidgetAccessor::setProp
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----------------------------
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Sets ``vtkProp`` of a given widget.
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.. ocv:function:: static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop)
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:param widget: Widget whose ``vtkProp`` is to be set.
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:param prop: A ``vtkProp``.
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viz::Widget3D
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-------------
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.. ocv:class:: Widget3D
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Base class of all 3D widgets. ::
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class CV_EXPORTS Widget3D : public Widget
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{
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public:
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Widget3D() {}
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void setPose(const Affine3d &pose);
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void updatePose(const Affine3d &pose);
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Affine3d getPose() const;
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void setColor(const Color &color);
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private:
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/* hidden */
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};
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viz::Widget3D::setPose
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----------------------
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Sets pose of the widget.
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.. ocv:function:: void setPose(const Affine3d &pose)
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:param pose: The new pose of the widget.
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viz::Widget3D::updateWidgetPose
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-------------------------------
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Updates pose of the widget by pre-multiplying its current pose.
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.. ocv:function:: void updateWidgetPose(const Affine3d &pose)
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:param pose: The pose that the current pose of the widget will be pre-multiplied by.
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viz::Widget3D::getPose
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----------------------
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Returns the current pose of the widget.
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.. ocv:function:: Affine3d getWidgetPose() const
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viz::Widget3D::setColor
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-----------------------
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Sets the color of the widget.
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.. ocv:function:: void setColor(const Color &color)
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:param color: color of type :ocv:class:`Color`
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viz::Widget2D
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-------------
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.. ocv:class:: Widget2D
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Base class of all 2D widgets. ::
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class CV_EXPORTS Widget2D : public Widget
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{
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public:
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Widget2D() {}
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void setColor(const Color &color);
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};
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viz::Widget2D::setColor
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-----------------------
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Sets the color of the widget.
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.. ocv:function:: void setColor(const Color &color)
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:param color: color of type :ocv:class:`Color`
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viz::WLine
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----------
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.. ocv:class:: WLine
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This 3D Widget defines a finite line. ::
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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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};
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viz::WLine::WLine
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-----------------
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Constructs a WLine.
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.. ocv:function:: WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white())
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:param pt1: Start point of the line.
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:param pt2: End point of the line.
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:param color: :ocv:class:`Color` of the line.
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viz::WPlane
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-----------
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.. ocv:class:: WPlane
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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 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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viz::WPlane::WPlane
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-------------------
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Constructs a WPlane.
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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 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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:param size: Size of the plane.
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:param color: :ocv:class:`Color` of the plane.
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viz::WSphere
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------------
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.. ocv:class:: WSphere
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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, 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, 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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:param sphere_resolution: Resolution of the sphere.
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:param color: :ocv:class:`Color` of the sphere.
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viz::WArrow
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----------------
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.. ocv:class:: WArrow
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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, 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, 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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:param thickness: Thickness of the arrow. Thickness of arrow head is also adjusted accordingly.
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:param color: :ocv:class:`Color` of the arrow.
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Arrow head is located at the end point of the arrow.
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viz::WCircle
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-----------------
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.. ocv:class:: WCircle
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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, 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, 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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:param thickness: Thickness of the circle.
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:param color: :ocv:class:`Color` of the circle.
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viz::WCylinder
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--------------
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.. ocv:class:: WCylinder
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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, 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, 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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:param radius: Radius of the cylinder.
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:param numsides: Resolution of the cylinder.
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:param color: :ocv:class:`Color` of the cylinder.
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viz::WCube
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----------
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.. ocv:class:: WCube
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This 3D Widget defines a cube. ::
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class CV_EXPORTS WCube : public Widget3D
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{
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public:
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WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
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};
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viz::WCube::WCube
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---------------------------
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Constructs a WCube.
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.. ocv:function:: WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white())
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:param pt_min: Specifies minimum point of the bounding box.
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:param pt_max: Specifies maximum point of the bounding box.
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:param wire_frame: If true, cube is represented as wireframe.
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:param color: :ocv:class:`Color` of the cube.
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.. image:: images/cube_widget.png
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:alt: Cube Widget
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:align: center
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viz::WCoordinateSystem
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----------------------
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.. ocv:class:: WCoordinateSystem
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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(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(double scale = 1.0)
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:param scale: Determines the size of the axes.
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viz::WPolyLine
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--------------
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.. ocv:class:: WPolyLine
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This 3D Widget defines a poly line. ::
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class CV_EXPORTS WPolyLine : public Widget3D
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{
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public:
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WPolyLine(InputArray points, const Color &color = Color::white());
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private:
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/* hidden */
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};
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viz::WPolyLine::WPolyLine
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-----------------------------------
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Constructs a WPolyLine.
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.. ocv:function:: WPolyLine(InputArray points, const Color &color = Color::white())
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:param points: Point set.
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:param color: :ocv:class:`Color` of the poly line.
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viz::WGrid
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----------
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.. ocv:class:: WGrid
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This 3D Widget defines a grid. ::
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class CV_EXPORTS WGrid : public Widget3D
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{
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public:
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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 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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viz::WGrid::WGrid
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---------------------------
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Constructs a WGrid.
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.. ocv:function:: WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
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:param dimensions: Number of columns and rows, respectively.
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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 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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: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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viz::WText3D
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------------
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.. ocv:class:: WText3D
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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, 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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};
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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, 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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:param text_scale: Size of the text.
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:param face_camera: If true, text always faces the camera.
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:param color: :ocv:class:`Color` of the text.
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viz::WText3D::setText
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---------------------
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Sets the text content of the widget.
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.. ocv:function:: void setText(const String &text)
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:param text: Text content of the widget.
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viz::WText3D::getText
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---------------------
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Returns the current text content of the widget.
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.. ocv:function:: String getText() const
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viz::WText
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----------
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.. ocv:class:: WText
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This 2D Widget represents text overlay. ::
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class CV_EXPORTS WText : public Widget2D
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{
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public:
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WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
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void setText(const String &text);
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String getText() const;
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};
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viz::WText::WText
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-----------------
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Constructs a WText.
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|
|
|
.. ocv:function:: WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white())
|
|
|
|
:param text: Text content of the widget.
|
|
:param pos: Position of the text.
|
|
:param font_size: Font size.
|
|
:param color: :ocv:class:`Color` of the text.
|
|
|
|
viz::WText::setText
|
|
-------------------
|
|
Sets the text content of the widget.
|
|
|
|
.. ocv:function:: void setText(const String &text)
|
|
|
|
:param text: Text content of the widget.
|
|
|
|
viz::WText::getText
|
|
-------------------
|
|
Returns the current text content of the widget.
|
|
|
|
.. ocv:function:: String getText() const
|
|
|
|
viz::WImageOverlay
|
|
------------------
|
|
.. ocv:class:: WImageOverlay
|
|
|
|
This 2D Widget represents an image overlay. ::
|
|
|
|
class CV_EXPORTS WImageOverlay : public Widget2D
|
|
{
|
|
public:
|
|
WImageOverlay(const Mat &image, const Rect &rect);
|
|
|
|
void setImage(const Mat &image);
|
|
};
|
|
|
|
viz::WImageOverlay::WImageOverlay
|
|
---------------------------------
|
|
Constructs an WImageOverlay.
|
|
|
|
.. ocv:function:: WImageOverlay(const Mat &image, const Rect &rect)
|
|
|
|
:param image: BGR or Gray-Scale image.
|
|
:param rect: Image is scaled and positioned based on rect.
|
|
|
|
viz::WImageOverlay::setImage
|
|
----------------------------
|
|
Sets the image content of the widget.
|
|
|
|
.. ocv:function:: void setImage(const Mat &image)
|
|
|
|
:param image: BGR or Gray-Scale image.
|
|
|
|
viz::WImage3D
|
|
-------------
|
|
.. ocv:class:: WImage3D
|
|
|
|
This 3D Widget represents an image in 3D space. ::
|
|
|
|
class CV_EXPORTS WImage3D : public Widget3D
|
|
{
|
|
public:
|
|
//! 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 Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size);
|
|
|
|
void setImage(const Mat &image);
|
|
};
|
|
|
|
viz::WImage3D::WImage3D
|
|
-----------------------
|
|
Constructs an WImage3D.
|
|
|
|
.. ocv:function:: WImage3D(const Mat &image, const Size &size)
|
|
|
|
:param image: BGR or Gray-Scale image.
|
|
:param size: Size of the image.
|
|
|
|
.. ocv:function:: WImage3D(const Vec3d &position, const Vec3d &normal, const Vec3d &up_vector, const Mat &image, const Size &size)
|
|
|
|
:param position: Position of the image.
|
|
:param normal: Normal of the plane that represents the image.
|
|
:param up_vector: Determines orientation of the image.
|
|
:param image: BGR or Gray-Scale image.
|
|
:param size: Size of the image.
|
|
|
|
viz::WImage3D::setImage
|
|
-----------------------
|
|
Sets the image content of the widget.
|
|
|
|
.. ocv:function:: void setImage(const Mat &image)
|
|
|
|
:param image: BGR or Gray-Scale image.
|
|
|
|
viz::WCameraPosition
|
|
--------------------
|
|
.. ocv:class:: WCameraPosition
|
|
|
|
This 3D Widget represents camera position in a scene by its axes or viewing frustum. ::
|
|
|
|
class CV_EXPORTS WCameraPosition : public Widget3D
|
|
{
|
|
public:
|
|
//! Creates camera coordinate frame (axes) at the origin
|
|
WCameraPosition(double scale = 1.0);
|
|
//! Creates frustum based on the intrinsic marix K at the origin
|
|
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 Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
|
|
//! Creates frustum and display given image at the far plane
|
|
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 Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
|
|
};
|
|
|
|
viz::WCameraPosition::WCameraPosition
|
|
-------------------------------------
|
|
Constructs a WCameraPosition.
|
|
|
|
- **Display camera coordinate frame.**
|
|
|
|
.. ocv:function:: WCameraPosition(double scale = 1.0)
|
|
|
|
Creates camera coordinate frame at the origin.
|
|
|
|
.. image:: images/cpw1.png
|
|
:alt: Camera coordinate frame
|
|
:align: center
|
|
|
|
- **Display the viewing frustum.**
|
|
|
|
.. ocv:function:: WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white())
|
|
|
|
:param K: Intrinsic matrix of the camera.
|
|
:param scale: Scale of the frustum.
|
|
:param color: :ocv:class:`Color` of the frustum.
|
|
|
|
Creates viewing frustum of the camera based on its intrinsic matrix K.
|
|
|
|
.. ocv:function:: WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white())
|
|
|
|
:param fov: Field of view of the camera (horizontal, vertical).
|
|
:param scale: Scale of the frustum.
|
|
:param color: :ocv:class:`Color` of the frustum.
|
|
|
|
Creates viewing frustum of the camera based on its field of view fov.
|
|
|
|
.. image:: images/cpw2.png
|
|
:alt: Camera viewing frustum
|
|
:align: center
|
|
|
|
- **Display image on the far plane of the viewing frustum.**
|
|
|
|
.. ocv:function:: WCameraPosition(const Matx33d &K, const Mat &img, double scale = 1.0, const Color &color = Color::white())
|
|
|
|
:param K: Intrinsic matrix of the camera.
|
|
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
|
|
:param scale: Scale of the frustum and image.
|
|
:param color: :ocv:class:`Color` of the frustum.
|
|
|
|
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
|
|
|
|
.. ocv:function:: WCameraPosition(const Vec2d &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white())
|
|
|
|
:param fov: Field of view of the camera (horizontal, vertical).
|
|
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
|
|
:param scale: Scale of the frustum and image.
|
|
:param color: :ocv:class:`Color` of the frustum.
|
|
|
|
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
|
|
|
|
.. image:: images/cpw3.png
|
|
:alt: Camera viewing frustum with image
|
|
:align: center
|
|
|
|
viz::WTrajectory
|
|
----------------
|
|
.. ocv:class:: WTrajectory
|
|
|
|
This 3D Widget represents a trajectory. ::
|
|
|
|
class CV_EXPORTS WTrajectory : public Widget3D
|
|
{
|
|
public:
|
|
enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH};
|
|
|
|
//! Displays trajectory of the given path either by coordinate frames or polyline
|
|
WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, const Color &color = Color::white(),;
|
|
};
|
|
|
|
viz::WTrajectory::WTrajectory
|
|
-----------------------------
|
|
Constructs a WTrajectory.
|
|
|
|
.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, const Color &color = Color::white())
|
|
|
|
:param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
|
|
:param display_mode: Display mode. This can be PATH, FRAMES, and BOTH.
|
|
:param scale: Scale of the frames. Polyline is not affected.
|
|
:param color: :ocv:class:`Color` of the polyline that represents path. Frames are not affected.
|
|
|
|
Displays trajectory of the given path as follows:
|
|
|
|
* PATH : Displays a poly line that represents the path.
|
|
* FRAMES : Displays coordinate frames at each pose.
|
|
* PATH & FRAMES : Displays both poly line and coordinate frames.
|
|
|
|
viz::WTrajectoryFrustums
|
|
----------------
|
|
.. ocv:class:: WTrajectoryFrustums
|
|
|
|
This 3D Widget represents a trajectory. ::
|
|
|
|
class CV_EXPORTS WTrajectoryFrustums : public Widget3D
|
|
{
|
|
public:
|
|
//! Displays trajectory of the given path by frustums
|
|
WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
|
|
//! Displays trajectory of the given path by frustums
|
|
WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
|
|
};
|
|
|
|
viz::WTrajectoryFrustums::WTrajectoryFrustums
|
|
-----------------------------
|
|
Constructs a WTrajectoryFrustums.
|
|
|
|
.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Matx33d &K, double scale = 1.0, const Color &color = Color::white())
|
|
|
|
:param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
|
|
:param K: Intrinsic matrix of the camera.
|
|
:param scale: Scale of the frustums.
|
|
:param color: :ocv:class:`Color` of the frustums.
|
|
|
|
Displays frustums at each pose of the trajectory.
|
|
|
|
.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3d> &path, const Vec2d &fov, double scale = 1.0, const Color &color = Color::white())
|
|
|
|
:param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
|
|
:param fov: Field of view of the camera (horizontal, vertical).
|
|
:param scale: Scale of the frustums.
|
|
:param color: :ocv:class:`Color` of the frustums.
|
|
|
|
Displays frustums at each pose of the trajectory.
|
|
|
|
viz::WTrajectorySpheres
|
|
-----------------------
|
|
.. ocv:class:: WTrajectorySpheres
|
|
|
|
This 3D Widget represents a trajectory using spheres and lines, where spheres represent the positions of the camera, and lines
|
|
represent the direction from previous position to the current. ::
|
|
|
|
class CV_EXPORTS WTrajectorySpheres : public Widget3D
|
|
{
|
|
public:
|
|
WTrajectorySpheres(const std::vector<Affine3d> &path, double line_length = 0.05f,
|
|
double init_sphere_radius = 0.021, sphere_radius = 0.007,
|
|
Color &line_color = Color::white(), const Color &sphere_color = Color::white());
|
|
};
|
|
|
|
viz::WTrajectorySpheres::WTrajectorySpheres
|
|
-------------------------------------------
|
|
Constructs a WTrajectorySpheres.
|
|
|
|
.. 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())
|
|
|
|
:param path: List of poses on a trajectory.
|
|
:param line_length: Length of the lines.
|
|
:param init_sphere_radius: Radius of the first sphere which represents the initial position of the camera.
|
|
:param sphere_radius: Radius of the rest of the spheres.
|
|
:param line_color: :ocv:class:`Color` of the lines.
|
|
:param sphere_color: :ocv:class:`Color` of the spheres.
|
|
|
|
viz::WCloud
|
|
-----------
|
|
.. ocv:class:: WCloud
|
|
|
|
This 3D Widget defines a point cloud. ::
|
|
|
|
class CV_EXPORTS WCloud : public Widget3D
|
|
{
|
|
public:
|
|
//! Each point in cloud is mapped to a color in colors
|
|
WCloud(InputArray cloud, InputArray colors);
|
|
//! All points in cloud have the same color
|
|
WCloud(InputArray cloud, const Color &color = Color::white());
|
|
|
|
private:
|
|
/* hidden */
|
|
};
|
|
|
|
viz::WCloud::WCloud
|
|
-------------------
|
|
Constructs a WCloud.
|
|
|
|
.. ocv:function:: WCloud(InputArray cloud, InputArray colors)
|
|
|
|
:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
|
|
:param colors: Set of colors. It has to be of the same size with cloud.
|
|
|
|
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
|
|
|
|
.. ocv:function:: WCloud(InputArray cloud, const Color &color = Color::white())
|
|
|
|
:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
|
|
:param color: A single :ocv:class:`Color` for the whole cloud.
|
|
|
|
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
|
|
|
|
.. note:: In case there are four channels in the cloud, fourth channel is ignored.
|
|
|
|
viz::WCloudCollection
|
|
---------------------
|
|
.. ocv:class:: WCloudCollection
|
|
|
|
This 3D Widget defines a collection of clouds. ::
|
|
|
|
class CV_EXPORTS WCloudCollection : public Widget3D
|
|
{
|
|
public:
|
|
WCloudCollection();
|
|
|
|
//! Each point in cloud is mapped to a color in colors
|
|
void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
|
|
//! All points in cloud have the same color
|
|
void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3d &pose = Affine3d::Identity());
|
|
|
|
private:
|
|
/* hidden */
|
|
};
|
|
|
|
viz::WCloudCollection::WCloudCollection
|
|
---------------------------------------
|
|
Constructs a WCloudCollection.
|
|
|
|
.. ocv:function:: WCloudCollection()
|
|
|
|
viz::WCloudCollection::addCloud
|
|
-------------------------------
|
|
Adds a cloud to the collection.
|
|
|
|
.. ocv:function:: void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity())
|
|
|
|
:param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
|
|
:param colors: Set of colors. It has to be of the same size with cloud.
|
|
:param pose: Pose of the cloud.
|
|
|
|
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
|
|
|
|
.. ocv:function:: void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity())
|
|
|
|
:param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
|
|
:param colors: A single :ocv:class:`Color` for the whole cloud.
|
|
:param pose: Pose of the cloud.
|
|
|
|
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
|
|
|
|
.. note:: In case there are four channels in the cloud, fourth channel is ignored.
|
|
|
|
viz::WCloudNormals
|
|
------------------
|
|
.. ocv:class:: WCloudNormals
|
|
|
|
This 3D Widget represents normals of a point cloud. ::
|
|
|
|
class CV_EXPORTS WCloudNormals : public Widget3D
|
|
{
|
|
public:
|
|
WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white());
|
|
|
|
private:
|
|
/* hidden */
|
|
};
|
|
|
|
viz::WCloudNormals::WCloudNormals
|
|
---------------------------------
|
|
Constructs a WCloudNormals.
|
|
|
|
.. ocv:function:: WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white())
|
|
|
|
:param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
|
|
:param normals: A set of normals that has to be of same type with cloud.
|
|
:param level: Display only every ``level`` th normal.
|
|
:param scale: Scale of the arrows that represent normals.
|
|
:param color: :ocv:class:`Color` of the arrows that represent normals.
|
|
|
|
.. note:: In case there are four channels in the cloud, fourth channel is ignored.
|
|
|
|
viz::WMesh
|
|
----------
|
|
.. ocv:class:: WMesh
|
|
|
|
This 3D Widget defines a mesh. ::
|
|
|
|
class CV_EXPORTS WMesh : public Widget3D
|
|
{
|
|
public:
|
|
WMesh(const Mesh3d &mesh);
|
|
|
|
private:
|
|
/* hidden */
|
|
};
|
|
|
|
viz::WMesh::WMesh
|
|
-----------------
|
|
Constructs a WMesh.
|
|
|
|
.. ocv:function:: WMesh(const Mesh3d &mesh)
|
|
|
|
:param mesh: :ocv:class:`Mesh3d` object that will be displayed.
|