-----
.. ocv:class:: Viz3d
-The Viz3d class represents a 3D visualizer window. This class is implicitly shared. ::
-
- class CV_EXPORTS Viz3d
- {
- public:
- typedef cv::Ptr<Viz3d> Ptr;
- typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
- typedef void (*MouseCallback)(const MouseEvent&, void*);
-
- Viz3d(const String& window_name = String());
- Viz3d(const Viz3d&);
- Viz3d& operator=(const Viz3d&);
- ~Viz3d();
-
- void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
- void removeWidget(const String &id);
- Widget getWidget(const String &id) const;
- void removeAllWidgets();
-
- void setWidgetPose(const String &id, const Affine3f &pose);
- void updateWidgetPose(const String &id, const Affine3f &pose);
- Affine3f getWidgetPose(const String &id) const;
-
- void setCamera(const Camera &camera);
- Camera getCamera() const;
- Affine3f getViewerPose();
- void setViewerPose(const Affine3f &pose);
-
- void resetCameraViewpoint (const String &id);
- void resetCamera();
-
- void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
- void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
-
- Size getWindowSize() const;
- void setWindowSize(const Size &window_size);
- String getWindowName() const;
- void saveScreenshot (const String &file);
- void setWindowPosition (int x, int y);
- void setFullScreen (bool mode);
- void setBackgroundColor(const Color& color = Color::black());
-
- void spin();
- void spinOnce(int time = 1, bool force_redraw = false);
- bool wasStopped() const;
-
- void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
- void registerMouseCallback(MouseCallback callback, void* cookie = 0);
-
- void setRenderingProperty(const String &id, int property, double value);
- double getRenderingProperty(const String &id, int property);
-
- void setDesiredUpdateRate(double rate);
- double getDesiredUpdateRate();
-
- void setRepresentationToSurface();
- void setRepresentationToWireframe();
- void setRepresentationToPoints();
- private:
- /* hidden */
- };
+The Viz3d class represents a 3D visualizer window. This class is implicitly shared. ::
+
+ class CV_EXPORTS Viz3d
+ {
+ public:
+ typedef cv::Ptr<Viz3d> Ptr;
+ typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
+ typedef void (*MouseCallback)(const MouseEvent&, void*);
+
+ Viz3d(const String& window_name = String());
+ Viz3d(const Viz3d&);
+ Viz3d& operator=(const Viz3d&);
+ ~Viz3d();
+
+ void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
+ void removeWidget(const String &id);
+ Widget getWidget(const String &id) const;
+ void removeAllWidgets();
+
+ void setWidgetPose(const String &id, const Affine3f &pose);
+ void updateWidgetPose(const String &id, const Affine3f &pose);
+ Affine3f getWidgetPose(const String &id) const;
+
+ void setCamera(const Camera &camera);
+ Camera getCamera() const;
+ Affine3f getViewerPose();
+ void setViewerPose(const Affine3f &pose);
+
+ void resetCameraViewpoint (const String &id);
+ void resetCamera();
+
+ void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
+ void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
+
+ Size getWindowSize() const;
+ void setWindowSize(const Size &window_size);
+ String getWindowName() const;
+ void saveScreenshot (const String &file);
+ void setWindowPosition (int x, int y);
+ void setFullScreen (bool mode);
+ void setBackgroundColor(const Color& color = Color::black());
+
+ void spin();
+ void spinOnce(int time = 1, bool force_redraw = false);
+ bool wasStopped() const;
+
+ void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
+ void registerMouseCallback(MouseCallback callback, void* cookie = 0);
+
+ void setRenderingProperty(const String &id, int property, double value);
+ double getRenderingProperty(const String &id, int property);
+
+ void setDesiredUpdateRate(double rate);
+ double getDesiredUpdateRate();
+
+ void setRepresentationToSurface();
+ void setRepresentationToWireframe();
+ void setRepresentationToPoints();
+ private:
+ /* hidden */
+ };
Viz3d::Viz3d
------------
.. ocv:function:: Viz3d::Viz3d(const String& window_name = String())
- :param window_name: Name of the window.
+ :param window_name: Name of the window.
Viz3d::showWidget
-----------------
.. ocv:function:: void Viz3d::showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity())
- :param id: A unique id for the widget.
- :param widget: The widget to be rendered in the window.
- :param pose: Pose of the widget.
-
+ :param id: A unique id for the widget.
+ :param widget: The widget to be rendered in the window.
+ :param pose: Pose of the widget.
+
Viz3d::removeWidget
-------------------
Removes a widget from the window.
.. ocv:function:: void removeWidget(const String &id)
- :param id: The id of the widget that will be removed.
-
+ :param id: The id of the widget that will be removed.
+
Viz3d::getWidget
----------------
Retrieves a widget from the window. A widget is implicitly shared;
.. ocv:function:: Widget getWidget(const String &id) const
- :param id: The id of the widget that will be returned.
-
+ :param id: The id of the widget that will be returned.
+
Viz3d::removeAllWidgets
-----------------------
Removes all widgets from the window.
.. ocv:function:: void setWidgetPose(const String &id, const Affine3f &pose)
- :param id: The id of the widget whose pose will be set.
- :param pose: The new pose of the widget.
+ :param id: The id of the widget whose pose will be set.
+ :param pose: The new pose of the widget.
Viz3d::updateWidgetPose
-----------------------
.. ocv:function:: void updateWidgetPose(const String &id, const Affine3f &pose)
- :param id: The id of the widget whose pose will be updated.
- :param pose: The pose that the current pose of the widget will be pre-multiplied by.
+ :param id: The id of the widget whose pose will be updated.
+ :param pose: The pose that the current pose of the widget will be pre-multiplied by.
Viz3d::getWidgetPose
--------------------
.. ocv:function:: Affine3f getWidgetPose(const String &id) const
- :param id: The id of the widget whose pose will be returned.
+ :param id: The id of the widget whose pose will be returned.
Viz3d::setCamera
----------------
.. ocv:function:: void setCamera(const Camera &camera)
- :param camera: Camera object wrapping intrinsinc parameters.
+ :param camera: Camera object wrapping intrinsinc parameters.
Viz3d::getCamera
----------------
.. ocv:function:: void setViewerPose(const Affine3f &pose)
- :param pose: The new pose of the viewer.
+ :param pose: The new pose of the viewer.
Viz3d::resetCameraViewpoint
---------------------------
.. ocv:function:: void resetCameraViewpoint (const String &id)
- :param pose: Id of a 3D widget.
-
+ :param pose: Id of a 3D widget.
+
Viz3d::resetCamera
------------------
Resets camera.
.. ocv:function:: void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord)
- :param pt: Point in world coordinate system.
- :param window_coord: Output point in window coordinate system.
-
+ :param pt: Point in world coordinate system.
+ :param window_coord: Output point in window coordinate system.
+
Viz3d::converTo3DRay
--------------------
Transforms a point in window coordinate system to a 3D ray in world coordinate system.
.. ocv:function:: void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
- :param window_coord: Point in window coordinate system.
- :param origin: Output origin of the ray.
- :param direction: Output direction of the ray.
-
+ :param window_coord: Point in window coordinate system.
+ :param origin: Output origin of the ray.
+ :param direction: Output direction of the ray.
+
Viz3d::getWindowSize
--------------------
Returns the current size of the window.
.. ocv:function:: void setWindowSize(const Size &window_size)
- :param window_size: New size of the window.
-
+ :param window_size: New size of the window.
+
Viz3d::getWindowName
--------------------
Returns the name of the window which has been set in the constructor.
.. ocv:function:: void saveScreenshot(const String &file)
- :param file: Name of the file.
-
+ :param file: Name of the file.
+
Viz3d::setWindowPosition
------------------------
Sets the position of the window in the screen.
.. ocv:function:: void setWindowPosition(int x, int y)
- :param x: x coordinate of the window
- :param y: y coordinate of the window
-
+ :param x: x coordinate of the window
+ :param y: y coordinate of the window
+
Viz3d::setFullScreen
--------------------
Sets or unsets full-screen rendering mode.
.. ocv:function:: void setFullScreen(bool mode)
- :param mode: If true, window will use full-screen mode.
-
+ :param mode: If true, window will use full-screen mode.
+
Viz3d::setBackgroundColor
-------------------------
Sets background color.
.. ocv:function:: void spinOnce(int time = 1, bool force_redraw = false)
- :param time: Amount of time in milliseconds for the event loop to keep running.
- :param force_draw: If true, window renders.
+ :param time: Amount of time in milliseconds for the event loop to keep running.
+ :param force_draw: If true, window renders.
Viz3d::wasStopped
-----------------
.. ocv:function:: void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0)
- :param callback: Keyboard callback.
- :param cookie: The optional parameter passed to the callback.
-
+ :param callback: Keyboard callback.
+ :param cookie: The optional parameter passed to the callback.
+
Viz3d::registerMouseCallback
----------------------------
Sets mouse handler.
.. ocv:function:: void registerMouseCallback(MouseCallback callback, void* cookie = 0)
- :param callback: Mouse callback.
- :param cookie: The optional parameter passed to the callback.
+ :param callback: Mouse callback.
+ :param cookie: The optional parameter passed to the callback.
Viz3d::setRenderingProperty
---------------------------
.. ocv:function:: void setRenderingProperty(const String &id, int property, double value)
- :param id: Id of the widget.
- :param property: Property that will be modified.
- :param value: The new value of the property.
-
+ :param id: Id of the widget.
+ :param property: Property that will be modified.
+ :param value: The new value of the property.
+
Viz3d::getRenderingProperty
---------------------------
Returns rendering property of a widget.
.. ocv:function:: double getRenderingProperty(const String &id, int property)
- :param id: Id of the widget.
- :param property: Property.
+ :param id: Id of the widget.
+ :param property: Property.
Viz3d::setDesiredUpdateRate
---------------------------
.. ocv:function:: void setDesiredUpdateRate(double rate)
- :param rate: Desired update rate. The default is 30.
-
+ :param rate: Desired update rate. The default is 30.
+
Viz3d::getDesiredUpdateRate
---------------------------
Returns desired update rate of the window.
This class a represents BGR color. ::
- class CV_EXPORTS Color : public Scalar
- {
- public:
- Color();
- Color(double gray);
- Color(double blue, double green, double red);
+ class CV_EXPORTS Color : public Scalar
+ {
+ public:
+ Color();
+ Color(double gray);
+ Color(double blue, double green, double red);
- Color(const Scalar& color);
+ Color(const Scalar& color);
- static Color black();
- static Color blue();
- static Color green();
- static Color cyan();
+ static Color black();
+ static Color blue();
+ static Color green();
+ static Color cyan();
- static Color red();
- static Color magenta();
- static Color yellow();
- static Color white();
+ static Color red();
+ static Color magenta();
+ static Color yellow();
+ static Color white();
- static Color gray();
- };
+ static Color gray();
+ };
Mesh3d
------
This class wraps mesh attributes, and it can load a mesh from a ``ply`` file. ::
- class CV_EXPORTS Mesh3d
- {
- public:
+ class CV_EXPORTS Mesh3d
+ {
+ public:
- Mat cloud, colors;
- Mat polygons;
+ Mat cloud, colors;
+ Mat polygons;
- //! Loads mesh from a given ply file
- static Mesh3d loadMesh(const String& file);
-
- private:
- /* hidden */
- };
-
+ //! Loads mesh from a given ply file
+ static Mesh3d loadMesh(const String& file);
+
+ private:
+ /* hidden */
+ };
+
Mesh3d::loadMesh
----------------
Loads a mesh from a ``ply`` file.
.. ocv:function:: static Mesh3d loadMesh(const String& file)
- :param file: File name.
+ :param file: File name.
KeyboardEvent
This class represents a keyboard event. ::
- class CV_EXPORTS KeyboardEvent
- {
- public:
- static const unsigned int Alt = 1;
- static const unsigned int Ctrl = 2;
- static const unsigned int Shift = 4;
+ class CV_EXPORTS KeyboardEvent
+ {
+ public:
+ static const unsigned int Alt = 1;
+ static const unsigned int Ctrl = 2;
+ static const unsigned int Shift = 4;
- //! Create a keyboard event
- //! - Note that action is true if key is pressed, false if released
- KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift);
+ //! Create a keyboard event
+ //! - Note that action is true if key is pressed, false if released
+ KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift);
- bool isAltPressed () const;
- bool isCtrlPressed () const;
- bool isShiftPressed () const;
+ bool isAltPressed () const;
+ bool isCtrlPressed () const;
+ bool isShiftPressed () const;
- unsigned char getKeyCode () const;
+ unsigned char getKeyCode () const;
- const String& getKeySym () const;
- bool keyDown () const;
- bool keyUp () const;
+ const String& getKeySym () const;
+ bool keyDown () const;
+ bool keyUp () const;
- protected:
- /* hidden */
- };
+ protected:
+ /* hidden */
+ };
KeyboardEvent::KeyboardEvent
----------------------------
.. ocv:function:: KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift)
- :param action: If true, key is pressed. If false, key is released.
- :param key_sym: Name of the key.
- :param key: Code of the key.
- :param alt: If true, ``alt`` is pressed.
- :param ctrl: If true, ``ctrl`` is pressed.
- :param shift: If true, ``shift`` is pressed.
-
+ :param action: If true, key is pressed. If false, key is released.
+ :param key_sym: Name of the key.
+ :param key: Code of the key.
+ :param alt: If true, ``alt`` is pressed.
+ :param ctrl: If true, ``ctrl`` is pressed.
+ :param shift: If true, ``shift`` is pressed.
+
MouseEvent
----------
.. ocv:class:: MouseEvent
This class represents a mouse event. ::
- class CV_EXPORTS MouseEvent
- {
- public:
- enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ;
- enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ;
+ class CV_EXPORTS MouseEvent
+ {
+ public:
+ enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ;
+ enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ;
- MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift);
+ MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift);
- Type type;
- MouseButton button;
- Point pointer;
- unsigned int key_state;
- };
-
+ Type type;
+ MouseButton button;
+ Point pointer;
+ unsigned int key_state;
+ };
+
MouseEvent::MouseEvent
----------------------
Constructs a MouseEvent.
.. ocv:function:: MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift)
- :param type: Type of the event. This can be **MouseMove**, **MouseButtonPress**, **MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**.
- :param button: Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**, **RightButton**, **VScroll**.
- :param p: Position of the event.
- :param alt: If true, ``alt`` is pressed.
- :param ctrl: If true, ``ctrl`` is pressed.
- :param shift: If true, ``shift`` is pressed.
-
+ :param type: Type of the event. This can be **MouseMove**, **MouseButtonPress**, **MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**.
+ :param button: Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**, **RightButton**, **VScroll**.
+ :param p: Position of the event.
+ :param alt: If true, ``alt`` is pressed.
+ :param ctrl: If true, ``ctrl`` is pressed.
+ :param shift: If true, ``shift`` is pressed.
+
Camera
------
.. ocv:class:: Camera
that can extract the intrinsic parameters from ``field of view``, ``intrinsic matrix`` and
``projection matrix``. ::
- class CV_EXPORTS Camera
- {
- public:
- Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size);
- Camera(const Vec2f &fov, const Size &window_size);
- Camera(const cv::Matx33f &K, const Size &window_size);
- Camera(const cv::Matx44f &proj, const Size &window_size);
-
- inline const Vec2d & getClip() const { return clip_; }
- inline void setClip(const Vec2d &clip) { clip_ = clip; }
-
- inline const Size & getWindowSize() const { return window_size_; }
- void setWindowSize(const Size &window_size);
-
- inline const Vec2f & getFov() const { return fov_; }
- inline void setFov(const Vec2f & fov) { fov_ = fov; }
-
- inline const Vec2f & getPrincipalPoint() const { return principal_point_; }
- inline const Vec2f & getFocalLength() const { return focal_; }
-
- void computeProjectionMatrix(Matx44f &proj) const;
-
- static Camera KinectCamera(const Size &window_size);
-
- private:
- /* hidden */
- };
+ class CV_EXPORTS Camera
+ {
+ public:
+ Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size);
+ Camera(const Vec2f &fov, const Size &window_size);
+ Camera(const cv::Matx33f &K, const Size &window_size);
+ Camera(const cv::Matx44f &proj, const Size &window_size);
+
+ inline const Vec2d & getClip() const { return clip_; }
+ inline void setClip(const Vec2d &clip) { clip_ = clip; }
+
+ inline const Size & getWindowSize() const { return window_size_; }
+ void setWindowSize(const Size &window_size);
+
+ inline const Vec2f & getFov() const { return fov_; }
+ inline void setFov(const Vec2f & fov) { fov_ = fov; }
+
+ inline const Vec2f & getPrincipalPoint() const { return principal_point_; }
+ inline const Vec2f & getFocalLength() const { return focal_; }
+
+ void computeProjectionMatrix(Matx44f &proj) const;
+
+ static Camera KinectCamera(const Size &window_size);
+
+ private:
+ /* hidden */
+ };
Camera::Camera
--------------
.. ocv:function:: Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size)
- :param f_x: Horizontal focal length.
- :param f_y: Vertical focal length.
- :param c_x: x coordinate of the principal point.
- :param c_y: y coordinate of the principal point.
- :param window_size: Size of the window. This together with focal length and principal point determines the field of view.
+ :param f_x: Horizontal focal length.
+ :param f_y: Vertical focal length.
+ :param c_x: x coordinate of the principal point.
+ :param c_y: y coordinate of the principal point.
+ :param window_size: Size of the window. This together with focal length and principal point determines the field of view.
.. ocv:function:: Camera(const Vec2f &fov, const Size &window_size)
- :param fov: Field of view (horizontal, vertical)
- :param window_size: Size of the window.
+ :param fov: Field of view (horizontal, vertical)
+ :param window_size: Size of the window.
- Principal point is at the center of the window by default.
-
+ Principal point is at the center of the window by default.
+
.. ocv:function:: Camera(const cv::Matx33f &K, const Size &window_size)
- :param K: Intrinsic matrix of the camera.
- :param window_size: Size of the window. This together with intrinsic matrix determines the field of view.
+ :param K: Intrinsic matrix of the camera.
+ :param window_size: Size of the window. This together with intrinsic matrix determines the field of view.
.. ocv:function:: Camera(const cv::Matx44f &proj, const Size &window_size)
- :param proj: Projection matrix of the camera.
- :param window_size: Size of the window. This together with projection matrix determines the field of view.
+ :param proj: Projection matrix of the camera.
+ :param window_size: Size of the window. This together with projection matrix determines the field of view.
Camera::computeProjectionMatrix
-------------------------------
.. ocv:function:: void computeProjectionMatrix(Matx44f &proj) const
- :param proj: Output projection matrix.
-
+ :param proj: Output projection matrix.
+
Camera::KinectCamera
--------------------
Creates a Kinect Camera.
.. ocv:function:: static Camera KinectCamera(const Size &window_size)
- :param window_size: Size of the window. This together with intrinsic matrix of a Kinect Camera determines the field of view.
+ :param window_size: Size of the window. This together with intrinsic matrix of a Kinect Camera determines the field of view.
Widget
======
-
+
.. highlight:: cpp
In this section, the built-in widgets are presented.
Base class of all widgets. Widget is implicitly shared.::
- class CV_EXPORTS Widget
- {
- public:
- Widget();
- Widget(const Widget& other);
- Widget& operator=(const Widget& other);
- ~Widget();
-
- //! Create a widget directly from ply file
- static Widget fromPlyFile(const String &file_name);
-
- //! Rendering properties of this particular widget
- void setRenderingProperty(int property, double value);
- double getRenderingProperty(int property) const;
-
- //! Casting between widgets
- template<typename _W> _W cast();
- private:
- /* hidden */
- };
+ class CV_EXPORTS Widget
+ {
+ public:
+ Widget();
+ Widget(const Widget& other);
+ Widget& operator=(const Widget& other);
+ ~Widget();
+
+ //! Create a widget directly from ply file
+ static Widget fromPlyFile(const String &file_name);
+
+ //! Rendering properties of this particular widget
+ void setRenderingProperty(int property, double value);
+ double getRenderingProperty(int property) const;
+
+ //! Casting between widgets
+ template<typename _W> _W cast();
+ private:
+ /* hidden */
+ };
Widget::fromPlyFile
-------------------
.. ocv:function:: static Widget fromPlyFile(const String &file_name)
- :param file_name: Ply file name.
-
+ :param file_name: Ply file name.
+
Widget::setRenderingProperty
----------------------------
Sets rendering property of the widget.
.. ocv:function:: void setRenderingProperty(int property, double value)
- :param property: Property that will be modified.
- :param value: The new value of the property.
-
+ :param property: Property that will be modified.
+ :param value: The new value of the property.
+
Widget::getRenderingProperty
----------------------------
Returns rendering property of the widget.
.. ocv:function:: double getRenderingProperty(int property) const
- :param property: Property.
-
+ :param property: Property.
+
Widget::cast
------------
Casts a widget to another.
.. ocv:function:: template<typename _W> _W cast()
+WidgetAccessor
+--------------
+.. ocv:class:: WidgetAccessor
+
+This class is for users who want to develop their own widgets using VTK library API. ::
+
+ struct CV_EXPORTS WidgetAccessor
+ {
+ static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
+ static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
+ };
+
Widget3D
--------
.. ocv:class:: Widget3D
Base class of all 3D widgets. ::
- class CV_EXPORTS Widget3D : public Widget
- {
- public:
- Widget3D() {}
+ class CV_EXPORTS Widget3D : public Widget
+ {
+ public:
+ Widget3D() {}
- void setPose(const Affine3f &pose);
- void updatePose(const Affine3f &pose);
- Affine3f getPose() const;
+ void setPose(const Affine3f &pose);
+ void updatePose(const Affine3f &pose);
+ Affine3f getPose() const;
- void setColor(const Color &color);
- private:
- /* hidden */
- };
+ void setColor(const Color &color);
+ private:
+ /* hidden */
+ };
Widget3D::setPose
-----------------
.. ocv:function:: void setPose(const Affine3f &pose)
- :param pose: The new pose of the widget.
-
+ :param pose: The new pose of the widget.
+
Widget3D::updateWidgetPose
--------------------------
Updates pose of the widget by pre-multiplying its current pose.
.. ocv:function:: void updateWidgetPose(const Affine3f &pose)
- :param pose: The pose that the current pose of the widget will be pre-multiplied by.
+ :param pose: The pose that the current pose of the widget will be pre-multiplied by.
Widget3D::getPose
-----------------
.. ocv:function:: void setColor(const Color &color)
- :param color: Color
-
+ :param color: Color
+
Widget2D
--------
.. ocv:class:: Widget2D
Base class of all 2D widgets. ::
- class CV_EXPORTS Widget2D : public Widget
- {
- public:
- Widget2D() {}
+ class CV_EXPORTS Widget2D : public Widget
+ {
+ public:
+ Widget2D() {}
- void setColor(const Color &color);
- };
-
+ void setColor(const Color &color);
+ };
+
Widget2D::setColor
------------------
Sets the color of the widget.
.. ocv:function:: void setColor(const Color &color)
- :param color: Color
+ :param color: Color
LineWidget
----------
This 3D Widget defines a finite line. ::
- class CV_EXPORTS LineWidget : public Widget3D
- {
- public:
- LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
- };
-
+ class CV_EXPORTS LineWidget : public Widget3D
+ {
+ public:
+ LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
+ };
+
LineWidget::LineWidget
----------------------
Constructs a LineWidget.
.. ocv:function:: LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white())
- :param pt1: Start point of the line.
- :param pt2: End point of the line.
- :param color: Color of the line.
-
+ :param pt1: Start point of the line.
+ :param pt2: End point of the line.
+ :param color: Color of the line.
+
PlaneWidget
-----------
.. ocv:class:: PlaneWidget
This 3D Widget defines a finite plane. ::
- class CV_EXPORTS PlaneWidget : public Widget3D
- {
- public:
- PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
- PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
- private:
- /* hidden */
- };
-
+ class CV_EXPORTS PlaneWidget : public Widget3D
+ {
+ public:
+ PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
+ PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
+ private:
+ /* hidden */
+ };
+
PlaneWidget::PlaneWidget
------------------------
Constructs a PlaneWidget.
.. ocv:function:: PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white())
-
- :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
- :param size: Size of the plane.
- :param color: Color of the plane.
+
+ :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
+ :param size: Size of the plane.
+ :param color: Color of the plane.
.. ocv:function:: PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white())
- :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
- :param pt: Position of the plane.
- :param color: Color of the plane.
-
+ :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
+ :param pt: Position of the plane.
+ :param color: Color of the plane.
+
SphereWidget
------------
.. ocv:class:: SphereWidget
This 3D Widget defines a sphere. ::
- class CV_EXPORTS SphereWidget : public Widget3D
- {
- public:
- SphereWidget(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white())
- };
+ class CV_EXPORTS SphereWidget : public Widget3D
+ {
+ public:
+ SphereWidget(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white())
+ };
SphereWidget::SphereWidget
--------------------------
.. ocv:function:: SphereWidget(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white())
- :param center: Center of the sphere.
- :param radius: Radius of the sphere.
- :param sphere_resolution: Resolution of the sphere.
- :param color: Color of the sphere.
+ :param center: Center of the sphere.
+ :param radius: Radius of the sphere.
+ :param sphere_resolution: Resolution of the sphere.
+ :param color: Color of the sphere.
ArrowWidget
-----------
This 3D Widget defines an arrow. ::
- class CV_EXPORTS ArrowWidget : public Widget3D
- {
- public:
- ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
- };
-
+ class CV_EXPORTS ArrowWidget : public Widget3D
+ {
+ public:
+ ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
+ };
+
ArrowWidget::ArrowWidget
------------------------
Constructs an ArrowWidget.
.. ocv:function:: ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white())
- :param pt1: Start point of the arrow.
- :param pt2: End point of the arrow.
- :param thickness: Thickness of the arrow. Thickness of arrow head is also adjusted accordingly.
- :param color: Color of the arrow.
-
+ :param pt1: Start point of the arrow.
+ :param pt2: End point of the arrow.
+ :param thickness: Thickness of the arrow. Thickness of arrow head is also adjusted accordingly.
+ :param color: Color of the arrow.
+
Arrow head is located at the end point of the arrow.
-
+
CircleWidget
------------
.. ocv:class:: CircleWidget
This 3D Widget defines a circle. ::
- class CV_EXPORTS CircleWidget : public Widget3D
- {
- public:
- CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
- };
-
+ class CV_EXPORTS CircleWidget : public Widget3D
+ {
+ public:
+ CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
+ };
+
CircleWidget::CircleWidget
--------------------------
Constructs a CircleWidget.
.. ocv:function:: CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white())
- :param pt: Center of the circle.
- :param radius: Radius of the circle.
- :param thickness: Thickness of the circle.
- :param color: Color of the circle.
-
+ :param pt: Center of the circle.
+ :param radius: Radius of the circle.
+ :param thickness: Thickness of the circle.
+ :param color: Color of the circle.
+
CylinderWidget
--------------
.. ocv:class:: CylinderWidget
This 3D Widget defines a cylinder. ::
- class CV_EXPORTS CylinderWidget : public Widget3D
- {
- public:
- CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
- };
+ class CV_EXPORTS CylinderWidget : public Widget3D
+ {
+ public:
+ CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
+ };
CylinderWidget::CylinderWidget
------------------------------
.. ocv:function:: CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white())
- :param pt_on_axis: A point on the axis of the cylinder.
- :param axis_direction: Direction of the axis of the cylinder.
- :param radius: Radius of the cylinder.
- :param numsides: Resolution of the cylinder.
- :param color: Color of the cylinder.
-
+ :param pt_on_axis: A point on the axis of the cylinder.
+ :param axis_direction: Direction of the axis of the cylinder.
+ :param radius: Radius of the cylinder.
+ :param numsides: Resolution of the cylinder.
+ :param color: Color of the cylinder.
+
CubeWidget
----------
.. ocv:class:: CubeWidget
This 3D Widget defines a cube. ::
- class CV_EXPORTS CubeWidget : public Widget3D
- {
- public:
- CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
- };
-
+ class CV_EXPORTS CubeWidget : public Widget3D
+ {
+ public:
+ CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
+ };
+
CubeWidget::CubeWidget
----------------------
Constructs a CudeWidget.
.. ocv:function:: CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white())
- :param pt_min: Specifies minimum point of the bounding box.
- :param pt_max: Specifies maximum point of the bounding box.
- :param wire_frame: If true, cube is represented as wireframe.
- :param color: Color of the cube.
-
+ :param pt_min: Specifies minimum point of the bounding box.
+ :param pt_max: Specifies maximum point of the bounding box.
+ :param wire_frame: If true, cube is represented as wireframe.
+ :param color: Color of the cube.
+
CoordinateSystemWidget
----------------------
.. ocv:class:: CoordinateSystemWidget
This 3D Widget represents a coordinate system. ::
- class CV_EXPORTS CoordinateSystemWidget : public Widget3D
- {
- public:
- CoordinateSystemWidget(double scale = 1.0);
- };
-
+ class CV_EXPORTS CoordinateSystemWidget : public Widget3D
+ {
+ public:
+ CoordinateSystemWidget(double scale = 1.0);
+ };
+
CoordinateSystemWidget::CoordinateSystemWidget
----------------------------------------------
Constructs a CoordinateSystemWidget.
.. ocv:function:: CoordinateSystemWidget(double scale = 1.0)
- :param scale: Determines the size of the axes.
-
+ :param scale: Determines the size of the axes.
+
PolyLineWidget
--------------
.. ocv:class:: PolyLineWidget
This 3D Widget defines a poly line. ::
- class CV_EXPORTS PolyLineWidget : public Widget3D
- {
- public:
- PolyLineWidget(InputArray points, const Color &color = Color::white());
+ class CV_EXPORTS PolyLineWidget : public Widget3D
+ {
+ public:
+ PolyLineWidget(InputArray points, const Color &color = Color::white());
- private:
- /* hidden */
- };
+ private:
+ /* hidden */
+ };
PolyLineWidget::PolyLineWidget
------------------------------
Constructs a PolyLineWidget.
.. ocv:function:: PolyLineWidget(InputArray points, const Color &color = Color::white())
-
- :param points: Point set.
- :param color: Color of the poly line.
-
+
+ :param points: Point set.
+ :param color: Color of the poly line.
+
GridWidget
----------
.. ocv:class:: GridWidget
This 3D Widget defines a grid. ::
- class CV_EXPORTS GridWidget : public Widget3D
- {
- public:
- //! Creates grid at the origin
- GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
- //! Creates grid based on the plane equation
- GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
- private:
- /* hidden */
- };
-
+ class CV_EXPORTS GridWidget : public Widget3D
+ {
+ public:
+ //! Creates grid at the origin
+ GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
+ //! Creates grid based on the plane equation
+ GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
+ private:
+ /* hidden */
+ };
+
GridWidget::GridWidget
----------------------
Constructs a GridWidget.
.. ocv:function:: GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
- :param dimensions: Number of columns and rows, respectively.
- :param spacing: Size of each column and row, respectively.
- :param color: Color of the grid.
-
+ :param dimensions: Number of columns and rows, respectively.
+ :param spacing: Size of each column and row, respectively.
+ :param color: Color of the grid.
+
.. ocv:function: GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
-
- :param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
- :param dimensions: Number of columns and rows, respectively.
- :param spacing: Size of each column and row, respectively.
- :param color: Color of the grid.
-
+
+ :param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
+ :param dimensions: Number of columns and rows, respectively.
+ :param spacing: Size of each column and row, respectively.
+ :param color: Color of the grid.
+
Text3DWidget
------------
.. ocv:class:: Text3DWidget
This 3D Widget represents 3D text. The text always faces the camera. ::
- class CV_EXPORTS Text3DWidget : public Widget3D
- {
- public:
- Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white());
+ class CV_EXPORTS Text3DWidget : public Widget3D
+ {
+ public:
+ Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white());
- void setText(const String &text);
- String getText() const;
- };
-
+ void setText(const String &text);
+ String getText() const;
+ };
+
Text3DWidget::Text3DWidget
--------------------------
Constructs a Text3DWidget.
.. ocv:function:: Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white())
- :param text: Text content of the widget.
- :param position: Position of the text.
- :param text_scale: Size of the text.
- :param color: Color of the text.
-
+ :param text: Text content of the widget.
+ :param position: Position of the text.
+ :param text_scale: Size of the text.
+ :param color: Color of the text.
+
Text3DWidget::setText
---------------------
Sets the text content of the widget.
.. ocv:function:: void setText(const String &text)
- :param text: Text content of the widget.
+ :param text: Text content of the widget.
Text3DWidget::getText
---------------------
This 2D Widget represents text overlay. ::
- class CV_EXPORTS TextWidget : public Widget2D
- {
- public:
- TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
+ class CV_EXPORTS TextWidget : public Widget2D
+ {
+ public:
+ TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
- void setText(const String &text);
- String getText() const;
- };
-
+ void setText(const String &text);
+ String getText() const;
+ };
+
TextWidget::TextWidget
----------------------
Constructs a TextWidget.
.. ocv:function:: TextWidget(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: Color of the text.
-
+ :param text: Text content of the widget.
+ :param pos: Position of the text.
+ :param font_size: Font size.
+ :param color: Color of the text.
+
TextWidget::setText
---------------------
Sets the text content of the widget.
.. ocv:function:: void setText(const String &text)
- :param text: Text content of the widget.
+ :param text: Text content of the widget.
TextWidget::getText
---------------------
This 2D Widget represents an image overlay. ::
- class CV_EXPORTS ImageOverlayWidget : public Widget2D
- {
- public:
- ImageOverlayWidget(const Mat &image, const Rect &rect);
-
- void setImage(const Mat &image);
- };
-
+ class CV_EXPORTS ImageOverlayWidget : public Widget2D
+ {
+ public:
+ ImageOverlayWidget(const Mat &image, const Rect &rect);
+
+ void setImage(const Mat &image);
+ };
+
ImageOverlayWidget::ImageOverlayWidget
--------------------------------------
Constructs a ImageOverlayWidget.
.. ocv:function:: ImageOverlayWidget(const Mat &image, const Rect &rect)
- :param image: BGR or Gray-Scale image.
- :param rect: Image is scaled and positioned based on rect.
-
+ :param image: BGR or Gray-Scale image.
+ :param rect: Image is scaled and positioned based on rect.
+
ImageOverlayWidget::setImage
----------------------------
Sets the image content of the widget.
.. ocv:function:: void setImage(const Mat &image)
- :param image: BGR or Gray-Scale image.
-
+ :param image: BGR or Gray-Scale image.
+
Image3DWidget
-------------
.. ocv:class:: Image3DWidget
This 3D Widget represents 3D image. ::
- class CV_EXPORTS Image3DWidget : public Widget3D
- {
- public:
- //! Creates 3D image at the origin
- Image3DWidget(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
- Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
-
- void setImage(const Mat &image);
- };
+ class CV_EXPORTS Image3DWidget : public Widget3D
+ {
+ public:
+ //! Creates 3D image at the origin
+ Image3DWidget(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
+ Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
+
+ void setImage(const Mat &image);
+ };
Image3DWidget::Image3DWidget
----------------------------
Constructs a Image3DWidget.
.. ocv:function:: Image3DWidget(const Mat &image, const Size &size)
-
- :param image: BGR or Gray-Scale image.
- :param size: Size of the image.
-
+
+ :param image: BGR or Gray-Scale image.
+ :param size: Size of the image.
+
.. ocv:function:: Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &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.
-
+ :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.
+
Image3DWidget::setImage
-----------------------
Sets the image content of the widget.
.. ocv:function:: void setImage(const Mat &image)
- :param image: BGR or Gray-Scale image.
-
+ :param image: BGR or Gray-Scale image.
+
CameraPositionWidget
--------------------
.. ocv:class:: CameraPositionWidget
This 3D Widget represents camera position. ::
- class CV_EXPORTS CameraPositionWidget : public Widget3D
- {
- public:
- //! Creates camera coordinate frame (axes) at the origin
- CameraPositionWidget(double scale = 1.0);
- //! Creates frustum based on the intrinsic marix K at the origin
- CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
- //! Creates frustum based on the field of view at the origin
- CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
- //! Creates frustum and display given image at the far plane
- CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
- };
-
+ class CV_EXPORTS CameraPositionWidget : public Widget3D
+ {
+ public:
+ //! Creates camera coordinate frame (axes) at the origin
+ CameraPositionWidget(double scale = 1.0);
+ //! Creates frustum based on the intrinsic marix K at the origin
+ CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+ //! Creates frustum based on the field of view at the origin
+ CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
+ //! Creates frustum and display given image at the far plane
+ CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
+ };
+
CameraPositionWidget::CameraPositionWidget
------------------------------------------
Constructs a CameraPositionWidget.
.. ocv:function:: CameraPositionWidget(double scale = 1.0)
- Creates camera coordinate frame at the origin.
-
+ Creates camera coordinate frame at the origin.
+
.. ocv:function:: CameraPositionWidget(const Matx33f &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: Color of the frustum.
-
- Creates viewing frustum of the camera based on its intrinsic matrix K.
-
+ :param K: Intrinsic matrix of the camera.
+ :param scale: Scale of the frustum.
+ :param color: Color of the frustum.
+
+ Creates viewing frustum of the camera based on its intrinsic matrix K.
+
.. ocv:function:: CameraPositionWidget(const Vec2f &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: Color of the frustum.
-
- Creates viewing frustum of the camera based on its field of view fov.
+ :param fov: Field of view of the camera (horizontal, vertical).
+ :param scale: Scale of the frustum.
+ :param color: Color of the frustum.
+
+ Creates viewing frustum of the camera based on its field of view fov.
.. ocv:function:: CameraPositionWidget(const Matx33f &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 at the far plane of the frustum.
- :param scale: Scale of the frustum and image.
- :param color: Color of the frustum.
-
- Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
-
+ :param K: Intrinsic matrix of the camera.
+ :param img: BGR or Gray-Scale image that is going to be displayed at the far plane of the frustum.
+ :param scale: Scale of the frustum and image.
+ :param color: Color of the frustum.
+
+ Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
+
TrajectoryWidget
----------------
.. ocv:class:: TrajectoryWidget
This 3D Widget represents a trajectory. ::
- class CV_EXPORTS TrajectoryWidget : public Widget3D
- {
- public:
- enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
-
- //! Displays trajectory of the given path either by coordinate frames or polyline
-
TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
- //! Displays trajectory of the given path by frustums
-
TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
- //! Displays trajectory of the given path by frustums
-
TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
-
- private:
- /* hidden */
- };
-
+ class CV_EXPORTS TrajectoryWidget : public Widget3D
+ {
+ public:
+ enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
+
+ //! Displays trajectory of the given path either by coordinate frames or polyline
+ TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
+ //! Displays trajectory of the given path by frustums
+ TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+ //! Displays trajectory of the given path by frustums
+ TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
+
+ private:
+ /* hidden */
+ };
+
TrajectoryWidget::TrajectoryWidget
----------------------------------
Constructs a TrajectoryWidget.
.. ocv:function:: TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0)
- :param path: List of poses on a trajectory.
- :param display_mode: Display mode. This can be DISPLAY_PATH, DISPLAY_FRAMES, DISPLAY_PATH & DISPLAY_FRAMES.
- :param color: Color of the polyline that represents path. Frames are not affected.
- :param scale: Scale of the frames. Polyline is not affected.
-
- Displays trajectory of the given path as follows:
-
- * DISPLAY_PATH : Displays a poly line that represents the path.
- * DISPLAY_FRAMES : Displays coordinate frames at each pose.
- * DISPLAY_PATH & DISPLAY_FRAMES : Displays both poly line and coordinate frames.
-
+ :param path: List of poses on a trajectory.
+ :param display_mode: Display mode. This can be DISPLAY_PATH, DISPLAY_FRAMES, DISPLAY_PATH & DISPLAY_FRAMES.
+ :param color: Color of the polyline that represents path. Frames are not affected.
+ :param scale: Scale of the frames. Polyline is not affected.
+
+ Displays trajectory of the given path as follows:
+
+ * DISPLAY_PATH : Displays a poly line that represents the path.
+ * DISPLAY_FRAMES : Displays coordinate frames at each pose.
+ * DISPLAY_PATH & DISPLAY_FRAMES : Displays both poly line and coordinate frames.
+
.. ocv:function:: TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white())
- :param path: List of poses on a trajectory.
- :param K: Intrinsic matrix of the camera.
- :param scale: Scale of the frustums.
- :param color: Color of the frustums.
-
- Displays frustums at each pose of the trajectory.
-
+ :param path: List of poses on a trajectory.
+ :param K: Intrinsic matrix of the camera.
+ :param scale: Scale of the frustums.
+ :param color: Color of the frustums.
+
+ Displays frustums at each pose of the trajectory.
+
.. ocv:function:: TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white())
- :param path: List of poses on a trajectory.
- :param fov: Field of view of the camera (horizontal, vertical).
- :param scale: Scale of the frustums.
- :param color: Color of the frustums.
-
- Displays frustums at each pose of the trajectory.
+ :param path: List of poses on a trajectory.
+ :param fov: Field of view of the camera (horizontal, vertical).
+ :param scale: Scale of the frustums.
+ :param color: Color of the frustums.
+
+ Displays frustums at each pose of the trajectory.
SpheresTrajectoryWidget
-----------------------
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 SpheresTrajectoryWidget : public Widget3D
- {
- public:
-
SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float 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());
- };
-
+ class CV_EXPORTS SpheresTrajectoryWidget : public Widget3D
+ {
+ public:
+ SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float 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());
+ };
+
SpheresTrajectoryWidget::SpheresTrajectoryWidget
------------------------------------------------
Constructs a SpheresTrajectoryWidget.
.. ocv:function:: SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float 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: Color of the lines.
- :param sphere_color: Color of the spheres.
-
+
+ :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: Color of the lines.
+ :param sphere_color: Color of the spheres.
+
CloudWidget
-----------
.. ocv:class:: CloudWidget
This 3D Widget defines a point cloud. ::
- class CV_EXPORTS CloudWidget : public Widget3D
- {
- public:
- //! Each point in cloud is mapped to a color in colors
- CloudWidget(InputArray cloud, InputArray colors);
- //! All points in cloud have the same color
- CloudWidget(InputArray cloud, const Color &color = Color::white());
-
- private:
- /* hidden */
- };
-
+ class CV_EXPORTS CloudWidget : public Widget3D
+ {
+ public:
+ //! Each point in cloud is mapped to a color in colors
+ CloudWidget(InputArray cloud, InputArray colors);
+ //! All points in cloud have the same color
+ CloudWidget(InputArray cloud, const Color &color = Color::white());
+
+ private:
+ /* hidden */
+ };
+
CloudWidget::CloudWidget
------------------------
Constructs a CloudWidget.
.. ocv:function:: CloudWidget(InputArray cloud, InputArray colors)
- :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.
-
- Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
+ :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.
+
+ Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
.. ocv:function:: CloudWidget(InputArray cloud, const Color &color = Color::white())
-
- :param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
- :param color: A single color for the whole cloud.
+
+ :param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
+ :param color: A single color for the whole cloud.
- Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
+ Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
CloudCollectionWidget
---------------------
This 3D Widget defines a collection of clouds. ::
- class CV_EXPORTS CloudCollectionWidget : public Widget3D
- {
- public:
- CloudCollectionWidget();
-
- //! Each point in cloud is mapped to a color in colors
- void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
- //! All points in cloud have the same color
- void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3f &pose = Affine3f::Identity());
-
- private:
- /* hidden */
- };
-
+ class CV_EXPORTS CloudCollectionWidget : public Widget3D
+ {
+ public:
+ CloudCollectionWidget();
+
+ //! Each point in cloud is mapped to a color in colors
+ void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
+ //! All points in cloud have the same color
+ void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3f &pose = Affine3f::Identity());
+
+ private:
+ /* hidden */
+ };
+
CloudCollectionWidget::CloudCollectionWidget
--------------------------------------------
Constructs a CloudCollectionWidget.
.. ocv:function:: void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::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).
-
+ :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 Affine3f &pose = Affine3f::Identity())
- :param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
- :param colors: A single 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).
-
+ :param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
+ :param colors: A single 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).
+
CloudNormalsWidget
------------------
.. ocv:class:: CloudNormalsWidget
This 3D Widget represents normals of a point cloud. ::
- class CV_EXPORTS CloudNormalsWidget : public Widget3D
- {
- public:
- CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
+ class CV_EXPORTS CloudNormalsWidget : public Widget3D
+ {
+ public:
+ CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
- private:
- /* hidden */
- };
-
+ private:
+ /* hidden */
+ };
+
CloudNormalsWidget::CloudNormalsWidget
--------------------------------------
Constructs a CloudNormalsWidget.
.. ocv:function:: CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float 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 levelth normal.
- :param scale: Scale of the arrows that represent normals.
- :param color: Color of the arrows that represent normals.
-
+
+ :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 levelth normal.
+ :param scale: Scale of the arrows that represent normals.
+ :param color: Color of the arrows that represent normals.
+
MeshWidget
----------
.. ocv:class:: MeshWidget
This 3D Widget defines a mesh. ::
-
- class CV_EXPORTS MeshWidget : public Widget3D
- {
- public:
- MeshWidget(const Mesh3d &mesh);
-
- private:
- /* hidden */
- };
-
+
+ class CV_EXPORTS MeshWidget : public Widget3D
+ {
+ public:
+ MeshWidget(const Mesh3d &mesh);
+
+ private:
+ /* hidden */
+ };
+
MeshWidget::MeshWidget
----------------------
Constructs a MeshWidget.
.. ocv:function:: MeshWidget(const Mesh3d &mesh)
- :param mesh: Mesh object that will be displayed.
+ :param mesh: Mesh object that will be displayed.
projects / platform / upstream / opencv.git / commitdiff