{
namespace viz
{
+
+//! @addtogroup viz
+//! @{
+
+ /** @brief The Viz3d class represents a 3D visualizer window. This class is implicitly shared. :
+ */
class CV_EXPORTS Viz3d
{
public:
typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
typedef void (*MouseCallback)(const MouseEvent&, void*);
+ /** @brief The constructors.
+
+ @param window\_name Name of the window.
+ */
Viz3d(const String& window_name = String());
Viz3d(const Viz3d&);
Viz3d& operator=(const Viz3d&);
~Viz3d();
+ /** @brief Shows a widget in the window.
+
+ @param id A unique id for the widget. @param widget The widget to be displayed in the window.
+ @param pose Pose of the widget.
+ */
void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity());
+
+ /** @brief Removes a widget from the window.
+
+ @param id The id of the widget that will be removed.
+ */
void removeWidget(const String &id);
+
+ /** @brief Retrieves a widget from the window.
+
+ A widget is implicitly shared; that is, if the returned widget is modified, the changes
+ will be immediately visible in the window.
+
+ @param id The id of the widget that will be returned.
+ */
Widget getWidget(const String &id) const;
+
+ /** @brief Removes all widgets from the window.
+ */
void removeAllWidgets();
+ /** @brief Removed all widgets and displays image scaled to whole window area.
+
+ @param image Image to be displayed.
+ @param window_size Size of Viz3d window. Default value means no change.
+ */
void showImage(InputArray image, const Size& window_size = Size(-1, -1));
+ /** @brief Sets pose of a widget in the window.
+
+ @param id The id of the widget whose pose will be set. @param pose The new pose of the widget.
+ */
void setWidgetPose(const String &id, const Affine3d &pose);
+
+ /** @brief Updates pose of a widget in the window by pre-multiplying its current 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.
+ */
void updateWidgetPose(const String &id, const Affine3d &pose);
+
+ /** @brief Returns the current pose of a widget in the window.
+
+ @param id The id of the widget whose pose will be returned.
+ */
Affine3d getWidgetPose(const String &id) const;
+ /** @brief Sets the intrinsic parameters of the viewer using Camera.
+
+ @param camera Camera object wrapping intrinsinc parameters.
+ */
void setCamera(const Camera &camera);
+
+ /** @brief Returns a camera object that contains intrinsic parameters of the current viewer.
+ */
Camera getCamera() const;
+
+ /** @brief Returns the current pose of the viewer.
+ */
Affine3d getViewerPose();
+
+ /** @brief Sets pose of the viewer.
+
+ @param pose The new pose of the viewer.
+ */
void setViewerPose(const Affine3d &pose);
+ /** @brief Resets camera viewpoint to a 3D widget in the scene.
+
+ @param id Id of a 3D widget.
+ */
void resetCameraViewpoint(const String &id);
+
+ /** @brief Resets camera.
+ */
void resetCamera();
+ /** @brief Transforms a point in world coordinate system to window coordinate system.
+
+ @param pt Point in world coordinate system.
+ @param window\_coord Output point in window coordinate system.
+ */
void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
+
+ /** @brief Transforms a point in window coordinate system to a 3D ray in world coordinate system.
+
+ @param window\_coord Point in window coordinate system. @param origin Output origin of the ray.
+ @param direction Output direction of the ray.
+ */
void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
+ /** @brief Returns the current size of the window.
+ */
Size getWindowSize() const;
+ /** @brief Sets the size of the window.
+
+ @param window\_size New size of the window.
+ */
void setWindowSize(const Size &window_size);
+
+ /** @brief Returns the name of the window which has been set in the constructor.
+ */
String getWindowName() const;
+
+ /** @brief Saves screenshot of the current scene.
+
+ @param file Name of the file.
+ */
void saveScreenshot(const String &file);
+
+ /** @brief Sets the position of the window in the screen.
+
+ @param window_position coordinates of the window
+ */
void setWindowPosition(const Point& window_position);
+
+ /** @brief Sets or unsets full-screen rendering mode.
+
+ @param mode If true, window will use full-screen mode.
+ */
void setFullScreen(bool mode = true);
+
+ /** @brief Sets background color.
+ */
void setBackgroundColor(const Color& color = Color::black(), const Color& color2 = Color::not_set());
void setBackgroundTexture(InputArray image = noArray());
void setBackgroundMeshLab();
+ /** @brief The window renders and starts the event loop.
+ */
void spin();
+
+ /** @brief Starts the event loop for a given time.
+
+ @param time Amount of time in milliseconds for the event loop to keep running.
+ @param force_redraw If true, window renders.
+ */
void spinOnce(int time = 1, bool force_redraw = false);
+
+ /** @brief Returns whether the event loop has been stopped.
+ */
bool wasStopped() const;
void close();
+ /** @brief Sets keyboard handler.
+
+ @param callback Keyboard callback (void (\*KeyboardCallbackFunction(const
+ KeyboardEvent&, void\*)).
+ @param cookie The optional parameter passed to the callback.
+ */
void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
+
+ /** @brief Sets mouse handler.
+
+ @param callback Mouse callback (void (\*MouseCallback)(const MouseEvent&, void\*)).
+ @param cookie The optional parameter passed to the callback.
+ */
void registerMouseCallback(MouseCallback callback, void* cookie = 0);
+ /** @brief Sets rendering property of a widget.
+
+ @param id Id of the widget.
+ @param property Property that will be modified.
+ @param value The new value of the property.
+
+ **Rendering property** can be one of the following:
+ - **POINT\_SIZE**
+ - **OPACITY**
+ - **LINE\_WIDTH**
+ - **FONT\_SIZE**
+ -
+ **REPRESENTATION**: Expected values are
+ - **REPRESENTATION\_POINTS**
+ - **REPRESENTATION\_WIREFRAME**
+ - **REPRESENTATION\_SURFACE**
+ -
+ **IMMEDIATE\_RENDERING**:
+ - Turn on immediate rendering by setting the value to 1.
+ - Turn off immediate rendering by setting the value to 0.
+ -
+ **SHADING**: Expected values are
+ - **SHADING\_FLAT**
+ - **SHADING\_GOURAUD**
+ - **SHADING\_PHONG**
+ */
void setRenderingProperty(const String &id, int property, double value);
+ /** @brief Returns rendering property of a widget.
+
+ @param id Id of the widget.
+ @param property Property.
+
+ **Rendering property** can be one of the following:
+ - **POINT\_SIZE**
+ - **OPACITY**
+ - **LINE\_WIDTH**
+ - **FONT\_SIZE**
+ -
+ **REPRESENTATION**: Expected values are
+ - **REPRESENTATION\_POINTS**
+ - **REPRESENTATION\_WIREFRAME**
+ - **REPRESENTATION\_SURFACE**
+ -
+ **IMMEDIATE\_RENDERING**:
+ - Turn on immediate rendering by setting the value to 1.
+ - Turn off immediate rendering by setting the value to 0.
+ -
+ **SHADING**: Expected values are
+ - **SHADING\_FLAT**
+ - **SHADING\_GOURAUD**
+ - **SHADING\_PHONG**
+ */
double getRenderingProperty(const String &id, int property);
+ /** @brief Sets geometry representation of the widgets to surface, wireframe or points.
+
+ @param representation Geometry representation which can be one of the following:
+ - **REPRESENTATION\_POINTS**
+ - **REPRESENTATION\_WIREFRAME**
+ - **REPRESENTATION\_SURFACE**
+ */
void setRepresentation(int representation);
void setGlobalWarnings(bool enabled = false);
friend class VizStorage;
};
+//! @}
+
} /* namespace viz */
} /* namespace cv */
{
namespace viz
{
+
+//! @addtogroup viz_widget
+//! @{
+
/////////////////////////////////////////////////////////////////////////////
/// Widget rendering properties
enum RenderingProperties
};
/////////////////////////////////////////////////////////////////////////////
- /// The base class for all widgets
+
+ /** @brief Base class of all widgets. Widget is implicitly shared. :
+ */
class CV_EXPORTS Widget
{
public:
Widget& operator=(const Widget& other);
~Widget();
- //! Create a widget directly from ply file
+ /** @brief Creates a widget from ply file.
+
+ @param file\_name Ply file name.
+ */
static Widget fromPlyFile(const String &file_name);
- //! Rendering properties of this particular widget
+ /** @brief Sets rendering property of the widget.
+
+ @param property Property that will be modified.
+ @param value The new value of the property.
+
+ **Rendering property** can be one of the following:
+ - **POINT\_SIZE**
+ - **OPACITY**
+ - **LINE\_WIDTH**
+ - **FONT\_SIZE**
+ -
+ **REPRESENTATION**: Expected values are
+ - **REPRESENTATION\_POINTS**
+ - **REPRESENTATION\_WIREFRAME**
+ - **REPRESENTATION\_SURFACE**
+ -
+ **IMMEDIATE\_RENDERING**:
+ - Turn on immediate rendering by setting the value to 1.
+ - Turn off immediate rendering by setting the value to 0.
+ -
+ **SHADING**: Expected values are
+ - **SHADING\_FLAT**
+ - **SHADING\_GOURAUD**
+ - **SHADING\_PHONG**
+ */
void setRenderingProperty(int property, double value);
+ /** @brief Returns rendering property of the widget.
+
+ @param property Property.
+
+ **Rendering property** can be one of the following:
+ - **POINT\_SIZE**
+ - **OPACITY**
+ - **LINE\_WIDTH**
+ - **FONT\_SIZE**
+ -
+ **REPRESENTATION**: Expected values are
+ : - **REPRESENTATION\_POINTS**
+ - **REPRESENTATION\_WIREFRAME**
+ - **REPRESENTATION\_SURFACE**
+ -
+ **IMMEDIATE\_RENDERING**:
+ : - Turn on immediate rendering by setting the value to 1.
+ - Turn off immediate rendering by setting the value to 0.
+ -
+ **SHADING**: Expected values are
+ : - **SHADING\_FLAT**
+ - **SHADING\_GOURAUD**
+ - **SHADING\_PHONG**
+ */
double getRenderingProperty(int property) const;
- //! Casting between widgets
+ /** @brief Casts a widget to another.
+
+ @code
+ // Create a sphere widget
+ viz::WSphere sw(Point3f(0.0f,0.0f,0.0f), 0.5f);
+ // Cast sphere widget to cloud widget
+ viz::WCloud cw = sw.cast<viz::WCloud>();
+ @endcode
+
+ @note 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets.
+ */
template<typename _W> _W cast();
private:
class Impl;
};
/////////////////////////////////////////////////////////////////////////////
- /// The base class for all 3D widgets
+
+ /** @brief Base class of all 3D widgets.
+ */
class CV_EXPORTS Widget3D : public Widget
{
public:
Widget3D() {}
- //! widget position manipulation, i.e. place where it is rendered
+ /** @brief Sets pose of the widget.
+
+ @param pose The new pose of the widget.
+ */
void setPose(const Affine3d &pose);
+ /** @brief Updates pose of the widget by pre-multiplying its current pose.
+
+ @param pose The pose that the current pose of the widget will be pre-multiplied by.
+ */
void updatePose(const Affine3d &pose);
+ /** @brief Returns the current pose of the widget.
+ */
Affine3d getPose() const;
- //! update internal widget data, i.e. points, normals, etc.
+ /** @brief Transforms internal widget data (i.e. points, normals) using the given transform.
+
+ @param transform Specified transformation to apply.
+ */
void applyTransform(const Affine3d &transform);
+ /** @brief Sets the color of the widget.
+
+ @param color color of type Color
+ */
void setColor(const Color &color);
};
/////////////////////////////////////////////////////////////////////////////
- /// The base class for all 2D widgets
+
+ /** @brief Base class of all 2D widgets.
+ */
class CV_EXPORTS Widget2D : public Widget
{
public:
Widget2D() {}
+ /** @brief Sets the color of the widget.
+
+ @param color color of type Color
+ */
void setColor(const Color &color);
};
/////////////////////////////////////////////////////////////////////////////
/// Simple widgets
+ /** @brief This 3D Widget defines a finite line.
+ */
class CV_EXPORTS WLine : public Widget3D
{
public:
+ /** @brief Constructs a WLine.
+
+ @param pt1 Start point of the line.
+ @param pt2 End point of the line.
+ @param color Color of the line.
+ */
WLine(const Point3d &pt1, const Point3d &pt2, const Color &color = Color::white());
};
+ /** @brief This 3D Widget defines a finite plane.
+ */
class CV_EXPORTS WPlane : public Widget3D
{
public:
- //! created default plane with center point at origin and normal oriented along z-axis
+ /** @brief Constructs a default plane with center point at origin and normal oriented along z-axis.
+
+ @param size Size of the plane
+ @param color Color of the plane.
+ */
WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
- //! repositioned plane
+ /** @brief Constructs a repositioned plane
+
+ @param center Center of the plane
+ @param normal Plane normal orientation
+ @param new\_yaxis Up-vector. New orientation of plane y-axis.
+ @param size
+ @param color Color of the plane.
+ */
WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis,
const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
};
+ /** @brief This 3D Widget defines a sphere. :
+ */
class CV_EXPORTS WSphere : public Widget3D
{
public:
+ /** @brief Constructs a WSphere.
+
+ @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.
+ */
WSphere(const cv::Point3d ¢er, double radius, int sphere_resolution = 10, const Color &color = Color::white());
};
+ /** @brief This 3D Widget defines an arrow.
+ */
class CV_EXPORTS WArrow : public Widget3D
{
public:
+ /** @brief Constructs an WArrow.
+
+ @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.
+ */
WArrow(const Point3d& pt1, const Point3d& pt2, double thickness = 0.03, const Color &color = Color::white());
};
+ /** @brief This 3D Widget defines a circle.
+ */
class CV_EXPORTS WCircle : public Widget3D
{
public:
- //! creates default planar circle centred at origin with plane normal along z-axis
+ /** @brief Constructs default planar circle centred at origin with plane normal along z-axis
+
+ @param radius Radius of the circle.
+ @param thickness Thickness of the circle.
+ @param color Color of the circle.
+ */
WCircle(double radius, double thickness = 0.01, const Color &color = Color::white());
- //! creates repositioned circle
+ /** @brief Constructs repositioned planar circle.
+
+ @param radius Radius of the circle.
+ @param center Center of the circle.
+ @param normal Normal of the plane in which the circle lies.
+ @param thickness Thickness of the circle.
+ @param color Color of the circle.
+ */
WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white());
};
+ /** @brief This 3D Widget defines a cone. :
+ */
class CV_EXPORTS WCone : public Widget3D
{
public:
- //! create default cone, oriented along x-axis with center of its base located at origin
+ /** @brief Constructs default cone oriented along x-axis with center of its base located at origin
+
+ @param length Length of the cone.
+ @param radius Radius of the cone.
+ @param resolution Resolution of the cone.
+ @param color Color of the cone.
+ */
WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white());
- //! creates repositioned cone
+ /** @brief Constructs repositioned planar cone.
+
+ @param radius Radius of the cone.
+ @param center Center of the cone base.
+ @param tip Tip of the cone.
+ @param resolution Resolution of the cone.
+ @param color Color of the cone.
+
+ */
WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white());
};
+ /** @brief This 3D Widget defines a cylinder. :
+ */
class CV_EXPORTS WCylinder : public Widget3D
{
public:
+ /** @brief Constructs a WCylinder.
+
+ @param axis\_point1 A point1 on the axis of the cylinder.
+ @param axis\_point2 A point2 on the axis of the cylinder.
+ @param radius Radius of the cylinder.
+ @param numsides Resolution of the cylinder.
+ @param color Color of the cylinder.
+ */
WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double radius, int numsides = 30, const Color &color = Color::white());
};
+ /** @brief This 3D Widget defines a cube.
+ */
class CV_EXPORTS WCube : public Widget3D
{
public:
+ /** @brief Constructs a WCube.
+
+ @param min_point Specifies minimum point of the bounding box.
+ @param max_point Specifies maximum point of the bounding box.
+ @param wire\_frame If true, cube is represented as wireframe.
+ @param color Color of the cube.
+
+ 
+ */
WCube(const Point3d& min_point = Vec3d::all(-0.5), const Point3d& max_point = Vec3d::all(0.5),
bool wire_frame = true, const Color &color = Color::white());
};
+ /** @brief This 3D Widget defines a poly line. :
+ */
class CV_EXPORTS WPolyLine : public Widget3D
{
public:
WPolyLine(InputArray points, InputArray colors);
+ /** @brief Constructs a WPolyLine.
+
+ @param points Point set.
+ @param color Color of the poly line.
+ */
WPolyLine(InputArray points, const Color &color = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
/// Text and image widgets
+ /** @brief This 2D Widget represents text overlay.
+ */
class CV_EXPORTS WText : public Widget2D
{
public:
+ /** @brief Constructs a WText.
+
+ @param text Text content of the widget.
+ @param pos Position of the text.
+ @param font\_size Font size.
+ @param color Color of the text.
+ */
WText(const String &text, const Point &pos, int font_size = 20, const Color &color = Color::white());
+ /** @brief Sets the text content of the widget.
+
+ @param text Text content of the widget.
+ */
void setText(const String &text);
+ /** @brief Returns the current text content of the widget.
+ */
String getText() const;
};
+ /** @brief This 3D Widget represents 3D text. The text always faces the camera.
+ */
class CV_EXPORTS WText3D : public Widget3D
{
public:
- //! creates text label in 3D. If face_camera = false, text plane normal is oriented along z-axis. Use widget pose to orient it properly
+ /** @brief Constructs a WText3D.
+
+ @param text Text content of the widget.
+ @param position Position of the text.
+ @param text\_scale Size of the text.
+ @param face\_camera If true, text always faces the camera.
+ @param color Color of the text.
+ */
WText3D(const String &text, const Point3d &position, double text_scale = 1., bool face_camera = true, const Color &color = Color::white());
+ /** @brief Sets the text content of the widget.
+
+ @param text Text content of the widget.
+
+ */
void setText(const String &text);
+ /** @brief Returns the current text content of the widget.
+ */
String getText() const;
};
+ /** @brief This 2D Widget represents an image overlay. :
+ */
class CV_EXPORTS WImageOverlay : public Widget2D
{
public:
+ /** @brief Constructs an WImageOverlay.
+
+ @param image BGR or Gray-Scale image.
+ @param rect Image is scaled and positioned based on rect.
+ */
WImageOverlay(InputArray image, const Rect &rect);
+ /** @brief Sets the image content of the widget.
+
+ @param image BGR or Gray-Scale image.
+ */
void setImage(InputArray image);
};
+ /** @brief This 3D Widget represents an image in 3D space. :
+ */
class CV_EXPORTS WImage3D : public Widget3D
{
public:
- //! Creates 3D image in a plane centered at the origin with normal orientaion along z-axis,
- //! image x- and y-axes are oriented along x- and y-axes of 3d world
+ /** @brief Constructs an WImage3D.
+
+ @param image BGR or Gray-Scale image.
+ @param size Size of the image.
+ */
WImage3D(InputArray image, const Size2d &size);
- //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
+ /** @brief Constructs an WImage3D.
+
+ @param image BGR or Gray-Scale image.
+ @param size Size of the image.
+ @param center Position of the image.
+ @param normal Normal of the plane that represents the image.
+ @param up\_vector Determines orientation of the image.
+ */
WImage3D(InputArray image, const Size2d &size, const Vec3d ¢er, const Vec3d &normal, const Vec3d &up_vector);
+ /** @brief Sets the image content of the widget.
+
+ @param image BGR or Gray-Scale image.
+ */
void setImage(InputArray image);
};
/////////////////////////////////////////////////////////////////////////////
/// Compond widgets
+ /** @brief This 3D Widget represents a coordinate system. :
+ */
class CV_EXPORTS WCoordinateSystem : public Widget3D
{
public:
+ /** @brief Constructs a WCoordinateSystem.
+
+ @param scale Determines the size of the axes.
+ */
WCoordinateSystem(double scale = 1.0);
};
+ /** @brief This 3D Widget defines a grid. :
+ */
class CV_EXPORTS WGrid : public Widget3D
{
public:
- //! Creates grid at the origin and normal oriented along z-axis
+ /** @brief Constructs a WGrid.
+
+ @param cells Number of cell columns and rows, respectively.
+ @param cells\_spacing Size of each cell, respectively.
+ @param color Color of the grid.
+ */
WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
//! Creates repositioned grid
const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white());
};
+ /** @brief 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
+ /** @brief Creates camera coordinate frame at the origin.
+
+ 
+ */
WCameraPosition(double scale = 1.0);
- //! Creates frustum based on the intrinsic marix K at the origin
+ /** @brief Display the viewing frustum
+ @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.
+
+ 
+ */
WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white());
- //! Creates frustum based on the field of view at the origin
+ /** @brief Display the viewing frustum
+ @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.
+
+ 
+ */
WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white());
- //! Creates frustum and display given image at the far plane
+ /** @brief Display image on the far plane of the viewing frustum
+
+ @param K Intrinsic matrix of the camera.
+ @param image 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 Color of the frustum.
+
+ Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on
+ the far end plane.
+
+ 
+ */
WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white());
- //! Creates frustum and display given image at the far plane
+ /** @brief Display image on the far plane of the viewing frustum
+
+ @param fov Field of view of the camera (horizontal, vertical).
+ @param image 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 Color of the frustum.
+
+ Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on
+ the far end plane.
+
+ 
+ */
WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
/// Trajectories
+ /** @brief This 3D Widget represents a trajectory. :
+ */
class CV_EXPORTS WTrajectory : public Widget3D
{
public:
enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH };
- //! Takes vector<Affine3<T>> and displays trajectory of the given path either by coordinate frames or polyline
+ /** @brief Constructs a WTrajectory.
+
+ @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 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.
+ */
WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white());
};
+ /** @brief This 3D Widget represents a trajectory. :
+ */
class CV_EXPORTS WTrajectoryFrustums : public Widget3D
{
public:
- //! Takes vector<Affine3<T>> and displays trajectory of the given path by frustums
+ /** @brief Constructs a WTrajectoryFrustums.
+
+ @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 Color of the frustums.
+
+ Displays frustums at each pose of the trajectory.
+ */
WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1., const Color &color = Color::white());
- //! Takes vector<Affine3<T>> and displays trajectory of the given path by frustums
+ /** @brief Constructs a WTrajectoryFrustums.
+
+ @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 Color of the frustums.
+
+ Displays frustums at each pose of the trajectory.
+ */
WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1., const Color &color = Color::white());
};
+ /** @brief 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:
- //! Takes vector<Affine3<T>> and displays trajectory of the given path
+ /** @brief Constructs a WTrajectorySpheres.
+
+ @param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double]
+ @param line\_length Max length of the lines which point to previous position
+ @param radius Radius of the spheres.
+ @param from Color for first sphere.
+ @param to Color for last sphere. Intermediate spheres will have interpolated color.
+ */
WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007,
const Color &from = Color::red(), const Color &to = Color::white());
};
/////////////////////////////////////////////////////////////////////////////
/// Clouds
+ /** @brief This 3D Widget defines a point cloud. :
+
+ @note In case there are four channels in the cloud, fourth channel is ignored.
+ */
class CV_EXPORTS WCloud: public Widget3D
{
public:
- //! Each point in cloud is mapped to a color in colors
+ /** @brief Constructs a WCloud.
+
+ @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).
+ */
WCloud(InputArray cloud, InputArray colors);
- //! All points in cloud have the same color
+ /** @brief Constructs a WCloud.
+ @param cloud Set of points 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).
+ */
WCloud(InputArray cloud, const Color &color = Color::white());
- //! Each point in cloud is mapped to a color in colors, normals are used for shading
+ /** @brief Constructs a WCloud.
+ @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.
+ @param normals Normals for each point in cloud. Size and type should match with the cloud parameter.
+
+ Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
+ */
WCloud(InputArray cloud, InputArray colors, InputArray normals);
- //! All points in cloud have the same color, normals are used for shading
+ /** @brief Constructs a WCloud.
+ @param cloud Set of points which can be of type: CV\_32FC3, CV\_32FC4, CV\_64FC3, CV\_64FC4.
+ @param color A single Color for the whole cloud.
+ @param normals Normals for each point in cloud.
+
+ Size and type should match with the cloud parameter.
+ Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
+ */
WCloud(InputArray cloud, const Color &color, InputArray normals);
};
WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2, const Color& c1, const Color c2);
};
+ /** @brief This 3D Widget defines a collection of clouds. :
+ @note In case there are four channels in the cloud, fourth channel is ignored.
+ */
class CV_EXPORTS WCloudCollection : public Widget3D
{
public:
WCloudCollection();
- //! Each point in cloud is mapped to a color in colors
+ /** @brief Adds a cloud to the collection.
+
+ @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).
+ */
void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
- //! All points in cloud have the same color
+ /** @brief Adds a cloud to the collection.
+
+ @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 pose Pose of the cloud. Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
+ */
void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity());
- //! Repacks internal structure to single cloud
+ /** @brief Finalizes cloud data by repacking to single cloud.
+
+ Useful for large cloud collections to reduce memory usage
+ */
void finalize();
};
+ /** @brief This 3D Widget represents normals of a point cloud. :
+ */
class CV_EXPORTS WCloudNormals : public Widget3D
{
public:
+ /** @brief Constructs a WCloudNormals.
+
+ @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 Color of the arrows that represent normals.
+
+ @note In case there are four channels in the cloud, fourth channel is ignored.
+ */
WCloudNormals(InputArray cloud, InputArray normals, int level = 64, double scale = 0.1, const Color &color = Color::white());
};
+ /** @brief Constructs a WMesh.
+
+ @param mesh Mesh object that will be displayed.
+ @param cloud Points of the mesh object.
+ @param polygons Points of the mesh object.
+ @param colors Point colors.
+ @param normals Point normals.
+ */
class CV_EXPORTS WMesh : public Widget3D
{
public:
WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray());
};
+ /** @brief This class allows to merge several widgets to single one.
+
+ It has quite limited functionality and can't merge widgets with different attributes. For
+ instance, if widgetA has color array and widgetB has only global color defined, then result
+ of merge won't have color at all. The class is suitable for merging large amount of similar
+ widgets. :
+ */
class CV_EXPORTS WWidgetMerger : public Widget3D
{
public:
template<> CV_EXPORTS WMesh Widget::cast<WMesh>();
template<> CV_EXPORTS WWidgetMerger Widget::cast<WWidgetMerger>();
+//! @}
+
} /* namespace viz */
} /* namespace cv */
projects / platform / upstream / opencv.git / commitdiff