|
|
|
Pose of a widget {#tutorial_widget_pose}
|
|
|
|
================
|
|
|
|
|
|
|
|
@prev_tutorial{tutorial_launching_viz}
|
|
|
|
@next_tutorial{tutorial_transformations}
|
|
|
|
|
|
|
|
Goal
|
|
|
|
----
|
|
|
|
|
|
|
|
In this tutorial you will learn how to
|
|
|
|
|
|
|
|
- Add widgets to the visualization window
|
|
|
|
- Use Affine3 to set pose of a widget
|
|
|
|
- Rotating and translating a widget along an axis
|
|
|
|
|
|
|
|
Code
|
|
|
|
----
|
|
|
|
|
|
|
|
You can download the code from [here ](https://github.com/opencv/opencv/tree/3.4/samples/cpp/tutorial_code/viz/widget_pose.cpp).
|
|
|
|
@include samples/cpp/tutorial_code/viz/widget_pose.cpp
|
|
|
|
|
|
|
|
Explanation
|
|
|
|
-----------
|
|
|
|
|
|
|
|
Here is the general structure of the program:
|
|
|
|
|
|
|
|
- Create a visualization window.
|
|
|
|
@code{.cpp}
|
|
|
|
/// Create a window
|
|
|
|
viz::Viz3d myWindow("Coordinate Frame");
|
|
|
|
@endcode
|
|
|
|
- Show coordinate axes in the window using CoordinateSystemWidget.
|
|
|
|
@code{.cpp}
|
|
|
|
/// Add coordinate axes
|
|
|
|
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
|
|
|
|
@endcode
|
|
|
|
- Display a line representing the axis (1,1,1).
|
|
|
|
@code{.cpp}
|
|
|
|
/// Add line to represent (1,1,1) axis
|
|
|
|
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
|
|
|
|
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
|
|
|
myWindow.showWidget("Line Widget", axis);
|
|
|
|
@endcode
|
|
|
|
- Construct a cube.
|
|
|
|
@code{.cpp}
|
|
|
|
/// Construct a cube widget
|
|
|
|
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
|
|
|
|
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
|
|
|
myWindow.showWidget("Cube Widget", cube_widget);
|
|
|
|
@endcode
|
|
|
|
- Create rotation matrix from rodrigues vector
|
|
|
|
@code{.cpp}
|
|
|
|
/// Rotate around (1,1,1)
|
|
|
|
rot_vec.at<float>(0,0) += CV_PI * 0.01f;
|
|
|
|
rot_vec.at<float>(0,1) += CV_PI * 0.01f;
|
|
|
|
rot_vec.at<float>(0,2) += CV_PI * 0.01f;
|
|
|
|
|
|
|
|
...
|
|
|
|
|
|
|
|
Mat rot_mat;
|
|
|
|
Rodrigues(rot_vec, rot_mat);
|
|
|
|
@endcode
|
|
|
|
- Use Affine3f to set pose of the cube.
|
|
|
|
@code{.cpp}
|
|
|
|
/// Construct pose
|
|
|
|
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
|
|
|
|
myWindow.setWidgetPose("Cube Widget", pose);
|
|
|
|
@endcode
|
|
|
|
- Animate the rotation using wasStopped and spinOnce
|
|
|
|
@code{.cpp}
|
|
|
|
while(!myWindow.wasStopped())
|
|
|
|
{
|
|
|
|
...
|
|
|
|
|
|
|
|
myWindow.spinOnce(1, true);
|
|
|
|
}
|
|
|
|
@endcode
|
|
|
|
|
|
|
|
Results
|
|
|
|
-------
|
|
|
|
|
|
|
|
Here is the result of the program.
|
|
|
|
|
|
|
|
\htmlonly
|
|
|
|
<div align="center">
|
|
|
|
<iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
|
|
|
|
</div>
|
|
|
|
\endhtmlonly
|