@ -52,6 +52,10 @@ namespace cv
{
namespace viz
{
//! @addtogroup viz_widget
//! @{
/////////////////////////////////////////////////////////////////////////////
/// Widget rendering properties
enum RenderingProperties
@ -80,7 +84,9 @@ namespace cv
} ;
/////////////////////////////////////////////////////////////////////////////
/// The base class for all widgets
/** @brief Base class of all widgets. Widget is implicitly shared. :
*/
class CV_EXPORTS Widget
{
public :
@ -89,14 +95,75 @@ namespace cv
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 3 D Widgets can only be cast to 3 D Widgets . 2 D Widgets can only be cast to 2 D Widgets .
*/
template < typename _W > _W cast ( ) ;
private :
class Impl ;
@ -105,161 +172,356 @@ namespace cv
} ;
/////////////////////////////////////////////////////////////////////////////
/// 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 & center , 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 .
! [ Cube Widget ] ( images / cube_widget . png )
*/
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 & center , 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
@ -267,47 +529,134 @@ namespace cv
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.
! [ Camera coordinate frame ] ( images / cpw1 . png )
*/
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 .
! [ Camera viewing frustum ] ( images / cpw2 . png )
*/
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 .
! [ Camera viewing frustum ] ( images / cpw2 . png )
*/
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 .
! [ Camera viewing frustum with image ] ( images / cpw3 . png )
*/
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 .
! [ Camera viewing frustum with image ] ( images / cpw3 . png )
*/
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 ( ) ) ;
} ;
@ -315,19 +664,47 @@ namespace cv
/////////////////////////////////////////////////////////////////////////////
/// 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 ) ;
} ;
@ -344,25 +721,61 @@ namespace cv
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 :
@ -370,6 +783,13 @@ namespace cv
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 :
@ -413,6 +833,8 @@ namespace cv
template < > CV_EXPORTS WMesh Widget : : cast < WMesh > ( ) ;
template < > CV_EXPORTS WWidgetMerger Widget : : cast < WWidgetMerger > ( ) ;
//! @}
} /* namespace viz */
} /* namespace cv */
Maksim Shabunin
10 years ago