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removed trailing spaces

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pull/1453/head
Ozan Tonkal 12 years ago
parent 824c28a588
commit 8de46e1f81
29 changed files with 6428 additions and 6428 deletions
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  1. 44
      doc/tutorials/viz/creating_widgets/creating_widgets.rst
  2. 30
      doc/tutorials/viz/launching_viz/launching_viz.rst
  3. 56
      doc/tutorials/viz/transformations/transformations.rst
  4. 54
      doc/tutorials/viz/widget_pose/widget_pose.rst
  5. 6
      modules/viz/CMakeLists.txt
  6. 2
      modules/viz/doc/viz.rst
  7. 122
      modules/viz/doc/viz3d.rst
  8. 202
      modules/viz/doc/widget.rst
  9. 18
      modules/viz/include/opencv2/viz.hpp
  10. 20
      modules/viz/include/opencv2/viz/types.hpp
  11. 16
      modules/viz/include/opencv2/viz/viz3d.hpp
  12. 40
      modules/viz/include/opencv2/viz/widgets.hpp
  13. 68
      modules/viz/src/cloud_widgets.cpp
  14. 14
      modules/viz/src/interactor_style.cpp
  15. 6
      modules/viz/src/interactor_style.h
  16. 398
      modules/viz/src/shape_widgets.cpp
  17. 50
      modules/viz/src/types.cpp
  18. 12
      modules/viz/src/viz.cpp
  19. 2
      modules/viz/src/viz3d.cpp
  20. 28
      modules/viz/src/viz3d_impl.cpp
  21. 30
      modules/viz/src/viz3d_impl.hpp
  22. 30
      modules/viz/src/widget.cpp
  23. 24
      modules/viz/test/test_viz3d.cpp
  24. 2
      samples/cpp/CMakeLists.txt
  25. 11480
      samples/cpp/tutorial_code/viz/bunny.ply
  26. 30
      samples/cpp/tutorial_code/viz/creating_widgets.cpp
  27. 16
      samples/cpp/tutorial_code/viz/launching_viz.cpp
  28. 30
      samples/cpp/tutorial_code/viz/transformations.cpp
  29. 26
      samples/cpp/tutorial_code/viz/widget_pose.cpp

44
doc/tutorials/viz/creating_widgets/creating_widgets.rst
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@ -21,7 +21,7 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
.. code-block:: cpp .. code-block:: cpp
#include <opencv2/viz.hpp> #include <opencv2/viz.hpp>
#include <opencv2/viz/widget_accessor.hpp> #include <opencv2/viz/widget_accessor.hpp>
#include <iostream> #include <iostream>
#include <vtkPoints.h> #include <vtkPoints.h>
@ -43,7 +43,7 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
class WTriangle : public viz::Widget3D class WTriangle : public viz::Widget3D
{ {
public: public:
WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
}; };
/** /**
@ -56,22 +56,22 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
points->InsertNextPoint(pt1.x, pt1.y, pt1.z); points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
points->InsertNextPoint(pt2.x, pt2.y, pt2.z); points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
points->InsertNextPoint(pt3.x, pt3.y, pt3.z); points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New(); vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
triangle->GetPointIds()->SetId(0,0); triangle->GetPointIds()->SetId(0,0);
triangle->GetPointIds()->SetId(1,1); triangle->GetPointIds()->SetId(1,1);
triangle->GetPointIds()->SetId(2,2); triangle->GetPointIds()->SetId(2,2);
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New(); vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
cells->InsertNextCell(triangle); cells->InsertNextCell(triangle);
// Create a polydata object // Create a polydata object
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New(); vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
// Add the geometry and topology to the polydata // Add the geometry and topology to the polydata
polyData->SetPoints(points); polyData->SetPoints(points);
polyData->SetPolys(cells); polyData->SetPolys(cells);
// Create mapper and actor // Create mapper and actor
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New(); vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
#if VTK_MAJOR_VERSION <= 5 #if VTK_MAJOR_VERSION <= 5
@ -79,13 +79,13 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
#else #else
mapper->SetInputData(polyData); mapper->SetInputData(polyData);
#endif #endif
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New(); vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
// Store this actor in the widget in order that visualizer can access it // Store this actor in the widget in order that visualizer can access it
viz::WidgetAccessor::setProp(*this, actor); viz::WidgetAccessor::setProp(*this, actor);
// Set the color of the widget. This has to be called after WidgetAccessor. // Set the color of the widget. This has to be called after WidgetAccessor.
setColor(color); setColor(color);
} }
@ -94,22 +94,22 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
* @function main * @function main
*/ */
int main() int main()
{ {
/// Create a window /// Create a window
viz::Viz3d myWindow("Creating Widgets"); viz::Viz3d myWindow("Creating Widgets");
/// Create a triangle widget /// Create a triangle widget
WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red()); WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
/// Show widget in the visualizer window /// Show widget in the visualizer window
myWindow.showWidget("TRIANGLE", tw); myWindow.showWidget("TRIANGLE", tw);
/// Start event loop /// Start event loop
myWindow.spin(); myWindow.spin();
return 0; return 0;
} }
Explanation Explanation
=========== ===========
@ -122,33 +122,33 @@ Here is the general structure of the program:
class WTriangle : public viz::Widget3D class WTriangle : public viz::Widget3D
{ {
public: public:
WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
}; };
* Assign a VTK actor to the widget. * Assign a VTK actor to the widget.
.. code-block:: cpp .. code-block:: cpp
// Store this actor in the widget in order that visualizer can access it // Store this actor in the widget in order that visualizer can access it
viz::WidgetAccessor::setProp(*this, actor); viz::WidgetAccessor::setProp(*this, actor);
* Set color of the widget. * Set color of the widget.
.. code-block:: cpp .. code-block:: cpp
// Set the color of the widget. This has to be called after WidgetAccessor. // Set the color of the widget. This has to be called after WidgetAccessor.
setColor(color); setColor(color);
* Construct a triangle widget and display it in the window. * Construct a triangle widget and display it in the window.
.. code-block:: cpp .. code-block:: cpp
/// Create a triangle widget /// Create a triangle widget
WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red()); WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
/// Show widget in the visualizer window /// Show widget in the visualizer window
myWindow.showWidget("TRIANGLE", tw); myWindow.showWidget("TRIANGLE", tw);
Results Results
======= =======

30
doc/tutorials/viz/launching_viz/launching_viz.rst
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@ -27,7 +27,7 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
using namespace cv; using namespace cv;
using namespace std; using namespace std;
/** /**
* @function main * @function main
*/ */
@ -35,38 +35,38 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
{ {
/// Create a window /// Create a window
viz::Viz3d myWindow("Viz Demo"); viz::Viz3d myWindow("Viz Demo");
/// Start event loop /// Start event loop
myWindow.spin(); myWindow.spin();
/// Event loop is over when pressed q, Q, e, E /// Event loop is over when pressed q, Q, e, E
cout << "First event loop is over" << endl; cout << "First event loop is over" << endl;
/// Access window via its name /// Access window via its name
viz::Viz3d sameWindow = viz::get("Viz Demo"); viz::Viz3d sameWindow = viz::get("Viz Demo");
/// Start event loop /// Start event loop
sameWindow.spin(); sameWindow.spin();
/// Event loop is over when pressed q, Q, e, E /// Event loop is over when pressed q, Q, e, E
cout << "Second event loop is over" << endl; cout << "Second event loop is over" << endl;
/// Event loop is over when pressed q, Q, e, E /// Event loop is over when pressed q, Q, e, E
/// Start event loop once for 1 millisecond /// Start event loop once for 1 millisecond
sameWindow.spinOnce(1, true); sameWindow.spinOnce(1, true);
while(!sameWindow.wasStopped()) while(!sameWindow.wasStopped())
{ {
/// Interact with window /// Interact with window
/// Event loop for 1 millisecond /// Event loop for 1 millisecond
sameWindow.spinOnce(1, true); sameWindow.spinOnce(1, true);
} }
/// Once more event loop is stopped /// Once more event loop is stopped
cout << "Last event loop is over" << endl; cout << "Last event loop is over" << endl;
return 0; return 0;
} }
Explanation Explanation
=========== ===========
@ -78,21 +78,21 @@ Here is the general structure of the program:
/// Create a window /// Create a window
viz::Viz3d myWindow("Viz Demo"); viz::Viz3d myWindow("Viz Demo");
* Start event loop. This event loop will run until user terminates it by pressing **e**, **E**, **q**, **Q**. * Start event loop. This event loop will run until user terminates it by pressing **e**, **E**, **q**, **Q**.
.. code-block:: cpp .. code-block:: cpp
/// Start event loop /// Start event loop
myWindow.spin(); myWindow.spin();
* Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly the same with **myWindow**. If the name does not exist, a new window is created. * Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly the same with **myWindow**. If the name does not exist, a new window is created.
.. code-block:: cpp .. code-block:: cpp
/// Access window via its name /// Access window via its name
viz::Viz3d sameWindow = viz::get("Viz Demo"); viz::Viz3d sameWindow = viz::get("Viz Demo");
* Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping. Inside the while loop, user can execute other statements including those which interact with the window. * Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping. Inside the while loop, user can execute other statements including those which interact with the window.
.. code-block:: cpp .. code-block:: cpp
@ -103,11 +103,11 @@ Here is the general structure of the program:
while(!sameWindow.wasStopped()) while(!sameWindow.wasStopped())
{ {
/// Interact with window /// Interact with window
/// Event loop for 1 millisecond /// Event loop for 1 millisecond
sameWindow.spinOnce(1, true); sameWindow.spinOnce(1, true);
} }
Results Results
======= =======

56
doc/tutorials/viz/transformations/transformations.rst
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@ -45,7 +45,7 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
float dummy1, dummy2; float dummy1, dummy2;
for(size_t i = 0; i < 1889; ++i) for(size_t i = 0; i < 1889; ++i)
ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2; ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
cloud *= 5.0f; cloud *= 5.0f;
return cloud; return cloud;
} }
@ -54,40 +54,40 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
* @function main * @function main
*/ */
int main(int argn, char **argv) int main(int argn, char **argv)
{ {
if (argn < 2) if (argn < 2)
{ {
cout << "Usage: " << endl << "./transformations [ G | C ]" << endl; cout << "Usage: " << endl << "./transformations [ G | C ]" << endl;
return 1; return 1;
} }
bool camera_pov = (argv[1][0] == 'C'); bool camera_pov = (argv[1][0] == 'C');
/// Create a window /// Create a window
viz::Viz3d myWindow("Coordinate Frame"); viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes /// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Let's assume camera has the following properties /// Let's assume camera has the following properties
Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f); Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
/// We can get the pose of the cam using makeCameraPose /// We can get the pose of the cam using makeCameraPose
Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir); Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
/// We can get the transformation matrix from camera coordinate system to global using /// We can get the transformation matrix from camera coordinate system to global using
/// - makeTransformToGlobal. We need the axes of the camera /// - makeTransformToGlobal. We need the axes of the camera
Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos); Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
/// Create a cloud widget. /// Create a cloud widget.
Mat bunny_cloud = cvcloud_load(); Mat bunny_cloud = cvcloud_load();
viz::WCloud cloud_widget(bunny_cloud, viz::Color::green()); viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
/// Pose of the widget in camera frame /// Pose of the widget in camera frame
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f)); Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
/// Pose of the widget in global frame /// Pose of the widget in global frame
Affine3f cloud_pose_global = transform * cloud_pose; Affine3f cloud_pose_global = transform * cloud_pose;
/// Visualize camera frame /// Visualize camera frame
if (!camera_pov) if (!camera_pov)
{ {
@ -96,21 +96,21 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
myWindow.showWidget("CPW", cpw, cam_pose); myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose); myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
} }
/// Visualize widget /// Visualize widget
myWindow.showWidget("bunny", cloud_widget, cloud_pose_global); myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
/// Set the viewer pose to that of camera /// Set the viewer pose to that of camera
if (camera_pov) if (camera_pov)
myWindow.setViewerPose(cam_pose); myWindow.setViewerPose(cam_pose);
/// Start event loop. /// Start event loop.
myWindow.spin(); myWindow.spin();
return 0; return 0;
} }
Explanation Explanation
=========== ===========
@ -122,17 +122,17 @@ Here is the general structure of the program:
/// Create a window /// Create a window
viz::Viz3d myWindow("Transformations"); viz::Viz3d myWindow("Transformations");
* Get camera pose from camera position, camera focal point and y direction. * Get camera pose from camera position, camera focal point and y direction.
.. code-block:: cpp .. code-block:: cpp
/// Let's assume camera has the following properties /// Let's assume camera has the following properties
Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f); Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
/// We can get the pose of the cam using makeCameraPose /// We can get the pose of the cam using makeCameraPose
Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir); Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
* Obtain transform matrix knowing the axes of camera coordinate system. * Obtain transform matrix knowing the axes of camera coordinate system.
.. code-block:: cpp .. code-block:: cpp
@ -140,7 +140,7 @@ Here is the general structure of the program:
/// We can get the transformation matrix from camera coordinate system to global using /// We can get the transformation matrix from camera coordinate system to global using
/// - makeTransformToGlobal. We need the axes of the camera /// - makeTransformToGlobal. We need the axes of the camera
Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos); Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
* Create a cloud widget from bunny.ply file * Create a cloud widget from bunny.ply file
.. code-block:: cpp .. code-block:: cpp
@ -148,16 +148,16 @@ Here is the general structure of the program:
/// Create a cloud widget. /// Create a cloud widget.
Mat bunny_cloud = cvcloud_load(); Mat bunny_cloud = cvcloud_load();
viz::WCloud cloud_widget(bunny_cloud, viz::Color::green()); viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
* Given the pose in camera coordinate system, estimate the global pose. * Given the pose in camera coordinate system, estimate the global pose.
.. code-block:: cpp .. code-block:: cpp
/// Pose of the widget in camera frame /// Pose of the widget in camera frame
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f)); Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
/// Pose of the widget in global frame /// Pose of the widget in global frame
Affine3f cloud_pose_global = transform * cloud_pose; Affine3f cloud_pose_global = transform * cloud_pose;
* If the view point is set to be global, visualize camera coordinate frame and viewing frustum. * If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
.. code-block:: cpp .. code-block:: cpp
@ -170,22 +170,22 @@ Here is the general structure of the program:
myWindow.showWidget("CPW", cpw, cam_pose); myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose); myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
} }
* Visualize the cloud widget with the estimated global pose * Visualize the cloud widget with the estimated global pose
.. code-block:: cpp .. code-block:: cpp
/// Visualize widget /// Visualize widget
myWindow.showWidget("bunny", cloud_widget, cloud_pose_global); myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
* If the view point is set to be camera's, set viewer pose to **cam_pose**. * If the view point is set to be camera's, set viewer pose to **cam_pose**.
.. code-block:: cpp .. code-block:: cpp
/// Set the viewer pose to that of camera /// Set the viewer pose to that of camera
if (camera_pov) if (camera_pov)
myWindow.setViewerPose(cam_pose); myWindow.setViewerPose(cam_pose);
Results Results
======= =======

54
doc/tutorials/viz/widget_pose/widget_pose.rst
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@ -35,22 +35,22 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
{ {
/// Create a window /// Create a window
viz::Viz3d myWindow("Coordinate Frame"); viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes /// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Add line to represent (1,1,1) axis /// 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)); viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis); myWindow.showWidget("Line Widget", axis);
/// Construct a cube widget /// 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()); 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); cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
/// Display widget (update if already displayed) /// Display widget (update if already displayed)
myWindow.showWidget("Cube Widget", cube_widget); myWindow.showWidget("Cube Widget", cube_widget);
/// Rodrigues vector /// Rodrigues vector
Mat rot_vec = Mat::zeros(1,3,CV_32F); Mat rot_vec = Mat::zeros(1,3,CV_32F);
float translation_phase = 0.0, translation = 0.0; float translation_phase = 0.0, translation = 0.0;
@ -61,25 +61,25 @@ You can download the code from :download:`here <../../../../samples/cpp/tutorial
rot_vec.at<float>(0,0) += CV_PI * 0.01f; rot_vec.at<float>(0,0) += CV_PI * 0.01f;
rot_vec.at<float>(0,1) += CV_PI * 0.01f; rot_vec.at<float>(0,1) += CV_PI * 0.01f;
rot_vec.at<float>(0,2) += CV_PI * 0.01f; rot_vec.at<float>(0,2) += CV_PI * 0.01f;
/// Shift on (1,1,1) /// Shift on (1,1,1)
translation_phase += CV_PI * 0.01f; translation_phase += CV_PI * 0.01f;
translation = sin(translation_phase); translation = sin(translation_phase);
Mat rot_mat; Mat rot_mat;
Rodrigues(rot_vec, rot_mat); Rodrigues(rot_vec, rot_mat);
/// Construct pose /// Construct pose
Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose); myWindow.setWidgetPose("Cube Widget", pose);
myWindow.spinOnce(1, true); myWindow.spinOnce(1, true);
} }
return 0; return 0;
} }
Explanation Explanation
=========== ===========
@ -91,14 +91,14 @@ Here is the general structure of the program:
/// Create a window /// Create a window
viz::Viz3d myWindow("Coordinate Frame"); viz::Viz3d myWindow("Coordinate Frame");
* Show coordinate axes in the window using CoordinateSystemWidget. * Show coordinate axes in the window using CoordinateSystemWidget.
.. code-block:: cpp .. code-block:: cpp
/// Add coordinate axes /// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
* Display a line representing the axis (1,1,1). * Display a line representing the axis (1,1,1).
.. code-block:: cpp .. code-block:: cpp
@ -107,7 +107,7 @@ Here is the general structure of the program:
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis); myWindow.showWidget("Line Widget", axis);
* Construct a cube. * Construct a cube.
.. code-block:: cpp .. code-block:: cpp
@ -115,8 +115,8 @@ Here is the general structure of the program:
/// Construct a cube widget /// 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()); 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); cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Cube Widget", cube_widget); myWindow.showWidget("Cube Widget", cube_widget);
* Create rotation matrix from rodrigues vector * Create rotation matrix from rodrigues vector
.. code-block:: cpp .. code-block:: cpp
@ -125,20 +125,20 @@ Here is the general structure of the program:
rot_vec.at<float>(0,0) += CV_PI * 0.01f; rot_vec.at<float>(0,0) += CV_PI * 0.01f;
rot_vec.at<float>(0,1) += CV_PI * 0.01f; rot_vec.at<float>(0,1) += CV_PI * 0.01f;
rot_vec.at<float>(0,2) += CV_PI * 0.01f; rot_vec.at<float>(0,2) += CV_PI * 0.01f;
... ...
Mat rot_mat; Mat rot_mat;
Rodrigues(rot_vec, rot_mat); Rodrigues(rot_vec, rot_mat);
* Use Affine3f to set pose of the cube. * Use Affine3f to set pose of the cube.
.. code-block:: cpp .. code-block:: cpp
/// Construct pose /// Construct pose
Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose); myWindow.setWidgetPose("Cube Widget", pose);
* Animate the rotation using wasStopped and spinOnce * Animate the rotation using wasStopped and spinOnce
.. code-block:: cpp .. code-block:: cpp
@ -146,10 +146,10 @@ Here is the general structure of the program:
while(!myWindow.wasStopped()) while(!myWindow.wasStopped())
{ {
... ...
myWindow.spinOnce(1, true); myWindow.spinOnce(1, true);
} }
Results Results
======= =======

6
modules/viz/CMakeLists.txt
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@ -3,7 +3,7 @@ macro(find_qvtk)
find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS}) find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
find_package_handle_standard_args(QVTK DEFAULT_MSG QVTK_LIBRARY QVTK_INCLUDE_DIR) find_package_handle_standard_args(QVTK DEFAULT_MSG QVTK_LIBRARY QVTK_INCLUDE_DIR)
if(QVTK_FOUND) if(QVTK_FOUND)
get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH) get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH)
list(APPEND VTK_LIBRARY_DIRS ${QVTK_LIBRARY_DIR}) list(APPEND VTK_LIBRARY_DIRS ${QVTK_LIBRARY_DIR})
list(APPEND VTK_INCLUDE_DIRS ${QVTK_INCLUDE_DIR}) list(APPEND VTK_INCLUDE_DIRS ${QVTK_INCLUDE_DIR})
@ -22,7 +22,7 @@ macro(find_vtk)
message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})") message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})")
link_directories(${VTK_LIBRARY_DIRS}) link_directories(${VTK_LIBRARY_DIRS})
include_directories(SYSTEM ${VTK_INCLUDE_DIRS}) include_directories(SYSTEM ${VTK_INCLUDE_DIRS})
set(HAVE_VTK ON) set(HAVE_VTK ON)
else () else ()
set(HAVE_VTK OFF) set(HAVE_VTK OFF)
message (FATAL_ERROR "VTK disabled. You are to build OpenCV in STATIC but VTK is SHARED!") message (FATAL_ERROR "VTK disabled. You are to build OpenCV in STATIC but VTK is SHARED!")
@ -39,7 +39,7 @@ if(DEFINED HAVE_VTK AND HAVE_VTK)
include (${VTK_USE_FILE}) include (${VTK_USE_FILE})
add_definitions(-DHAVE_VTK) add_definitions(-DHAVE_VTK)
endif() endif()
set(the_description "Viz") set(the_description "Viz")
set(BUILD_opencv_viz_INIT OFF) set(BUILD_opencv_viz_INIT OFF)
include_directories(src) include_directories(src)

2
modules/viz/doc/viz.rst
Unescape View File

@ -4,6 +4,6 @@ viz. 3D Visualizer
.. toctree:: .. toctree::
:maxdepth: 2 :maxdepth: 2
viz3d.rst viz3d.rst
widget.rst widget.rst

122
modules/viz/doc/viz3d.rst
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@ -4,7 +4,7 @@ Viz
.. highlight:: cpp .. highlight:: cpp
This section describes 3D visualization window as well as classes and methods This section describes 3D visualization window as well as classes and methods
that are used to interact with it. that are used to interact with it.
3D visualization window (see :ocv:class:`Viz3d`) is used to display widgets (see :ocv:class:`Widget`), and it provides 3D visualization window (see :ocv:class:`Viz3d`) is used to display widgets (see :ocv:class:`Widget`), and it provides
several methods to interact with scene and widgets. several methods to interact with scene and widgets.
@ -21,17 +21,17 @@ Takes coordinate frame data and builds transform to global coordinate frame.
:param origin: Origin of the coordinate frame in global coordinate frame. :param origin: Origin of the coordinate frame in global coordinate frame.
This function returns affine transform that describes transformation between global coordinate frame and a given coordinate frame. This function returns affine transform that describes transformation between global coordinate frame and a given coordinate frame.
viz::makeCameraPose viz::makeCameraPose
------------------- -------------------
Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation). Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation).
.. ocv:function:: Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir) .. ocv:function:: Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir)
:param position: Position of the camera in global coordinate frame. :param position: Position of the camera in global coordinate frame.
:param focal_point: Focal point of the camera in global coordinate frame. :param focal_point: Focal point of the camera in global coordinate frame.
:param y_dir: Up vector of the camera in global coordinate frame. :param y_dir: Up vector of the camera in global coordinate frame.
This function returns pose of the camera in global coordinate frame. This function returns pose of the camera in global coordinate frame.
viz::get viz::get
@ -41,15 +41,15 @@ Retrieves a window by its name.
.. ocv:function:: Viz3d get(const String &window_name) .. ocv:function:: Viz3d get(const String &window_name)
:param window_name: Name of the window that is to be retrieved. :param window_name: Name of the window that is to be retrieved.
This function returns a :ocv:class:`Viz3d` object with the given name. This function returns a :ocv:class:`Viz3d` object with the given name.
.. note:: If the window with that name already exists, that window is returned. Otherwise, new window is created with the given name, and it is returned. .. note:: If the window with that name already exists, that window is returned. Otherwise, new window is created with the given name, and it is returned.
.. note:: Window names are automatically prefixed by "Viz - " if it is not done by the user. .. note:: Window names are automatically prefixed by "Viz - " if it is not done by the user.
.. code-block:: cpp .. code-block:: cpp
/// window and window_2 are the same windows. /// window and window_2 are the same windows.
viz::Viz3d window = viz::get("myWindow"); viz::Viz3d window = viz::get("myWindow");
viz::Viz3d window_2 = viz::get("Viz - myWindow"); viz::Viz3d window_2 = viz::get("Viz - myWindow");
@ -75,7 +75,7 @@ Checks **point** for nan
.. ocv:function:: bool isNan(const Point3_<_Tp>& p) .. ocv:function:: bool isNan(const Point3_<_Tp>& p)
:param p: return true if **any** of the elements of the point is *nan*. :param p: return true if **any** of the elements of the point is *nan*.
viz::VizAccessor viz::VizAccessor
---------------- ----------------
.. ocv:class:: VizAccessor .. ocv:class:: VizAccessor
@ -87,16 +87,16 @@ A singleton class that provides access by name infrastructure for 3D visualizati
public: public:
static VizAccessor & getInstance(); static VizAccessor & getInstance();
static void release(); static void release();
Viz3d get(const String &window_name); Viz3d get(const String &window_name);
//! window names automatically have Viz - prefix even though not provided by the users //! window names automatically have Viz - prefix even though not provided by the users
static void generateWindowName(const String &window_name, String &output); static void generateWindowName(const String &window_name, String &output);
private: private:
/* hidden */ /* hidden */
}; };
viz::VizAccessor::getInstance viz::VizAccessor::getInstance
----------------------------- -----------------------------
Returns the single instance of VizAccessor. Returns the single instance of VizAccessor.
@ -116,15 +116,15 @@ Retrieves a window by its name.
.. ocv:function:: Viz3d get(const String &window_name) .. ocv:function:: Viz3d get(const String &window_name)
:param window_name: Name of the window that is to be retrieved. :param window_name: Name of the window that is to be retrieved.
This function returns a :ocv:class:`Viz3d` object with the given name. This function returns a :ocv:class:`Viz3d` object with the given name.
.. note:: If the window with that name already exists, that window is returned. Otherwise, new window is created with the given name, and it is returned. .. note:: If the window with that name already exists, that window is returned. Otherwise, new window is created with the given name, and it is returned.
.. note:: Window names are automatically prefixed by "Viz - " if it is not done by the user. .. note:: Window names are automatically prefixed by "Viz - " if it is not done by the user.
.. code-block:: cpp .. code-block:: cpp
/// window and window_2 are the same windows. /// window and window_2 are the same windows.
viz::Viz3d window = viz::get("myWindow"); viz::Viz3d window = viz::get("myWindow");
viz::Viz3d window_2 = viz::get("Viz - myWindow"); viz::Viz3d window_2 = viz::get("Viz - myWindow");
@ -134,7 +134,7 @@ viz::VizAccessor::generateWindowName
Generates a window name by prefixing "Viz - " if it has not already been prefixed. Generates a window name by prefixing "Viz - " if it has not already been prefixed.
.. ocv:function:: static void generateWindowName(const String &window_name, String &output) .. ocv:function:: static void generateWindowName(const String &window_name, String &output)
:param window_name: Window name :param window_name: Window name
:param output: Prefixed window name :param output: Prefixed window name
@ -164,18 +164,18 @@ The Viz3d class represents a 3D visualizer window. This class is implicitly shar
void setWidgetPose(const String &id, const Affine3f &pose); void setWidgetPose(const String &id, const Affine3f &pose);
void updateWidgetPose(const String &id, const Affine3f &pose); void updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const; Affine3f getWidgetPose(const String &id) const;
void setCamera(const Camera &camera); void setCamera(const Camera &camera);
Camera getCamera() const; Camera getCamera() const;
Affine3f getViewerPose(); Affine3f getViewerPose();
void setViewerPose(const Affine3f &pose); void setViewerPose(const Affine3f &pose);
void resetCameraViewpoint (const String &id); void resetCameraViewpoint (const String &id);
void resetCamera(); void resetCamera();
void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord); void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction); void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
Size getWindowSize() const; Size getWindowSize() const;
void setWindowSize(const Size &window_size); void setWindowSize(const Size &window_size);
String getWindowName() const; String getWindowName() const;
@ -190,13 +190,13 @@ The Viz3d class represents a 3D visualizer window. This class is implicitly shar
void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0); void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
void registerMouseCallback(MouseCallback callback, void* cookie = 0); void registerMouseCallback(MouseCallback callback, void* cookie = 0);
void setRenderingProperty(const String &id, int property, double value); void setRenderingProperty(const String &id, int property, double value);
double getRenderingProperty(const String &id, int property); double getRenderingProperty(const String &id, int property);
void setDesiredUpdateRate(double rate); void setDesiredUpdateRate(double rate);
double getDesiredUpdateRate(); double getDesiredUpdateRate();
void setRepresentation(int representation); void setRepresentation(int representation);
private: private:
/* hidden */ /* hidden */
@ -219,7 +219,7 @@ Shows a widget in the window.
:param id: A unique id for the widget. :param id: A unique id for the widget.
:param widget: The widget to be displayed in the window. :param widget: The widget to be displayed in the window.
:param pose: Pose of the widget. :param pose: Pose of the widget.
viz::Viz3d::removeWidget viz::Viz3d::removeWidget
------------------------ ------------------------
Removes a widget from the window. Removes a widget from the window.
@ -227,17 +227,17 @@ Removes a widget from the window.
.. ocv:function:: void removeWidget(const String &id) .. 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.
viz::Viz3d::getWidget viz::Viz3d::getWidget
--------------------- ---------------------
Retrieves a widget from the window. A widget is implicitly shared; Retrieves a widget from the window. A widget is implicitly shared;
that is, if the returned widget is modified, the changes will be that is, if the returned widget is modified, the changes will be
immediately visible in the window. immediately visible in the window.
.. ocv:function:: Widget getWidget(const String &id) const .. 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.
viz::Viz3d::removeAllWidgets viz::Viz3d::removeAllWidgets
---------------------------- ----------------------------
Removes all widgets from the window. Removes all widgets from the window.
@ -305,7 +305,7 @@ Resets camera viewpoint to a 3D widget in the scene.
.. ocv:function:: void resetCameraViewpoint (const String &id) .. ocv:function:: void resetCameraViewpoint (const String &id)
:param pose: Id of a 3D widget. :param pose: Id of a 3D widget.
viz::Viz3d::resetCamera viz::Viz3d::resetCamera
----------------------- -----------------------
Resets camera. Resets camera.
@ -320,7 +320,7 @@ Transforms a point in world coordinate system to window coordinate system.
:param pt: Point in world coordinate system. :param pt: Point in world coordinate system.
:param window_coord: Output point in window coordinate system. :param window_coord: Output point in window coordinate system.
viz::Viz3d::converTo3DRay viz::Viz3d::converTo3DRay
------------------------- -------------------------
Transforms a point in window coordinate system to a 3D ray in world coordinate system. Transforms a point in window coordinate system to a 3D ray in world coordinate system.
@ -330,7 +330,7 @@ Transforms a point in window coordinate system to a 3D ray in world coordinate s
:param window_coord: Point in window coordinate system. :param window_coord: Point in window coordinate system.
:param origin: Output origin of the ray. :param origin: Output origin of the ray.
:param direction: Output direction of the ray. :param direction: Output direction of the ray.
viz::Viz3d::getWindowSize viz::Viz3d::getWindowSize
------------------------- -------------------------
Returns the current size of the window. Returns the current size of the window.
@ -344,7 +344,7 @@ Sets the size of the window.
.. ocv:function:: void setWindowSize(const Size &window_size) .. ocv:function:: void setWindowSize(const Size &window_size)
:param window_size: New size of the window. :param window_size: New size of the window.
viz::Viz3d::getWindowName viz::Viz3d::getWindowName
------------------------- -------------------------
Returns the name of the window which has been set in the constructor. Returns the name of the window which has been set in the constructor.
@ -358,7 +358,7 @@ Saves screenshot of the current scene.
.. ocv:function:: void saveScreenshot(const String &file) .. ocv:function:: void saveScreenshot(const String &file)
:param file: Name of the file. :param file: Name of the file.
viz::Viz3d::setWindowPosition viz::Viz3d::setWindowPosition
----------------------------- -----------------------------
Sets the position of the window in the screen. Sets the position of the window in the screen.
@ -367,7 +367,7 @@ Sets the position of the window in the screen.
:param x: x coordinate of the window :param x: x coordinate of the window
:param y: y coordinate of the window :param y: y coordinate of the window
viz::Viz3d::setFullScreen viz::Viz3d::setFullScreen
------------------------- -------------------------
Sets or unsets full-screen rendering mode. Sets or unsets full-screen rendering mode.
@ -375,7 +375,7 @@ Sets or unsets full-screen rendering mode.
.. ocv:function:: void setFullScreen(bool 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.
viz::Viz3d::setBackgroundColor viz::Viz3d::setBackgroundColor
------------------------------ ------------------------------
Sets background color. Sets background color.
@ -411,7 +411,7 @@ Sets keyboard handler.
:param callback: Keyboard callback ``(void (*KeyboardCallbackFunction(const KeyboardEvent&, void*))``. :param callback: Keyboard callback ``(void (*KeyboardCallbackFunction(const KeyboardEvent&, void*))``.
:param cookie: The optional parameter passed to the callback. :param cookie: The optional parameter passed to the callback.
viz::Viz3d::registerMouseCallback viz::Viz3d::registerMouseCallback
--------------------------------- ---------------------------------
Sets mouse handler. Sets mouse handler.
@ -430,9 +430,9 @@ Sets rendering property of a widget.
:param id: Id of the widget. :param id: Id of the widget.
:param property: Property that will be modified. :param property: Property that will be modified.
:param value: The new value of the property. :param value: The new value of the property.
**Rendering property** can be one of the following: **Rendering property** can be one of the following:
* **POINT_SIZE** * **POINT_SIZE**
* **OPACITY** * **OPACITY**
* **LINE_WIDTH** * **LINE_WIDTH**
@ -441,14 +441,14 @@ Sets rendering property of a widget.
* **REPRESENTATION_POINTS** * **REPRESENTATION_POINTS**
* **REPRESENTATION_WIREFRAME** * **REPRESENTATION_WIREFRAME**
* **REPRESENTATION_SURFACE** * **REPRESENTATION_SURFACE**
* **IMMEDIATE_RENDERING**: * **IMMEDIATE_RENDERING**:
* Turn on immediate rendering by setting the value to ``1``. * Turn on immediate rendering by setting the value to ``1``.
* Turn off immediate rendering by setting the value to ``0``. * Turn off immediate rendering by setting the value to ``0``.
* **SHADING**: Expected values are * **SHADING**: Expected values are
* **SHADING_FLAT** * **SHADING_FLAT**
* **SHADING_GOURAUD** * **SHADING_GOURAUD**
* **SHADING_PHONG** * **SHADING_PHONG**
viz::Viz3d::getRenderingProperty viz::Viz3d::getRenderingProperty
-------------------------------- --------------------------------
Returns rendering property of a widget. Returns rendering property of a widget.
@ -457,9 +457,9 @@ Returns rendering property of a widget.
:param id: Id of the widget. :param id: Id of the widget.
:param property: Property. :param property: Property.
**Rendering property** can be one of the following: **Rendering property** can be one of the following:
* **POINT_SIZE** * **POINT_SIZE**
* **OPACITY** * **OPACITY**
* **LINE_WIDTH** * **LINE_WIDTH**
@ -468,7 +468,7 @@ Returns rendering property of a widget.
* **REPRESENTATION_POINTS** * **REPRESENTATION_POINTS**
* **REPRESENTATION_WIREFRAME** * **REPRESENTATION_WIREFRAME**
* **REPRESENTATION_SURFACE** * **REPRESENTATION_SURFACE**
* **IMMEDIATE_RENDERING**: * **IMMEDIATE_RENDERING**:
* Turn on immediate rendering by setting the value to ``1``. * Turn on immediate rendering by setting the value to ``1``.
* Turn off immediate rendering by setting the value to ``0``. * Turn off immediate rendering by setting the value to ``0``.
* **SHADING**: Expected values are * **SHADING**: Expected values are
@ -483,7 +483,7 @@ Sets desired update rate of the window.
.. ocv:function:: void setDesiredUpdateRate(double rate) .. ocv:function:: void setDesiredUpdateRate(double rate)
:param rate: Desired update rate. The default is 30. :param rate: Desired update rate. The default is 30.
viz::Viz3d::getDesiredUpdateRate viz::Viz3d::getDesiredUpdateRate
-------------------------------- --------------------------------
Returns desired update rate of the window. Returns desired update rate of the window.
@ -497,11 +497,11 @@ Sets geometry representation of the widgets to surface, wireframe or points.
.. ocv:function:: void setRepresentation(int representation) .. ocv:function:: void setRepresentation(int representation)
:param representation: Geometry representation which can be one of the following: :param representation: Geometry representation which can be one of the following:
* **REPRESENTATION_POINTS** * **REPRESENTATION_POINTS**
* **REPRESENTATION_WIREFRAME** * **REPRESENTATION_WIREFRAME**
* **REPRESENTATION_SURFACE** * **REPRESENTATION_SURFACE**
viz::Color viz::Color
---------- ----------
.. ocv:class:: Color .. ocv:class:: Color
@ -545,11 +545,11 @@ This class wraps mesh attributes, and it can load a mesh from a ``ply`` file. ::
//! Loads mesh from a given ply file //! Loads mesh from a given ply file
static Mesh3d loadMesh(const String& file); static Mesh3d loadMesh(const String& file);
private: private:
/* hidden */ /* hidden */
}; };
viz::Mesh3d::loadMesh viz::Mesh3d::loadMesh
--------------------- ---------------------
Loads a mesh from a ``ply`` file. Loads a mesh from a ``ply`` file.
@ -557,8 +557,8 @@ Loads a mesh from a ``ply`` file.
.. ocv:function:: static Mesh3d loadMesh(const String& file) .. ocv:function:: static Mesh3d loadMesh(const String& file)
:param file: File name. :param file: File name.
viz::KeyboardEvent viz::KeyboardEvent
------------------ ------------------
.. ocv:class:: KeyboardEvent .. ocv:class:: KeyboardEvent
@ -602,7 +602,7 @@ Constructs a KeyboardEvent.
:param alt: If true, ``alt`` is pressed. :param alt: If true, ``alt`` is pressed.
:param ctrl: If true, ``ctrl`` is pressed. :param ctrl: If true, ``ctrl`` is pressed.
:param shift: If true, ``shift`` is pressed. :param shift: If true, ``shift`` is pressed.
viz::MouseEvent viz::MouseEvent
--------------- ---------------
.. ocv:class:: MouseEvent .. ocv:class:: MouseEvent
@ -622,7 +622,7 @@ This class represents a mouse event. ::
Point pointer; Point pointer;
unsigned int key_state; unsigned int key_state;
}; };
viz::MouseEvent::MouseEvent viz::MouseEvent::MouseEvent
--------------------------- ---------------------------
Constructs a MouseEvent. Constructs a MouseEvent.
@ -635,7 +635,7 @@ Constructs a MouseEvent.
:param alt: If true, ``alt`` is pressed. :param alt: If true, ``alt`` is pressed.
:param ctrl: If true, ``ctrl`` is pressed. :param ctrl: If true, ``ctrl`` is pressed.
:param shift: If true, ``shift`` is pressed. :param shift: If true, ``shift`` is pressed.
viz::Camera viz::Camera
----------- -----------
.. ocv:class:: Camera .. ocv:class:: Camera
@ -651,23 +651,23 @@ that can extract the intrinsic parameters from ``field of view``, ``intrinsic ma
Camera(const Vec2f &fov, const Size &window_size); Camera(const Vec2f &fov, const Size &window_size);
Camera(const cv::Matx33f &K, const Size &window_size); Camera(const cv::Matx33f &K, const Size &window_size);
Camera(const cv::Matx44f &proj, const Size &window_size); Camera(const cv::Matx44f &proj, const Size &window_size);
inline const Vec2d & getClip() const { return clip_; } inline const Vec2d & getClip() const { return clip_; }
inline void setClip(const Vec2d &clip) { clip_ = clip; } inline void setClip(const Vec2d &clip) { clip_ = clip; }
inline const Size & getWindowSize() const { return window_size_; } inline const Size & getWindowSize() const { return window_size_; }
void setWindowSize(const Size &window_size); void setWindowSize(const Size &window_size);
inline const Vec2f & getFov() const { return fov_; } inline const Vec2f & getFov() const { return fov_; }
inline void setFov(const Vec2f & fov) { fov_ = fov; } inline void setFov(const Vec2f & fov) { fov_ = fov; }
inline const Vec2f & getPrincipalPoint() const { return principal_point_; } inline const Vec2f & getPrincipalPoint() const { return principal_point_; }
inline const Vec2f & getFocalLength() const { return focal_; } inline const Vec2f & getFocalLength() const { return focal_; }
void computeProjectionMatrix(Matx44f &proj) const; void computeProjectionMatrix(Matx44f &proj) const;
static Camera KinectCamera(const Size &window_size); static Camera KinectCamera(const Size &window_size);
private: private:
/* hidden */ /* hidden */
}; };
@ -690,7 +690,7 @@ Constructs a Camera.
:param window_size: Size of the window. :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) .. ocv:function:: Camera(const cv::Matx33f &K, const Size &window_size)
:param K: Intrinsic matrix of the camera. :param K: Intrinsic matrix of the camera.
@ -708,7 +708,7 @@ Computes projection matrix using intrinsic parameters of the camera.
.. ocv:function:: void computeProjectionMatrix(Matx44f &proj) const .. ocv:function:: void computeProjectionMatrix(Matx44f &proj) const
:param proj: Output projection matrix. :param proj: Output projection matrix.
viz::Camera::KinectCamera viz::Camera::KinectCamera
------------------------- -------------------------
Creates a Kinect Camera. Creates a Kinect Camera.

202
modules/viz/doc/widget.rst
Unescape View File

@ -1,13 +1,13 @@
Widget Widget
====== ======
.. highlight:: cpp .. highlight:: cpp
In this section, the widget framework is explained. Widgets represent In this section, the widget framework is explained. Widgets represent
2D or 3D objects, varying from simple ones such as lines to complex one such as 2D or 3D objects, varying from simple ones such as lines to complex one such as
point clouds and meshes. point clouds and meshes.
Widgets are **implicitly shared**. Therefore, one can add a widget to the scene, Widgets are **implicitly shared**. Therefore, one can add a widget to the scene,
and modify the widget without re-adding the widget. and modify the widget without re-adding the widget.
.. code-block:: cpp .. code-block:: cpp
@ -34,10 +34,10 @@ Base class of all widgets. Widget is implicitly shared. ::
Widget(const Widget& other); Widget(const Widget& other);
Widget& operator=(const Widget& other); Widget& operator=(const Widget& other);
~Widget(); ~Widget();
//! Create a widget directly from ply file //! Create a widget directly from ply file
static Widget fromPlyFile(const String &file_name); static Widget fromPlyFile(const String &file_name);
//! Rendering properties of this particular widget //! Rendering properties of this particular widget
void setRenderingProperty(int property, double value); void setRenderingProperty(int property, double value);
double getRenderingProperty(int property) const; double getRenderingProperty(int property) const;
@ -55,7 +55,7 @@ Creates a widget from ply file.
.. ocv:function:: static Widget fromPlyFile(const String &file_name) .. ocv:function:: static Widget fromPlyFile(const String &file_name)
:param file_name: Ply file name. :param file_name: Ply file name.
viz::Widget::setRenderingProperty viz::Widget::setRenderingProperty
--------------------------------- ---------------------------------
Sets rendering property of the widget. Sets rendering property of the widget.
@ -64,9 +64,9 @@ Sets rendering property of the widget.
:param property: Property that will be modified. :param property: Property that will be modified.
:param value: The new value of the property. :param value: The new value of the property.
**Rendering property** can be one of the following: **Rendering property** can be one of the following:
* **POINT_SIZE** * **POINT_SIZE**
* **OPACITY** * **OPACITY**
* **LINE_WIDTH** * **LINE_WIDTH**
@ -75,14 +75,14 @@ Sets rendering property of the widget.
* **REPRESENTATION_POINTS** * **REPRESENTATION_POINTS**
* **REPRESENTATION_WIREFRAME** * **REPRESENTATION_WIREFRAME**
* **REPRESENTATION_SURFACE** * **REPRESENTATION_SURFACE**
* **IMMEDIATE_RENDERING**: * **IMMEDIATE_RENDERING**:
* Turn on immediate rendering by setting the value to ``1``. * Turn on immediate rendering by setting the value to ``1``.
* Turn off immediate rendering by setting the value to ``0``. * Turn off immediate rendering by setting the value to ``0``.
* **SHADING**: Expected values are * **SHADING**: Expected values are
* **SHADING_FLAT** * **SHADING_FLAT**
* **SHADING_GOURAUD** * **SHADING_GOURAUD**
* **SHADING_PHONG** * **SHADING_PHONG**
viz::Widget::getRenderingProperty viz::Widget::getRenderingProperty
--------------------------------- ---------------------------------
Returns rendering property of the widget. Returns rendering property of the widget.
@ -90,9 +90,9 @@ Returns rendering property of the widget.
.. ocv:function:: double getRenderingProperty(int property) const .. ocv:function:: double getRenderingProperty(int property) const
:param property: Property. :param property: Property.
**Rendering property** can be one of the following: **Rendering property** can be one of the following:
* **POINT_SIZE** * **POINT_SIZE**
* **OPACITY** * **OPACITY**
* **LINE_WIDTH** * **LINE_WIDTH**
@ -101,14 +101,14 @@ Returns rendering property of the widget.
* **REPRESENTATION_POINTS** * **REPRESENTATION_POINTS**
* **REPRESENTATION_WIREFRAME** * **REPRESENTATION_WIREFRAME**
* **REPRESENTATION_SURFACE** * **REPRESENTATION_SURFACE**
* **IMMEDIATE_RENDERING**: * **IMMEDIATE_RENDERING**:
* Turn on immediate rendering by setting the value to ``1``. * Turn on immediate rendering by setting the value to ``1``.
* Turn off immediate rendering by setting the value to ``0``. * Turn off immediate rendering by setting the value to ``0``.
* **SHADING**: Expected values are * **SHADING**: Expected values are
* **SHADING_FLAT** * **SHADING_FLAT**
* **SHADING_GOURAUD** * **SHADING_GOURAUD**
* **SHADING_PHONG** * **SHADING_PHONG**
viz::Widget::cast viz::Widget::cast
----------------- -----------------
Casts a widget to another. Casts a widget to another.
@ -135,7 +135,7 @@ This class is for users who want to develop their own widgets using VTK library
static vtkSmartPointer<vtkProp> getProp(const Widget &widget); static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop); static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
}; };
viz::WidgetAccessor::getProp viz::WidgetAccessor::getProp
---------------------------- ----------------------------
Returns ``vtkProp`` of a given widget. Returns ``vtkProp`` of a given widget.
@ -147,9 +147,9 @@ Returns ``vtkProp`` of a given widget.
.. note:: vtkProp has to be down cast appropriately to be modified. .. note:: vtkProp has to be down cast appropriately to be modified.
.. code-block:: cpp .. code-block:: cpp
vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget)); vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget));
viz::WidgetAccessor::setProp viz::WidgetAccessor::setProp
---------------------------- ----------------------------
Sets ``vtkProp`` of a given widget. Sets ``vtkProp`` of a given widget.
@ -158,7 +158,7 @@ Sets ``vtkProp`` of a given widget.
:param widget: Widget whose ``vtkProp`` is to be set. :param widget: Widget whose ``vtkProp`` is to be set.
:param prop: A ``vtkProp``. :param prop: A ``vtkProp``.
viz::Widget3D viz::Widget3D
------------- -------------
.. ocv:class:: Widget3D .. ocv:class:: Widget3D
@ -186,7 +186,7 @@ Sets pose of the widget.
.. ocv:function:: void setPose(const Affine3f &pose) .. ocv:function:: void setPose(const Affine3f &pose)
:param pose: The new pose of the widget. :param pose: The new pose of the widget.
viz::Widget3D::updateWidgetPose viz::Widget3D::updateWidgetPose
------------------------------- -------------------------------
Updates pose of the widget by pre-multiplying its current pose. Updates pose of the widget by pre-multiplying its current pose.
@ -207,8 +207,8 @@ Sets the color of the widget.
.. ocv:function:: void setColor(const Color &color) .. ocv:function:: void setColor(const Color &color)
:param color: color of type :ocv:class:`Color` :param color: color of type :ocv:class:`Color`
viz::Widget2D viz::Widget2D
------------- -------------
.. ocv:class:: Widget2D .. ocv:class:: Widget2D
@ -222,7 +222,7 @@ Base class of all 2D widgets. ::
void setColor(const Color &color); void setColor(const Color &color);
}; };
viz::Widget2D::setColor viz::Widget2D::setColor
----------------------- -----------------------
Sets the color of the widget. Sets the color of the widget.
@ -242,7 +242,7 @@ This 3D Widget defines a finite line. ::
public: public:
WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white()); WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
}; };
viz::WLine::WLine viz::WLine::WLine
----------------- -----------------
Constructs a WLine. Constructs a WLine.
@ -252,7 +252,7 @@ Constructs a WLine.
:param pt1: Start point of the line. :param pt1: Start point of the line.
:param pt2: End point of the line. :param pt2: End point of the line.
:param color: :ocv:class:`Color` of the line. :param color: :ocv:class:`Color` of the line.
viz::WPlane viz::WPlane
----------- -----------
.. ocv:class:: WPlane .. ocv:class:: WPlane
@ -267,13 +267,13 @@ This 3D Widget defines a finite plane. ::
private: private:
/* hidden */ /* hidden */
}; };
viz::WPlane::WPlane viz::WPlane::WPlane
------------------- -------------------
Constructs a WPlane. Constructs a WPlane.
.. ocv:function:: WPlane(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white()) .. ocv:function:: WPlane(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 coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param size: Size of the plane. :param size: Size of the plane.
:param color: :ocv:class:`Color` of the plane. :param color: :ocv:class:`Color` of the plane.
@ -284,7 +284,7 @@ Constructs a WPlane.
:param pt: Position of the plane. :param pt: Position of the plane.
:param size: Size of the plane. :param size: Size of the plane.
:param color: :ocv:class:`Color` of the plane. :param color: :ocv:class:`Color` of the plane.
viz::WSphere viz::WSphere
------------ ------------
.. ocv:class:: WSphere .. ocv:class:: WSphere
@ -319,7 +319,7 @@ This 3D Widget defines an arrow. ::
public: public:
WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white()); WArrow(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
}; };
viz::WArrow::WArrow viz::WArrow::WArrow
----------------------------- -----------------------------
Constructs an WArrow. Constructs an WArrow.
@ -330,9 +330,9 @@ Constructs an WArrow.
:param pt2: End 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 thickness: Thickness of the arrow. Thickness of arrow head is also adjusted accordingly.
:param color: :ocv:class:`Color` of the arrow. :param color: :ocv:class:`Color` of the arrow.
Arrow head is located at the end point of the arrow. Arrow head is located at the end point of the arrow.
viz::WCircle viz::WCircle
----------------- -----------------
.. ocv:class:: WCircle .. ocv:class:: WCircle
@ -344,7 +344,7 @@ This 3D Widget defines a circle. ::
public: public:
WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white()); WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
}; };
viz::WCircle::WCircle viz::WCircle::WCircle
------------------------------- -------------------------------
Constructs a WCircle. Constructs a WCircle.
@ -355,7 +355,7 @@ Constructs a WCircle.
:param radius: Radius of the circle. :param radius: Radius of the circle.
:param thickness: Thickness of the circle. :param thickness: Thickness of the circle.
:param color: :ocv:class:`Color` of the circle. :param color: :ocv:class:`Color` of the circle.
viz::WCylinder viz::WCylinder
-------------- --------------
.. ocv:class:: WCylinder .. ocv:class:: WCylinder
@ -379,7 +379,7 @@ Constructs a WCylinder.
:param radius: Radius of the cylinder. :param radius: Radius of the cylinder.
:param numsides: Resolution of the cylinder. :param numsides: Resolution of the cylinder.
:param color: :ocv:class:`Color` of the cylinder. :param color: :ocv:class:`Color` of the cylinder.
viz::WCube viz::WCube
---------- ----------
.. ocv:class:: WCube .. ocv:class:: WCube
@ -391,7 +391,7 @@ This 3D Widget defines a cube. ::
public: public:
WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white()); WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
}; };
viz::WCube::WCube viz::WCube::WCube
--------------------------- ---------------------------
Constructs a WCube. Constructs a WCube.
@ -402,11 +402,11 @@ Constructs a WCube.
:param pt_max: Specifies maximum 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 wire_frame: If true, cube is represented as wireframe.
:param color: :ocv:class:`Color` of the cube. :param color: :ocv:class:`Color` of the cube.
.. image:: images/cube_widget.png .. image:: images/cube_widget.png
:alt: Cube Widget :alt: Cube Widget
:align: center :align: center
viz::WCoordinateSystem viz::WCoordinateSystem
---------------------- ----------------------
.. ocv:class:: WCoordinateSystem .. ocv:class:: WCoordinateSystem
@ -418,7 +418,7 @@ This 3D Widget represents a coordinate system. ::
public: public:
WCoordinateSystem(double scale = 1.0); WCoordinateSystem(double scale = 1.0);
}; };
viz::WCoordinateSystem::WCoordinateSystem viz::WCoordinateSystem::WCoordinateSystem
--------------------------------------------------- ---------------------------------------------------
Constructs a WCoordinateSystem. Constructs a WCoordinateSystem.
@ -426,7 +426,7 @@ Constructs a WCoordinateSystem.
.. ocv:function:: WCoordinateSystem(double scale = 1.0) .. ocv:function:: WCoordinateSystem(double scale = 1.0)
:param scale: Determines the size of the axes. :param scale: Determines the size of the axes.
viz::WPolyLine viz::WPolyLine
-------------- --------------
.. ocv:class:: WPolyLine .. ocv:class:: WPolyLine
@ -447,10 +447,10 @@ viz::WPolyLine::WPolyLine
Constructs a WPolyLine. Constructs a WPolyLine.
.. ocv:function:: WPolyLine(InputArray points, const Color &color = Color::white()) .. ocv:function:: WPolyLine(InputArray points, const Color &color = Color::white())
:param points: Point set. :param points: Point set.
:param color: :ocv:class:`Color` of the poly line. :param color: :ocv:class:`Color` of the poly line.
viz::WGrid viz::WGrid
---------- ----------
.. ocv:class:: WGrid .. ocv:class:: WGrid
@ -467,7 +467,7 @@ This 3D Widget defines a grid. ::
private: private:
/* hidden */ /* hidden */
}; };
viz::WGrid::WGrid viz::WGrid::WGrid
--------------------------- ---------------------------
Constructs a WGrid. Constructs a WGrid.
@ -477,14 +477,14 @@ Constructs a WGrid.
:param dimensions: Number of columns and rows, respectively. :param dimensions: Number of columns and rows, respectively.
:param spacing: Size of each column and row, respectively. :param spacing: Size of each column and row, respectively.
:param color: :ocv:class:`Color` of the grid. :param color: :ocv:class:`Color` of the grid.
.. ocv:function: WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()) .. ocv:function: WGrid(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 coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param dimensions: Number of columns and rows, respectively. :param dimensions: Number of columns and rows, respectively.
:param spacing: Size of each column and row, respectively. :param spacing: Size of each column and row, respectively.
:param color: :ocv:class:`Color` of the grid. :param color: :ocv:class:`Color` of the grid.
viz::WText3D viz::WText3D
------------ ------------
.. ocv:class:: WText3D .. ocv:class:: WText3D
@ -499,7 +499,7 @@ This 3D Widget represents 3D text. The text always faces the camera. ::
void setText(const String &text); void setText(const String &text);
String getText() const; String getText() const;
}; };
viz::WText3D::WText3D viz::WText3D::WText3D
------------------------------- -------------------------------
Constructs a WText3D. Constructs a WText3D.
@ -511,7 +511,7 @@ Constructs a WText3D.
:param text_scale: Size of the text. :param text_scale: Size of the text.
:param face_camera: If true, text always faces the camera. :param face_camera: If true, text always faces the camera.
:param color: :ocv:class:`Color` of the text. :param color: :ocv:class:`Color` of the text.
viz::WText3D::setText viz::WText3D::setText
--------------------- ---------------------
Sets the text content of the widget. Sets the text content of the widget.
@ -540,7 +540,7 @@ This 2D Widget represents text overlay. ::
void setText(const String &text); void setText(const String &text);
String getText() const; String getText() const;
}; };
viz::WText::WText viz::WText::WText
----------------- -----------------
Constructs a WText. Constructs a WText.
@ -551,7 +551,7 @@ Constructs a WText.
:param pos: Position of the text. :param pos: Position of the text.
:param font_size: Font size. :param font_size: Font size.
:param color: :ocv:class:`Color` of the text. :param color: :ocv:class:`Color` of the text.
viz::WText::setText viz::WText::setText
------------------- -------------------
Sets the text content of the widget. Sets the text content of the widget.
@ -576,10 +576,10 @@ This 2D Widget represents an image overlay. ::
{ {
public: public:
WImageOverlay(const Mat &image, const Rect &rect); WImageOverlay(const Mat &image, const Rect &rect);
void setImage(const Mat &image); void setImage(const Mat &image);
}; };
viz::WImageOverlay::WImageOverlay viz::WImageOverlay::WImageOverlay
--------------------------------- ---------------------------------
Constructs an WImageOverlay. Constructs an WImageOverlay.
@ -588,7 +588,7 @@ Constructs an WImageOverlay.
:param image: BGR or Gray-Scale image. :param image: BGR or Gray-Scale image.
:param rect: Image is scaled and positioned based on rect. :param rect: Image is scaled and positioned based on rect.
viz::WImageOverlay::setImage viz::WImageOverlay::setImage
---------------------------- ----------------------------
Sets the image content of the widget. Sets the image content of the widget.
@ -596,7 +596,7 @@ Sets the image content of the widget.
.. ocv:function:: void setImage(const Mat &image) .. ocv:function:: void setImage(const Mat &image)
:param image: BGR or Gray-Scale image. :param image: BGR or Gray-Scale image.
viz::WImage3D viz::WImage3D
------------- -------------
.. ocv:class:: WImage3D .. ocv:class:: WImage3D
@ -610,7 +610,7 @@ This 3D Widget represents an image in 3D space. ::
WImage3D(const Mat &image, const Size &size); WImage3D(const Mat &image, const Size &size);
//! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size); WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
void setImage(const Mat &image); void setImage(const Mat &image);
}; };
@ -619,10 +619,10 @@ viz::WImage3D::WImage3D
Constructs an WImage3D. Constructs an WImage3D.
.. ocv:function:: WImage3D(const Mat &image, const Size &size) .. ocv:function:: WImage3D(const Mat &image, const Size &size)
:param image: BGR or Gray-Scale image. :param image: BGR or Gray-Scale image.
:param size: Size of the image. :param size: Size of the image.
.. ocv:function:: WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size) .. ocv:function:: WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size)
:param position: Position of the image. :param position: Position of the image.
@ -630,7 +630,7 @@ Constructs an WImage3D.
:param up_vector: Determines orientation of the image. :param up_vector: Determines orientation of the image.
:param image: BGR or Gray-Scale image. :param image: BGR or Gray-Scale image.
:param size: Size of the image. :param size: Size of the image.
viz::WImage3D::setImage viz::WImage3D::setImage
----------------------- -----------------------
Sets the image content of the widget. Sets the image content of the widget.
@ -638,7 +638,7 @@ Sets the image content of the widget.
.. ocv:function:: void setImage(const Mat &image) .. ocv:function:: void setImage(const Mat &image)
:param image: BGR or Gray-Scale image. :param image: BGR or Gray-Scale image.
viz::WCameraPosition viz::WCameraPosition
-------------------- --------------------
.. ocv:class:: WCameraPosition .. ocv:class:: WCameraPosition
@ -659,7 +659,7 @@ This 3D Widget represents camera position in a scene by its axes or viewing frus
//! Creates frustum and display given image at the far plane //! Creates frustum and display given image at the far plane
WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white()); WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
}; };
viz::WCameraPosition::WCameraPosition viz::WCameraPosition::WCameraPosition
------------------------------------- -------------------------------------
Constructs a WCameraPosition. Constructs a WCameraPosition.
@ -669,7 +669,7 @@ Constructs a WCameraPosition.
.. ocv:function:: WCameraPosition(double scale = 1.0) .. ocv:function:: WCameraPosition(double scale = 1.0)
Creates camera coordinate frame at the origin. Creates camera coordinate frame at the origin.
.. image:: images/cpw1.png .. image:: images/cpw1.png
:alt: Camera coordinate frame :alt: Camera coordinate frame
:align: center :align: center
@ -681,15 +681,15 @@ Constructs a WCameraPosition.
:param K: Intrinsic matrix of the camera. :param K: Intrinsic matrix of the camera.
:param scale: Scale of the frustum. :param scale: Scale of the frustum.
:param color: :ocv:class:`Color` of the frustum. :param color: :ocv:class:`Color` of the frustum.
Creates viewing frustum of the camera based on its intrinsic matrix K. Creates viewing frustum of the camera based on its intrinsic matrix K.
.. ocv:function:: WCameraPosition(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()) .. ocv:function:: WCameraPosition(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white())
:param fov: Field of view of the camera (horizontal, vertical). :param fov: Field of view of the camera (horizontal, vertical).
:param scale: Scale of the frustum. :param scale: Scale of the frustum.
:param color: :ocv:class:`Color` of the frustum. :param color: :ocv:class:`Color` of the frustum.
Creates viewing frustum of the camera based on its field of view fov. Creates viewing frustum of the camera based on its field of view fov.
.. image:: images/cpw2.png .. image:: images/cpw2.png
@ -704,7 +704,7 @@ Constructs a WCameraPosition.
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. :param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
:param scale: Scale of the frustum and image. :param scale: Scale of the frustum and image.
:param color: :ocv:class:`Color` of the frustum. :param color: :ocv:class:`Color` of the frustum.
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane. Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
.. ocv:function:: WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white()) .. ocv:function:: WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white())
@ -713,9 +713,9 @@ Constructs a WCameraPosition.
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. :param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
:param scale: Scale of the frustum and image. :param scale: Scale of the frustum and image.
:param color: :ocv:class:`Color` of the frustum. :param color: :ocv:class:`Color` of the frustum.
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane. Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
.. image:: images/cpw3.png .. image:: images/cpw3.png
:alt: Camera viewing frustum with image :alt: Camera viewing frustum with image
:align: center :align: center
@ -730,18 +730,18 @@ This 3D Widget represents a trajectory. ::
{ {
public: public:
enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2}; enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
//! Displays trajectory of the given path either by coordinate frames or polyline //! Displays trajectory of the given path either by coordinate frames or polyline
WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0); WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
//! Displays trajectory of the given path by frustums //! Displays trajectory of the given path by frustums
WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); WTrajectory(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 //! Displays trajectory of the given path by frustums
WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()); WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
private: private:
/* hidden */ /* hidden */
}; };
viz::WTrajectory::WTrajectory viz::WTrajectory::WTrajectory
----------------------------- -----------------------------
Constructs a WTrajectory. Constructs a WTrajectory.
@ -752,29 +752,29 @@ Constructs a WTrajectory.
:param display_mode: Display mode. This can be DISPLAY_PATH, DISPLAY_FRAMES, DISPLAY_PATH & DISPLAY_FRAMES. :param display_mode: Display mode. This can be DISPLAY_PATH, DISPLAY_FRAMES, DISPLAY_PATH & DISPLAY_FRAMES.
:param color: :ocv:class:`Color` of the polyline that represents path. Frames are not affected. :param color: :ocv:class:`Color` of the polyline that represents path. Frames are not affected.
:param scale: Scale of the frames. Polyline is not affected. :param scale: Scale of the frames. Polyline is not affected.
Displays trajectory of the given path as follows: Displays trajectory of the given path as follows:
* DISPLAY_PATH : Displays a poly line that represents the path. * DISPLAY_PATH : Displays a poly line that represents the path.
* DISPLAY_FRAMES : Displays coordinate frames at each pose. * DISPLAY_FRAMES : Displays coordinate frames at each pose.
* DISPLAY_PATH & DISPLAY_FRAMES : Displays both poly line and coordinate frames. * DISPLAY_PATH & DISPLAY_FRAMES : Displays both poly line and coordinate frames.
.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white()) .. ocv:function:: WTrajectory(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 path: List of poses on a trajectory.
:param K: Intrinsic matrix of the camera. :param K: Intrinsic matrix of the camera.
:param scale: Scale of the frustums. :param scale: Scale of the frustums.
:param color: :ocv:class:`Color` of the frustums. :param color: :ocv:class:`Color` of the frustums.
Displays frustums at each pose of the trajectory. Displays frustums at each pose of the trajectory.
.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()) .. ocv:function:: WTrajectory(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 path: List of poses on a trajectory.
:param fov: Field of view of the camera (horizontal, vertical). :param fov: Field of view of the camera (horizontal, vertical).
:param scale: Scale of the frustums. :param scale: Scale of the frustums.
:param color: :ocv:class:`Color` of the frustums. :param color: :ocv:class:`Color` of the frustums.
Displays frustums at each pose of the trajectory. Displays frustums at each pose of the trajectory.
viz::WSpheresTrajectory viz::WSpheresTrajectory
@ -787,24 +787,24 @@ represent the direction from previous position to the current. ::
class CV_EXPORTS WSpheresTrajectory : public Widget3D class CV_EXPORTS WSpheresTrajectory : public Widget3D
{ {
public: public:
WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f, WSpheresTrajectory(const std::vector<Affine3f> &path, float line_length = 0.05f,
double init_sphere_radius = 0.021, sphere_radius = 0.007, double init_sphere_radius = 0.021, sphere_radius = 0.007,
Color &line_color = Color::white(), const Color &sphere_color = Color::white()); Color &line_color = Color::white(), const Color &sphere_color = Color::white());
}; };
viz::WSpheresTrajectory::WSpheresTrajectory viz::WSpheresTrajectory::WSpheresTrajectory
------------------------------------------- -------------------------------------------
Constructs a WSpheresTrajectory. Constructs a WSpheresTrajectory.
.. ocv:function:: WSpheresTrajectory(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()) .. ocv:function:: WSpheresTrajectory(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 path: List of poses on a trajectory.
:param line_length: Length of the lines. :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 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 sphere_radius: Radius of the rest of the spheres.
:param line_color: :ocv:class:`Color` of the lines. :param line_color: :ocv:class:`Color` of the lines.
:param sphere_color: :ocv:class:`Color` of the spheres. :param sphere_color: :ocv:class:`Color` of the spheres.
viz::WCloud viz::WCloud
----------- -----------
.. ocv:class:: WCloud .. ocv:class:: WCloud
@ -822,7 +822,7 @@ This 3D Widget defines a point cloud. ::
private: private:
/* hidden */ /* hidden */
}; };
viz::WCloud::WCloud viz::WCloud::WCloud
------------------- -------------------
Constructs a WCloud. Constructs a WCloud.
@ -831,16 +831,16 @@ Constructs a WCloud.
:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. :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 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). Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
.. ocv:function:: WCloud(InputArray cloud, const Color &color = Color::white()) .. ocv:function:: WCloud(InputArray cloud, const Color &color = Color::white())
:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. :param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
:param color: A single :ocv:class:`Color` for the whole cloud. :param color: A single :ocv:class:`Color` for the whole cloud.
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
.. note:: In case there are four channels in the cloud, fourth channel is ignored. .. note:: In case there are four channels in the cloud, fourth channel is ignored.
viz::WCloudCollection viz::WCloudCollection
@ -853,16 +853,16 @@ This 3D Widget defines a collection of clouds. ::
{ {
public: public:
WCloudCollection(); WCloudCollection();
//! Each point in cloud is mapped to a color in colors //! Each point in cloud is mapped to a color in colors
void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity()); void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
//! All points in cloud have the same color //! All points in cloud have the same color
void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3f &pose = Affine3f::Identity()); void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3f &pose = Affine3f::Identity());
private: private:
/* hidden */ /* hidden */
}; };
viz::WCloudCollection::WCloudCollection viz::WCloudCollection::WCloudCollection
--------------------------------------- ---------------------------------------
Constructs a WCloudCollection. Constructs a WCloudCollection.
@ -878,19 +878,19 @@ Adds a cloud to the collection.
:param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. :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 colors: Set of colors. It has to be of the same size with cloud.
:param pose: Pose of the cloud. :param pose: Pose of the 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).
.. ocv:function:: void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity()) .. 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 cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
:param colors: A single :ocv:class:`Color` for the whole cloud. :param colors: A single :ocv:class:`Color` for the whole cloud.
:param pose: Pose of the cloud. :param pose: Pose of the 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).
.. note:: In case there are four channels in the cloud, fourth channel is ignored. .. note:: In case there are four channels in the cloud, fourth channel is ignored.
viz::WCloudNormals viz::WCloudNormals
------------------ ------------------
.. ocv:class:: WCloudNormals .. ocv:class:: WCloudNormals
@ -905,36 +905,36 @@ This 3D Widget represents normals of a point cloud. ::
private: private:
/* hidden */ /* hidden */
}; };
viz::WCloudNormals::WCloudNormals viz::WCloudNormals::WCloudNormals
--------------------------------- ---------------------------------
Constructs a WCloudNormals. Constructs a WCloudNormals.
.. ocv:function:: WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white()) .. ocv:function:: WCloudNormals(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 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 normals: A set of normals that has to be of same type with cloud.
:param level: Display only every ``level`` th normal. :param level: Display only every ``level`` th normal.
:param scale: Scale of the arrows that represent normals. :param scale: Scale of the arrows that represent normals.
:param color: :ocv:class:`Color` of the arrows that represent normals. :param color: :ocv:class:`Color` of the arrows that represent normals.
.. note:: In case there are four channels in the cloud, fourth channel is ignored. .. note:: In case there are four channels in the cloud, fourth channel is ignored.
viz::WMesh viz::WMesh
---------- ----------
.. ocv:class:: WMesh .. ocv:class:: WMesh
This 3D Widget defines a mesh. :: This 3D Widget defines a mesh. ::
class CV_EXPORTS WMesh : public Widget3D class CV_EXPORTS WMesh : public Widget3D
{ {
public: public:
WMesh(const Mesh3d &mesh); WMesh(const Mesh3d &mesh);
private: private:
/* hidden */ /* hidden */
}; };
viz::WMesh::WMesh viz::WMesh::WMesh
----------------- -----------------
Constructs a WMesh. Constructs a WMesh.

18
modules/viz/include/opencv2/viz.hpp
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@ -56,7 +56,7 @@
namespace cv namespace cv
{ {
namespace viz namespace viz
{ {
//! takes coordiante frame data and builds transfrom to global coordinate frame //! takes coordiante frame data and builds transfrom to global coordinate frame
CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0)); CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0));
@ -87,32 +87,32 @@ namespace cv
//! checks point for Nans //! checks point for Nans
template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p) template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
{ return isNan(p.x) || isNan(p.y) || isNan(p.z); } { return isNan(p.x) || isNan(p.y) || isNan(p.z); }
//! helper class that provides access by name infrastructure //! helper class that provides access by name infrastructure
class CV_EXPORTS VizAccessor class CV_EXPORTS VizAccessor
{ {
public: public:
static VizAccessor & getInstance(); static VizAccessor & getInstance();
static void release(); static void release();
Viz3d get(const String &window_name); Viz3d get(const String &window_name);
//! window names automatically have Viz - prefix even though not provided by the users //! window names automatically have Viz - prefix even though not provided by the users
static void generateWindowName(const String &window_name, String &output); static void generateWindowName(const String &window_name, String &output);
private: private:
VizAccessor(); // Singleton VizAccessor(); // Singleton
~VizAccessor(); ~VizAccessor();
void add(Viz3d window); void add(Viz3d window);
void remove(const String &window_name); void remove(const String &window_name);
static VizAccessor * instance_; static VizAccessor * instance_;
static bool is_instantiated_; static bool is_instantiated_;
struct VizAccessorImpl; struct VizAccessorImpl;
static VizAccessorImpl * impl_; static VizAccessorImpl * impl_;
friend class Viz3d; friend class Viz3d;
}; };
} /* namespace viz */ } /* namespace viz */

20
modules/viz/include/opencv2/viz/types.hpp
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@ -88,7 +88,7 @@ namespace cv
//! Loads mesh from a given ply file //! Loads mesh from a given ply file
static cv::viz::Mesh3d loadMesh(const String& file); static cv::viz::Mesh3d loadMesh(const String& file);
private: private:
struct loadMeshImpl; struct loadMeshImpl;
}; };
@ -135,7 +135,7 @@ namespace cv
Point pointer; Point pointer;
unsigned int key_state; unsigned int key_state;
}; };
class CV_EXPORTS Camera class CV_EXPORTS Camera
{ {
public: public:
@ -143,26 +143,26 @@ namespace cv
Camera(const Vec2f &fov, const Size &window_size); Camera(const Vec2f &fov, const Size &window_size);
Camera(const cv::Matx33f &K, const Size &window_size); Camera(const cv::Matx33f &K, const Size &window_size);
Camera(const cv::Matx44f &proj, const Size &window_size); Camera(const cv::Matx44f &proj, const Size &window_size);
inline const Vec2d & getClip() const { return clip_; } inline const Vec2d & getClip() const { return clip_; }
inline void setClip(const Vec2d &clip) { clip_ = clip; } inline void setClip(const Vec2d &clip) { clip_ = clip; }
inline const Size & getWindowSize() const { return window_size_; } inline const Size & getWindowSize() const { return window_size_; }
void setWindowSize(const Size &window_size); void setWindowSize(const Size &window_size);
inline const Vec2f & getFov() const { return fov_; } inline const Vec2f & getFov() const { return fov_; }
inline void setFov(const Vec2f & fov) { fov_ = fov; } inline void setFov(const Vec2f & fov) { fov_ = fov; }
inline const Vec2f & getPrincipalPoint() const { return principal_point_; } inline const Vec2f & getPrincipalPoint() const { return principal_point_; }
inline const Vec2f & getFocalLength() const { return focal_; } inline const Vec2f & getFocalLength() const { return focal_; }
void computeProjectionMatrix(Matx44f &proj) const; void computeProjectionMatrix(Matx44f &proj) const;
static Camera KinectCamera(const Size &window_size); static Camera KinectCamera(const Size &window_size);
private: private:
void init(float f_x, float f_y, float c_x, float c_y, const Size &window_size); void init(float f_x, float f_y, float c_x, float c_y, const Size &window_size);
Vec2d clip_; Vec2d clip_;
Vec2f fov_; Vec2f fov_;
Size window_size_; Size window_size_;

16
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -81,18 +81,18 @@ namespace cv
void setWidgetPose(const String &id, const Affine3f &pose); void setWidgetPose(const String &id, const Affine3f &pose);
void updateWidgetPose(const String &id, const Affine3f &pose); void updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const; Affine3f getWidgetPose(const String &id) const;
void setCamera(const Camera &camera); void setCamera(const Camera &camera);
Camera getCamera() const; Camera getCamera() const;
Affine3f getViewerPose(); Affine3f getViewerPose();
void setViewerPose(const Affine3f &pose); void setViewerPose(const Affine3f &pose);
void resetCameraViewpoint(const String &id); void resetCameraViewpoint(const String &id);
void resetCamera(); void resetCamera();
void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord); void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction); void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
Size getWindowSize() const; Size getWindowSize() const;
void setWindowSize(const Size &window_size); void setWindowSize(const Size &window_size);
String getWindowName() const; String getWindowName() const;
@ -107,19 +107,19 @@ namespace cv
void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0); void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
void registerMouseCallback(MouseCallback callback, void* cookie = 0); void registerMouseCallback(MouseCallback callback, void* cookie = 0);
void setRenderingProperty(const String &id, int property, double value); void setRenderingProperty(const String &id, int property, double value);
double getRenderingProperty(const String &id, int property); double getRenderingProperty(const String &id, int property);
void setDesiredUpdateRate(double rate); void setDesiredUpdateRate(double rate);
double getDesiredUpdateRate(); double getDesiredUpdateRate();
void setRepresentation(int representation); void setRepresentation(int representation);
private: private:
struct VizImpl; struct VizImpl;
VizImpl* impl_; VizImpl* impl_;
void create(const String &window_name); void create(const String &window_name);
void release(); void release();
}; };

40
modules/viz/include/opencv2/viz/widgets.hpp
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@ -81,7 +81,7 @@ namespace cv
SHADING_GOURAUD, SHADING_GOURAUD,
SHADING_PHONG SHADING_PHONG
}; };
///////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////
/// The base class for all widgets /// The base class for all widgets
class CV_EXPORTS Widget class CV_EXPORTS Widget
@ -91,10 +91,10 @@ namespace cv
Widget(const Widget& other); Widget(const Widget& other);
Widget& operator=(const Widget& other); Widget& operator=(const Widget& other);
~Widget(); ~Widget();
//! Create a widget directly from ply file //! Create a widget directly from ply file
static Widget fromPlyFile(const String &file_name); static Widget fromPlyFile(const String &file_name);
//! Rendering properties of this particular widget //! Rendering properties of this particular widget
void setRenderingProperty(int property, double value); void setRenderingProperty(int property, double value);
double getRenderingProperty(int property) const; double getRenderingProperty(int property) const;
@ -201,10 +201,10 @@ namespace cv
WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
//! Creates grid based on the plane equation //! Creates grid based on the plane equation
WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
private: private:
struct GridImpl; struct GridImpl;
}; };
class CV_EXPORTS WText3D : public Widget3D class CV_EXPORTS WText3D : public Widget3D
@ -224,15 +224,15 @@ namespace cv
void setText(const String &text); void setText(const String &text);
String getText() const; String getText() const;
}; };
class CV_EXPORTS WImageOverlay : public Widget2D class CV_EXPORTS WImageOverlay : public Widget2D
{ {
public: public:
WImageOverlay(const Mat &image, const Rect &rect); WImageOverlay(const Mat &image, const Rect &rect);
void setImage(const Mat &image); void setImage(const Mat &image);
}; };
class CV_EXPORTS WImage3D : public Widget3D class CV_EXPORTS WImage3D : public Widget3D
{ {
public: public:
@ -240,10 +240,10 @@ namespace cv
WImage3D(const Mat &image, const Size &size); WImage3D(const Mat &image, const Size &size);
//! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size); WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
void setImage(const Mat &image); void setImage(const Mat &image);
}; };
class CV_EXPORTS WCameraPosition : public Widget3D class CV_EXPORTS WCameraPosition : public Widget3D
{ {
public: public:
@ -257,27 +257,27 @@ namespace cv
WCameraPosition(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white()); WCameraPosition(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane //! Creates frustum and display given image at the far plane
WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white()); WCameraPosition(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
private: private:
struct ProjectImage; struct ProjectImage;
}; };
class CV_EXPORTS WTrajectory : public Widget3D class CV_EXPORTS WTrajectory : public Widget3D
{ {
public: public:
enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2}; enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
//! Displays trajectory of the given path either by coordinate frames or polyline //! Displays trajectory of the given path either by coordinate frames or polyline
WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0); WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
//! Displays trajectory of the given path by frustums //! Displays trajectory of the given path by frustums
WTrajectory(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); WTrajectory(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 //! Displays trajectory of the given path by frustums
WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()); WTrajectory(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
private: private:
struct ApplyPath; struct ApplyPath;
}; };
class CV_EXPORTS WSpheresTrajectory: public Widget3D class CV_EXPORTS WSpheresTrajectory: public Widget3D
{ {
public: public:
@ -301,16 +301,16 @@ namespace cv
{ {
public: public:
WCloudCollection(); WCloudCollection();
//! Each point in cloud is mapped to a color in colors //! Each point in cloud is mapped to a color in colors
void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity()); void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
//! All points in cloud have the same color //! All points in cloud have the same color
void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity()); void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity());
private: private:
struct CreateCloudWidget; struct CreateCloudWidget;
}; };
class CV_EXPORTS WCloudNormals : public Widget3D class CV_EXPORTS WCloudNormals : public Widget3D
{ {
public: public:
@ -319,12 +319,12 @@ namespace cv
private: private:
struct ApplyCloudNormals; struct ApplyCloudNormals;
}; };
class CV_EXPORTS WMesh : public Widget3D class CV_EXPORTS WMesh : public Widget3D
{ {
public: public:
WMesh(const Mesh3d &mesh); WMesh(const Mesh3d &mesh);
private: private:
struct CopyImpl; struct CopyImpl;
}; };

68
modules/viz/src/cloud_widgets.cpp
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@ -327,7 +327,7 @@ struct cv::viz::WCloudCollection::CreateCloudWidget
vertices->SetCells(nr_points, cells); vertices->SetCells(nr_points, cells);
return polydata; return polydata;
} }
static void createMapper(vtkSmartPointer<vtkLODActor> actor, vtkSmartPointer<vtkPolyData> poly_data, Vec3d& minmax) static void createMapper(vtkSmartPointer<vtkLODActor> actor, vtkSmartPointer<vtkPolyData> poly_data, Vec3d& minmax)
{ {
vtkDataSetMapper *mapper = vtkDataSetMapper::SafeDownCast(actor->GetMapper()); vtkDataSetMapper *mapper = vtkDataSetMapper::SafeDownCast(actor->GetMapper());
@ -349,17 +349,17 @@ struct cv::viz::WCloudCollection::CreateCloudWidget
mapper_new->SetInterpolateScalarsBeforeMapping(interpolation); mapper_new->SetInterpolateScalarsBeforeMapping(interpolation);
mapper_new->ScalarVisibilityOn(); mapper_new->ScalarVisibilityOn();
mapper_new->ImmediateModeRenderingOff(); mapper_new->ImmediateModeRenderingOff();
actor->SetNumberOfCloudPoints(int(std::max<vtkIdType>(1, poly_data->GetNumberOfPoints() / 10))); actor->SetNumberOfCloudPoints(int(std::max<vtkIdType>(1, poly_data->GetNumberOfPoints() / 10)));
actor->GetProperty()->SetInterpolationToFlat(); actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->BackfaceCullingOn(); actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper_new); actor->SetMapper(mapper_new);
return ; return ;
} }
vtkPolyData *data = vtkPolyData::SafeDownCast(mapper->GetInput()); vtkPolyData *data = vtkPolyData::SafeDownCast(mapper->GetInput());
CV_Assert("Cloud Widget without data" && data); CV_Assert("Cloud Widget without data" && data);
vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New(); vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
#if VTK_MAJOR_VERSION <= 5 #if VTK_MAJOR_VERSION <= 5
appendFilter->AddInputConnection(mapper->GetInput()->GetProducerPort()); appendFilter->AddInputConnection(mapper->GetInput()->GetProducerPort());
@ -369,7 +369,7 @@ struct cv::viz::WCloudCollection::CreateCloudWidget
appendFilter->AddInputData(poly_data); appendFilter->AddInputData(poly_data);
#endif #endif
mapper->SetInputConnection(appendFilter->GetOutputPort()); mapper->SetInputConnection(appendFilter->GetOutputPort());
// Update the number of cloud points // Update the number of cloud points
vtkIdType old_cloud_points = actor->GetNumberOfCloudPoints(); vtkIdType old_cloud_points = actor->GetNumberOfCloudPoints();
actor->SetNumberOfCloudPoints(int(std::max<vtkIdType>(1, old_cloud_points+poly_data->GetNumberOfPoints() / 10))); actor->SetNumberOfCloudPoints(int(std::max<vtkIdType>(1, old_cloud_points+poly_data->GetNumberOfPoints() / 10)));
@ -389,7 +389,7 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors,
Mat colors = _colors.getMat(); Mat colors = _colors.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size()); CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
if (cloud.isContinuous() && colors.isContinuous()) if (cloud.isContinuous() && colors.isContinuous())
{ {
cloud.reshape(cloud.channels(), 1); cloud.reshape(cloud.channels(), 1);
@ -410,12 +410,12 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors,
// Assign the colors // Assign the colors
polydata->GetPointData()->SetScalars(scalars); polydata->GetPointData()->SetScalars(scalars);
// Transform the poly data based on the pose // Transform the poly data based on the pose
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New(); vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply(); transform->PreMultiply();
transform->SetMatrix(convertToVtkMatrix(pose.matrix)); transform->SetMatrix(convertToVtkMatrix(pose.matrix));
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New(); vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetTransform(transform); transform_filter->SetTransform(transform);
#if VTK_MAJOR_VERSION <= 5 #if VTK_MAJOR_VERSION <= 5
@ -424,10 +424,10 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors,
transform_filter->SetInputData(polydata); transform_filter->SetInputData(polydata);
#endif #endif
transform_filter->Update(); transform_filter->Update();
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this)); vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Incompatible widget type." && actor); CV_Assert("Incompatible widget type." && actor);
Vec3d minmax(scalars->GetRange()); Vec3d minmax(scalars->GetRange());
CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax); CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
} }
@ -449,12 +449,12 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, const Color &color,
// Assign the colors // Assign the colors
polydata->GetPointData()->SetScalars(scalars); polydata->GetPointData()->SetScalars(scalars);
// Transform the poly data based on the pose // Transform the poly data based on the pose
vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New(); vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
transform->PreMultiply(); transform->PreMultiply();
transform->SetMatrix(convertToVtkMatrix(pose.matrix)); transform->SetMatrix(convertToVtkMatrix(pose.matrix));
vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New(); vtkSmartPointer<vtkTransformPolyDataFilter> transform_filter = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
transform_filter->SetTransform(transform); transform_filter->SetTransform(transform);
#if VTK_MAJOR_VERSION <= 5 #if VTK_MAJOR_VERSION <= 5
@ -463,10 +463,10 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, const Color &color,
transform_filter->SetInputData(polydata); transform_filter->SetInputData(polydata);
#endif #endif
transform_filter->Update(); transform_filter->Update();
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this)); vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Incompatible widget type." && actor); CV_Assert("Incompatible widget type." && actor);
Vec3d minmax(scalars->GetRange()); Vec3d minmax(scalars->GetRange());
CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax); CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
} }
@ -634,7 +634,7 @@ struct cv::viz::WMesh::CopyImpl
int index = 0; int index = 0;
const _Tp* srow = source.ptr<_Tp>(0); const _Tp* srow = source.ptr<_Tp>(0);
const _Tp* mrow = nan_mask.ptr<_Tp>(0); const _Tp* mrow = nan_mask.ptr<_Tp>(0);
for (int x = 0; x < source.cols; ++x, srow += s_chs, mrow += m_chs) for (int x = 0; x < source.cols; ++x, srow += s_chs, mrow += m_chs)
{ {
if (!isNan(mrow[0]) && !isNan(mrow[1]) && !isNan(mrow[2])) if (!isNan(mrow[0]) && !isNan(mrow[1]) && !isNan(mrow[2]))
@ -653,13 +653,13 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
CV_Assert(mesh.cloud.rows == 1 && (mesh.cloud.type() == CV_32FC3 || mesh.cloud.type() == CV_64FC3 || mesh.cloud.type() == CV_32FC4 || mesh.cloud.type() == CV_64FC4)); CV_Assert(mesh.cloud.rows == 1 && (mesh.cloud.type() == CV_32FC3 || mesh.cloud.type() == CV_64FC3 || mesh.cloud.type() == CV_32FC4 || mesh.cloud.type() == CV_64FC4));
CV_Assert(mesh.colors.empty() || (mesh.colors.type() == CV_8UC3 && mesh.cloud.size() == mesh.colors.size())); CV_Assert(mesh.colors.empty() || (mesh.colors.type() == CV_8UC3 && mesh.cloud.size() == mesh.colors.size()));
CV_Assert(!mesh.polygons.empty() && mesh.polygons.type() == CV_32SC1); CV_Assert(!mesh.polygons.empty() && mesh.polygons.type() == CV_32SC1);
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New(); vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
vtkIdType nr_points = mesh.cloud.total(); vtkIdType nr_points = mesh.cloud.total();
Mat look_up_mat(1, nr_points, CV_32SC1); Mat look_up_mat(1, nr_points, CV_32SC1);
int * look_up = look_up_mat.ptr<int>(); int * look_up = look_up_mat.ptr<int>();
points->SetNumberOfPoints(nr_points); points->SetNumberOfPoints(nr_points);
// Copy data from cloud to vtkPoints // Copy data from cloud to vtkPoints
if (mesh.cloud.depth() == CV_32F) if (mesh.cloud.depth() == CV_32F)
{ {
@ -675,36 +675,36 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
Vec3d *data_end = CopyImpl::copy(mesh.cloud, data_beg, look_up, mesh.cloud); Vec3d *data_end = CopyImpl::copy(mesh.cloud, data_beg, look_up, mesh.cloud);
nr_points = data_end - data_beg; nr_points = data_end - data_beg;
} }
vtkSmartPointer<vtkUnsignedCharArray> scalars; vtkSmartPointer<vtkUnsignedCharArray> scalars;
if (!mesh.colors.empty()) if (!mesh.colors.empty())
{ {
Vec3b * colors_data = 0; Vec3b * colors_data = 0;
colors_data = new Vec3b[nr_points]; colors_data = new Vec3b[nr_points];
NanFilter::copyColor(mesh.colors, colors_data, mesh.cloud); NanFilter::copyColor(mesh.colors, colors_data, mesh.cloud);
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New(); scalars = vtkSmartPointer<vtkUnsignedCharArray>::New();
scalars->SetNumberOfComponents(3); scalars->SetNumberOfComponents(3);
scalars->SetNumberOfTuples(nr_points); scalars->SetNumberOfTuples(nr_points);
scalars->SetArray(colors_data->val, 3 * nr_points, 0); scalars->SetArray(colors_data->val, 3 * nr_points, 0);
} }
points->SetNumberOfPoints(nr_points); points->SetNumberOfPoints(nr_points);
vtkSmartPointer<vtkPointSet> data; vtkSmartPointer<vtkPointSet> data;
if (mesh.polygons.size().area() > 1) if (mesh.polygons.size().area() > 1)
{ {
vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New(); vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New();
const int * polygons = mesh.polygons.ptr<int>(); const int * polygons = mesh.polygons.ptr<int>();
int idx = 0; int idx = 0;
int poly_size = mesh.polygons.total(); int poly_size = mesh.polygons.total();
for (int i = 0; i < poly_size; ++idx) for (int i = 0; i < poly_size; ++idx)
{ {
int n_points = polygons[i++]; int n_points = polygons[i++];
cell_array->InsertNextCell(n_points); cell_array->InsertNextCell(n_points);
for (int j = 0; j < n_points; ++j, ++idx) for (int j = 0; j < n_points; ++j, ++idx)
cell_array->InsertCellPoint(look_up[polygons[i++]]); cell_array->InsertCellPoint(look_up[polygons[i++]]);
@ -717,7 +717,7 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
if (scalars) if (scalars)
polydata->GetPointData()->SetScalars(scalars); polydata->GetPointData()->SetScalars(scalars);
data = polydata; data = polydata;
} }
else else
@ -726,20 +726,20 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
vtkSmartPointer<vtkPolygon> polygon = vtkSmartPointer<vtkPolygon>::New(); vtkSmartPointer<vtkPolygon> polygon = vtkSmartPointer<vtkPolygon>::New();
const int * polygons = mesh.polygons.ptr<int>(); const int * polygons = mesh.polygons.ptr<int>();
int n_points = polygons[0]; int n_points = polygons[0];
polygon->GetPointIds()->SetNumberOfIds(n_points); polygon->GetPointIds()->SetNumberOfIds(n_points);
for (int j = 1; j < n_points+1; ++j) for (int j = 1; j < n_points+1; ++j)
polygon->GetPointIds()->SetId(j, look_up[polygons[j]]); polygon->GetPointIds()->SetId(j, look_up[polygons[j]]);
vtkSmartPointer<vtkUnstructuredGrid> poly_grid = vtkSmartPointer<vtkUnstructuredGrid>::New(); vtkSmartPointer<vtkUnstructuredGrid> poly_grid = vtkSmartPointer<vtkUnstructuredGrid>::New();
poly_grid->Allocate(1, 1); poly_grid->Allocate(1, 1);
poly_grid->InsertNextCell(polygon->GetCellType(), polygon->GetPointIds()); poly_grid->InsertNextCell(polygon->GetCellType(), polygon->GetPointIds());
poly_grid->SetPoints(points); poly_grid->SetPoints(points);
if (scalars) if (scalars)
poly_grid->GetPointData()->SetScalars(scalars); poly_grid->GetPointData()->SetScalars(scalars);
data = poly_grid; data = poly_grid;
} }
@ -750,7 +750,7 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
actor->GetProperty()->SetInterpolationToFlat(); actor->GetProperty()->SetInterpolationToFlat();
actor->GetProperty()->EdgeVisibilityOff(); actor->GetProperty()->EdgeVisibilityOff();
actor->GetProperty()->ShadingOff(); actor->GetProperty()->ShadingOff();
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New(); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
#if VTK_MAJOR_VERSION <= 5 #if VTK_MAJOR_VERSION <= 5
mapper->SetInput(data); mapper->SetInput(data);
@ -758,11 +758,11 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
mapper->SetInputData(data); mapper->SetInputData(data);
#endif #endif
mapper->ImmediateModeRenderingOff(); mapper->ImmediateModeRenderingOff();
vtkIdType numberOfCloudPoints = nr_points * 0.1; vtkIdType numberOfCloudPoints = nr_points * 0.1;
actor->SetNumberOfCloudPoints(int(numberOfCloudPoints > 1 ? numberOfCloudPoints : 1)); actor->SetNumberOfCloudPoints(int(numberOfCloudPoints > 1 ? numberOfCloudPoints : 1));
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor); WidgetAccessor::setProp(*this, actor);
} }

14
modules/viz/src/interactor_style.cpp
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@ -67,11 +67,11 @@ void cv::viz::InteractorStyle::Initialize()
init_ = true; init_ = true;
stereo_anaglyph_mask_default_ = true; stereo_anaglyph_mask_default_ = true;
// Initialize the keyboard event callback as none // Initialize the keyboard event callback as none
keyboardCallback_ = 0; keyboardCallback_ = 0;
keyboard_callback_cookie_ = 0; keyboard_callback_cookie_ = 0;
// Initialize the mouse event callback as none // Initialize the mouse event callback as none
mouseCallback_ = 0; mouseCallback_ = 0;
mouse_callback_cookie_ = 0; mouse_callback_cookie_ = 0;
@ -197,7 +197,7 @@ void cv::viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const K
void void
cv::viz::InteractorStyle::OnKeyDown() cv::viz::InteractorStyle::OnKeyDown()
{ {
CV_Assert("Interactor style not initialized. Please call Initialize() before continuing" && init_); CV_Assert("Interactor style not initialized. Please call Initialize() before continuing" && init_);
CV_Assert("No renderer given! Use SetRendererCollection() before continuing." && renderer_); CV_Assert("No renderer given! Use SetRendererCollection() before continuing." && renderer_);
@ -482,7 +482,7 @@ cv::viz::InteractorStyle::OnKeyDown()
{ {
if (it == widget_actor_map_->end()) if (it == widget_actor_map_->end())
it = widget_actor_map_->begin(); it = widget_actor_map_->begin();
vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second); vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second);
if (actor && actor->GetUserMatrix()) if (actor && actor->GetUserMatrix())
{ {
@ -554,7 +554,7 @@ void cv::viz::InteractorStyle::OnKeyUp()
// Check if there is a keyboard callback registered // Check if there is a keyboard callback registered
if (keyboardCallback_) if (keyboardCallback_)
keyboardCallback_(event, keyboard_callback_cookie_); keyboardCallback_(event, keyboard_callback_cookie_);
Superclass::OnKeyUp(); Superclass::OnKeyUp();
} }
@ -673,10 +673,10 @@ void cv::viz::InteractorStyle::OnMouseWheelBackward()
// If a mouse callback registered, call it! // If a mouse callback registered, call it!
if (mouseCallback_) if (mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_); mouseCallback_(event, mouse_callback_cookie_);
if (Interactor->GetRepeatCount() && mouseCallback_) if (Interactor->GetRepeatCount() && mouseCallback_)
mouseCallback_(event, mouse_callback_cookie_); mouseCallback_(event, mouse_callback_cookie_);
if (Interactor->GetAltKey()) if (Interactor->GetAltKey())
{ {
// zoom // zoom

6
modules/viz/src/interactor_style.h
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@ -85,7 +85,7 @@ namespace cv
/** \brief Change the default keyboard modified from ALT to a different special key.*/ /** \brief Change the default keyboard modified from ALT to a different special key.*/
inline void setKeyboardModifier(const KeyboardModifier &modifier) { modifier_ = modifier; } inline void setKeyboardModifier(const KeyboardModifier &modifier) { modifier_ = modifier; }
protected: protected:
/** \brief Set to true after initialization is complete. */ /** \brief Set to true after initialization is complete. */
bool init_; bool init_;
@ -95,7 +95,7 @@ namespace cv
/** \brief Actor map stored internally. */ /** \brief Actor map stored internally. */
cv::Ptr<WidgetActorMap> widget_actor_map_; cv::Ptr<WidgetActorMap> widget_actor_map_;
/** \brief The current window width/height. */ /** \brief The current window width/height. */
Vec2i win_size_; Vec2i win_size_;
@ -107,7 +107,7 @@ namespace cv
/** \brief A PNG writer for screenshot captures. */ /** \brief A PNG writer for screenshot captures. */
vtkSmartPointer<vtkPNGWriter> snapshot_writer_; vtkSmartPointer<vtkPNGWriter> snapshot_writer_;
/** \brief Internal window to image filter. Needed by \a snapshot_writer_. */ /** \brief Internal window to image filter. Needed by \a snapshot_writer_. */
vtkSmartPointer<vtkWindowToImageFilter> wif_; vtkSmartPointer<vtkWindowToImageFilter> wif_;

398
modules/viz/src/shape_widgets.cpp
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50
modules/viz/src/types.cpp
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@ -120,10 +120,10 @@ struct cv::viz::Mesh3d::loadMeshImpl
vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New(); vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
reader->SetFileName(file.c_str()); reader->SetFileName(file.c_str());
reader->Update(); reader->Update();
vtkSmartPointer<vtkPolyData> poly_data = reader->GetOutput(); vtkSmartPointer<vtkPolyData> poly_data = reader->GetOutput();
CV_Assert("File does not exist or file format is not supported." && poly_data); CV_Assert("File does not exist or file format is not supported." && poly_data);
vtkSmartPointer<vtkPoints> mesh_points = poly_data->GetPoints(); vtkSmartPointer<vtkPoints> mesh_points = poly_data->GetPoints();
vtkIdType nr_points = mesh_points->GetNumberOfPoints(); vtkIdType nr_points = mesh_points->GetNumberOfPoints();
@ -141,7 +141,7 @@ struct cv::viz::Mesh3d::loadMeshImpl
vtkUnsignedCharArray* poly_colors = 0; vtkUnsignedCharArray* poly_colors = 0;
if (poly_data->GetPointData()) if (poly_data->GetPointData())
poly_colors = vtkUnsignedCharArray::SafeDownCast(poly_data->GetPointData()->GetScalars()); poly_colors = vtkUnsignedCharArray::SafeDownCast(poly_data->GetPointData()->GetScalars());
if (poly_colors && (poly_colors->GetNumberOfComponents() == 3)) if (poly_colors && (poly_colors->GetNumberOfComponents() == 3))
{ {
mesh.colors.create(1, nr_points, CV_8UC3); mesh.colors.create(1, nr_points, CV_8UC3);
@ -164,9 +164,9 @@ struct cv::viz::Mesh3d::loadMeshImpl
vtkIdType nr_cell_points; vtkIdType nr_cell_points;
vtkCellArray * mesh_polygons = poly_data->GetPolys(); vtkCellArray * mesh_polygons = poly_data->GetPolys();
mesh_polygons->InitTraversal(); mesh_polygons->InitTraversal();
mesh.polygons.create(1, mesh_polygons->GetSize(), CV_32SC1); mesh.polygons.create(1, mesh_polygons->GetSize(), CV_32SC1);
int* polygons = mesh.polygons.ptr<int>(); int* polygons = mesh.polygons.ptr<int>();
while (mesh_polygons->GetNextCell(nr_cell_points, cell_points)) while (mesh_polygons->GetNextCell(nr_cell_points, cell_points))
{ {
@ -213,30 +213,30 @@ cv::viz::Camera::Camera(const cv::Matx33f & K, const Size &window_size)
} }
cv::viz::Camera::Camera(const Matx44f &proj, const Size &window_size) cv::viz::Camera::Camera(const Matx44f &proj, const Size &window_size)
{ {
CV_Assert(window_size.width > 0 && window_size.height > 0); CV_Assert(window_size.width > 0 && window_size.height > 0);
double near = proj(2,3) / (proj(2,2) - 1.0); double near = proj(2,3) / (proj(2,2) - 1.0);
double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0); double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0);
double left = near * (proj(0,2)-1) / proj(0,0); double left = near * (proj(0,2)-1) / proj(0,0);
double right = 2.0 * near / proj(0,0) + left; double right = 2.0 * near / proj(0,0) + left;
double bottom = near * (proj(1,2)-1) / proj(1,1); double bottom = near * (proj(1,2)-1) / proj(1,1);
double top = 2.0 * near / proj(1,1) + bottom; double top = 2.0 * near / proj(1,1) + bottom;
double epsilon = 2.2204460492503131e-16; double epsilon = 2.2204460492503131e-16;
if (fabs(left-right) < epsilon) principal_point_[0] = static_cast<float>(window_size.width) * 0.5f; if (fabs(left-right) < epsilon) principal_point_[0] = static_cast<float>(window_size.width) * 0.5f;
else principal_point_[0] = (left * static_cast<float>(window_size.width)) / (left - right); else principal_point_[0] = (left * static_cast<float>(window_size.width)) / (left - right);
focal_[0] = -near * principal_point_[0] / left; focal_[0] = -near * principal_point_[0] / left;
if (fabs(top-bottom) < epsilon) principal_point_[1] = static_cast<float>(window_size.height) * 0.5f; if (fabs(top-bottom) < epsilon) principal_point_[1] = static_cast<float>(window_size.height) * 0.5f;
else principal_point_[1] = (top * static_cast<float>(window_size.height)) / (top - bottom); else principal_point_[1] = (top * static_cast<float>(window_size.height)) / (top - bottom);
focal_[1] = near * principal_point_[1] / top; focal_[1] = near * principal_point_[1] / top;
setClip(Vec2d(near, far)); setClip(Vec2d(near, far));
fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])); fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0]));
fov_[1] = (atan2(principal_point_[1],focal_[1]) + atan2(window_size.height-principal_point_[1],focal_[1])); fov_[1] = (atan2(principal_point_[1],focal_[1]) + atan2(window_size.height-principal_point_[1],focal_[1]));
window_size_ = window_size; window_size_ = window_size;
} }
@ -244,33 +244,33 @@ void cv::viz::Camera::init(float f_x, float f_y, float c_x, float c_y, const Siz
{ {
CV_Assert(window_size.width > 0 && window_size.height > 0); CV_Assert(window_size.width > 0 && window_size.height > 0);
setClip(Vec2d(0.01, 1000.01));// Default clipping setClip(Vec2d(0.01, 1000.01));// Default clipping
fov_[0] = (atan2(c_x,f_x) + atan2(window_size.width-c_x,f_x)); fov_[0] = (atan2(c_x,f_x) + atan2(window_size.width-c_x,f_x));
fov_[1] = (atan2(c_y,f_y) + atan2(window_size.height-c_y,f_y)); fov_[1] = (atan2(c_y,f_y) + atan2(window_size.height-c_y,f_y));
principal_point_[0] = c_x; principal_point_[0] = c_x;
principal_point_[1] = c_y; principal_point_[1] = c_y;
focal_[0] = f_x; focal_[0] = f_x;
focal_[1] = f_y; focal_[1] = f_y;
window_size_ = window_size; window_size_ = window_size;
} }
void cv::viz::Camera::setWindowSize(const Size &window_size) void cv::viz::Camera::setWindowSize(const Size &window_size)
{ {
CV_Assert(window_size.width > 0 && window_size.height > 0); CV_Assert(window_size.width > 0 && window_size.height > 0);
// Get the scale factor and update the principal points // Get the scale factor and update the principal points
float scalex = static_cast<float>(window_size.width) / static_cast<float>(window_size_.width); float scalex = static_cast<float>(window_size.width) / static_cast<float>(window_size_.width);
float scaley = static_cast<float>(window_size.height) / static_cast<float>(window_size_.height); float scaley = static_cast<float>(window_size.height) / static_cast<float>(window_size_.height);
principal_point_[0] *= scalex; principal_point_[0] *= scalex;
principal_point_[1] *= scaley; principal_point_[1] *= scaley;
focal_ *= scaley; focal_ *= scaley;
// Vertical field of view is fixed! Update horizontal field of view // Vertical field of view is fixed! Update horizontal field of view
fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])); fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0]));
window_size_ = window_size; window_size_ = window_size;
} }
@ -280,12 +280,12 @@ void cv::viz::Camera::computeProjectionMatrix(Matx44f &proj) const
double left = -clip_[0] * principal_point_[0] / focal_[0]; double left = -clip_[0] * principal_point_[0] / focal_[0];
double right = clip_[0] * (window_size_.width - principal_point_[0]) / focal_[0]; double right = clip_[0] * (window_size_.width - principal_point_[0]) / focal_[0];
double bottom = -clip_[0] * (window_size_.height - principal_point_[1]) / focal_[1]; double bottom = -clip_[0] * (window_size_.height - principal_point_[1]) / focal_[1];
double temp1 = 2.0 * clip_[0]; double temp1 = 2.0 * clip_[0];
double temp2 = 1.0 / (right - left); double temp2 = 1.0 / (right - left);
double temp3 = 1.0 / (top - bottom); double temp3 = 1.0 / (top - bottom);
double temp4 = 1.0 / (clip_[0] - clip_[1]); double temp4 = 1.0 / (clip_[0] - clip_[1]);
proj = Matx44d::zeros(); proj = Matx44d::zeros();
proj(0,0) = temp1 * temp2; proj(0,0) = temp1 * temp2;
proj(1,1) = temp1 * temp3; proj(1,1) = temp1 * temp3;
@ -300,7 +300,7 @@ cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size)
{ {
// Without distortion, RGB Camera // Without distortion, RGB Camera
// Received from http://nicolas.burrus.name/index.php/Research/KinectCalibration // Received from http://nicolas.burrus.name/index.php/Research/KinectCalibration
Matx33f K = Matx33f::zeros(); Matx33f K = Matx33f::zeros();
K(0,0) = 5.2921508098293293e+02; K(0,0) = 5.2921508098293293e+02;
K(0,2) = 3.2894272028759258e+02; K(0,2) = 3.2894272028759258e+02;
K(1,1) = 5.2556393630057437e+02; K(1,1) = 5.2556393630057437e+02;

12
modules/viz/src/viz.cpp
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@ -72,7 +72,7 @@ cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_p
Vec3f n = normalize(focal_point - position); Vec3f n = normalize(focal_point - position);
Vec3f u = normalize(y_dir.cross(n)); Vec3f u = normalize(y_dir.cross(n));
Vec3f v = n.cross(u); Vec3f v = n.cross(u);
Matx44f pose_mat = Matx44f::zeros(); Matx44f pose_mat = Matx44f::zeros();
pose_mat(0,0) = u[0]; pose_mat(0,0) = u[0];
pose_mat(0,1) = u[1]; pose_mat(0,1) = u[1];
@ -147,9 +147,9 @@ struct cv::viz::VizAccessor::VizAccessorImpl
cv::viz::VizAccessor::VizAccessor() { impl_ = new cv::viz::VizAccessor::VizAccessorImpl;} cv::viz::VizAccessor::VizAccessor() { impl_ = new cv::viz::VizAccessor::VizAccessorImpl;}
cv::viz::VizAccessor::~VizAccessor() cv::viz::VizAccessor::~VizAccessor()
{ {
if(impl_) if(impl_)
{ {
delete impl_; delete impl_;
impl_ = 0; impl_ = 0;
@ -202,7 +202,7 @@ void cv::viz::VizAccessor::remove(const String &window_name)
// Add the prefix Viz // Add the prefix Viz
String name; String name;
generateWindowName(window_name, name); generateWindowName(window_name, name);
VizMap::iterator vm_itr = impl_->viz_map.find(name); VizMap::iterator vm_itr = impl_->viz_map.find(name);
bool exists = vm_itr != impl_->viz_map.end(); bool exists = vm_itr != impl_->viz_map.end();
if (!exists) return ; if (!exists) return ;
@ -214,7 +214,7 @@ void cv::viz::VizAccessor::generateWindowName(const String &window_name, String
output = "Viz"; output = "Viz";
// Already is Viz // Already is Viz
if (window_name == output) return; if (window_name == output) return;
String prefixed = output + " - "; String prefixed = output + " - ";
if (window_name.substr(0, prefixed.length()) == prefixed) output = window_name; // Already has "Viz - " if (window_name.substr(0, prefixed.length()) == prefixed) output = window_name; // Already has "Viz - "
else if (window_name.substr(0, output.length()) == output) output = prefixed + window_name; // Doesn't have prefix else if (window_name.substr(0, output.length()) == output) output = prefixed + window_name; // Doesn't have prefix

2
modules/viz/src/viz3d.cpp
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@ -51,7 +51,7 @@
cv::viz::Viz3d::Viz3d(const String& window_name) : impl_(0) { create(window_name); } cv::viz::Viz3d::Viz3d(const String& window_name) : impl_(0) { create(window_name); }
cv::viz::Viz3d::Viz3d(const Viz3d& other) : impl_(other.impl_) cv::viz::Viz3d::Viz3d(const Viz3d& other) : impl_(other.impl_)
{ {
if (impl_) CV_XADD(&impl_->ref_counter, 1); if (impl_) CV_XADD(&impl_->ref_counter, 1);
} }

28
modules/viz/src/viz3d_impl.cpp
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@ -125,7 +125,7 @@ cv::viz::Viz3d::VizImpl::VizImpl(const String &name)
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////
cv::viz::Viz3d::VizImpl::~VizImpl() cv::viz::Viz3d::VizImpl::~VizImpl()
{ {
if (interactor_) if (interactor_)
interactor_->DestroyTimer(timer_id_); interactor_->DestroyTimer(timer_id_);
if (renderer_) renderer_->Clear(); if (renderer_) renderer_->Clear();
} }
@ -368,11 +368,11 @@ void cv::viz::Viz3d::VizImpl::setBackgroundColor(const Color& color)
void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera) void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
{ {
vtkCamera& active_camera = *renderer_->GetActiveCamera(); vtkCamera& active_camera = *renderer_->GetActiveCamera();
// Set the intrinsic parameters of the camera // Set the intrinsic parameters of the camera
window_->SetSize(camera.getWindowSize().width, camera.getWindowSize().height); window_->SetSize(camera.getWindowSize().width, camera.getWindowSize().height);
double aspect_ratio = static_cast<double>(camera.getWindowSize().width)/static_cast<double>(camera.getWindowSize().height); double aspect_ratio = static_cast<double>(camera.getWindowSize().width)/static_cast<double>(camera.getWindowSize().height);
Matx44f proj_mat; Matx44f proj_mat;
camera.computeProjectionMatrix(proj_mat); camera.computeProjectionMatrix(proj_mat);
// Use the intrinsic parameters of the camera to simulate more realistically // Use the intrinsic parameters of the camera to simulate more realistically
@ -382,7 +382,7 @@ void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
transform->SetMatrix(convertToVtkMatrix(proj_mat * old_proj_mat.inv())); transform->SetMatrix(convertToVtkMatrix(proj_mat * old_proj_mat.inv()));
active_camera.SetUserTransform(transform); active_camera.SetUserTransform(transform);
transform->Delete(); transform->Delete();
renderer_->ResetCameraClippingRange(); renderer_->ResetCameraClippingRange();
renderer_->Render(); renderer_->Render();
} }
@ -391,11 +391,11 @@ void cv::viz::Viz3d::VizImpl::setCamera(const Camera &camera)
cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
{ {
vtkCamera& active_camera = *renderer_->GetActiveCamera(); vtkCamera& active_camera = *renderer_->GetActiveCamera();
Size window_size(renderer_->GetRenderWindow()->GetSize()[0], Size window_size(renderer_->GetRenderWindow()->GetSize()[0],
renderer_->GetRenderWindow()->GetSize()[1]); renderer_->GetRenderWindow()->GetSize()[1]);
double aspect_ratio = static_cast<double>(window_size.width) / static_cast<double>(window_size.height); double aspect_ratio = static_cast<double>(window_size.width) / static_cast<double>(window_size.height);
Matx44f proj_matrix = convertToMatx(active_camera.GetProjectionTransformMatrix(aspect_ratio, -1.0f, 1.0f)); Matx44f proj_matrix = convertToMatx(active_camera.GetProjectionTransformMatrix(aspect_ratio, -1.0f, 1.0f));
Camera camera(proj_matrix, window_size); Camera camera(proj_matrix, window_size);
return camera; return camera;
@ -405,7 +405,7 @@ cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3f &pose) void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3f &pose)
{ {
vtkCamera& camera = *renderer_->GetActiveCamera(); vtkCamera& camera = *renderer_->GetActiveCamera();
// Position = extrinsic translation // Position = extrinsic translation
cv::Vec3f pos_vec = pose.translation(); cv::Vec3f pos_vec = pose.translation();
@ -417,11 +417,11 @@ void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3f &pose)
// Compute the new focal point // Compute the new focal point
cv::Vec3f z_axis(0.f, 0.f, 1.f); cv::Vec3f z_axis(0.f, 0.f, 1.f);
cv::Vec3f focal_vec = pos_vec + rotation * z_axis; cv::Vec3f focal_vec = pos_vec + rotation * z_axis;
camera.SetPosition(pos_vec[0], pos_vec[1], pos_vec[2]); camera.SetPosition(pos_vec[0], pos_vec[1], pos_vec[2]);
camera.SetFocalPoint(focal_vec[0], focal_vec[1], focal_vec[2]); camera.SetFocalPoint(focal_vec[0], focal_vec[1], focal_vec[2]);
camera.SetViewUp(up_vec[0], up_vec[1], up_vec[2]); camera.SetViewUp(up_vec[0], up_vec[1], up_vec[2]);
renderer_->ResetCameraClippingRange(); renderer_->ResetCameraClippingRange();
renderer_->Render(); renderer_->Render();
} }
@ -465,10 +465,10 @@ void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3d &pt, Poin
///////////////////////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////////////////////
void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction) void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
{ {
Vec4d world_pt; Vec4d world_pt;
vtkInteractorObserver::ComputeDisplayToWorld(renderer_, window_coord.x, window_coord.y, window_coord.z, world_pt.val); vtkInteractorObserver::ComputeDisplayToWorld(renderer_, window_coord.x, window_coord.y, window_coord.z, world_pt.val);
vtkCamera &active_camera = *renderer_->GetActiveCamera(); vtkCamera &active_camera = *renderer_->GetActiveCamera();
Vec3d cam_pos; Vec3d cam_pos;
active_camera.GetPosition(cam_pos.val); active_camera.GetPosition(cam_pos.val);
@ -525,19 +525,19 @@ void cv::viz::Viz3d::VizImpl::setRepresentation(int representation)
vtkActor * actor; vtkActor * actor;
switch (representation) switch (representation)
{ {
case REPRESENTATION_POINTS: case REPRESENTATION_POINTS:
{ {
while ((actor = actors->GetNextActor()) != NULL) while ((actor = actors->GetNextActor()) != NULL)
actor->GetProperty()->SetRepresentationToPoints(); actor->GetProperty()->SetRepresentationToPoints();
break; break;
} }
case REPRESENTATION_SURFACE: case REPRESENTATION_SURFACE:
{ {
while ((actor = actors->GetNextActor()) != NULL) while ((actor = actors->GetNextActor()) != NULL)
actor->GetProperty()->SetRepresentationToSurface(); actor->GetProperty()->SetRepresentationToSurface();
break; break;
} }
case REPRESENTATION_WIREFRAME: case REPRESENTATION_WIREFRAME:
{ {
while ((actor = actors->GetNextActor()) != NULL) while ((actor = actors->GetNextActor()) != NULL)
actor->GetProperty()->SetRepresentationToWireframe(); actor->GetProperty()->SetRepresentationToWireframe();

30
modules/viz/src/viz3d_impl.hpp
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@ -58,20 +58,20 @@ public:
typedef cv::Ptr<VizImpl> Ptr; typedef cv::Ptr<VizImpl> Ptr;
typedef Viz3d::KeyboardCallback KeyboardCallback; typedef Viz3d::KeyboardCallback KeyboardCallback;
typedef Viz3d::MouseCallback MouseCallback; typedef Viz3d::MouseCallback MouseCallback;
int ref_counter; int ref_counter;
VizImpl(const String &name); VizImpl(const String &name);
virtual ~VizImpl(); virtual ~VizImpl();
void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity()); void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
void removeWidget(const String &id); void removeWidget(const String &id);
Widget getWidget(const String &id) const; Widget getWidget(const String &id) const;
void removeAllWidgets(); void removeAllWidgets();
void setWidgetPose(const String &id, const Affine3f &pose); void setWidgetPose(const String &id, const Affine3f &pose);
void updateWidgetPose(const String &id, const Affine3f &pose); void updateWidgetPose(const String &id, const Affine3f &pose);
Affine3f getWidgetPose(const String &id) const; Affine3f getWidgetPose(const String &id) const;
void setDesiredUpdateRate(double rate); void setDesiredUpdateRate(double rate);
double getDesiredUpdateRate(); double getDesiredUpdateRate();
@ -86,7 +86,7 @@ public:
void close() void close()
{ {
stopped_ = true; stopped_ = true;
if (interactor_) if (interactor_)
{ {
interactor_->GetRenderWindow()->Finalize(); interactor_->GetRenderWindow()->Finalize();
interactor_->TerminateApp(); // This tends to close the window... interactor_->TerminateApp(); // This tends to close the window...
@ -94,14 +94,14 @@ public:
} }
void setRepresentation(int representation); void setRepresentation(int representation);
void setCamera(const Camera &camera); void setCamera(const Camera &camera);
Camera getCamera() const; Camera getCamera() const;
/** \brief Reset the camera to a given widget */ /** \brief Reset the camera to a given widget */
void resetCameraViewpoint(const String& id); void resetCameraViewpoint(const String& id);
void resetCamera(); void resetCamera();
void setViewerPose(const Affine3f &pose); void setViewerPose(const Affine3f &pose);
Affine3f getViewerPose(); Affine3f getViewerPose();
@ -182,7 +182,7 @@ private:
/** \brief The render window interactor style. */ /** \brief The render window interactor style. */
vtkSmartPointer<InteractorStyle> style_; vtkSmartPointer<InteractorStyle> style_;
/** \brief Internal list with actor pointers and name IDs for all widget actors */ /** \brief Internal list with actor pointers and name IDs for all widget actors */
cv::Ptr<WidgetActorMap> widget_actor_map_; cv::Ptr<WidgetActorMap> widget_actor_map_;
@ -245,7 +245,7 @@ namespace cv
} }
return output; return output;
} }
static _Out* copyColor(const Mat& source, _Out* output, const Mat& nan_mask) static _Out* copyColor(const Mat& source, _Out* output, const Mat& nan_mask)
{ {
CV_Assert(DataDepth<_Tp>::value == source.depth() && source.size() == nan_mask.size()); CV_Assert(DataDepth<_Tp>::value == source.depth() && source.size() == nan_mask.size());
@ -282,7 +282,7 @@ namespace cv
return table[nan_mask.depth() - 5](source, output, nan_mask); return table[nan_mask.depth() - 5](source, output, nan_mask);
} }
template<typename _Tp> template<typename _Tp>
static inline Vec<_Tp, 3>* copyColor(const Mat& source, Vec<_Tp, 3>* output, const Mat& nan_mask) static inline Vec<_Tp, 3>* copyColor(const Mat& source, Vec<_Tp, 3>* output, const Mat& nan_mask)
{ {
@ -328,7 +328,7 @@ namespace cv
inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); } inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); }
template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); } template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); }
struct ConvertToVtkImage struct ConvertToVtkImage
{ {
struct Impl struct Impl
@ -336,7 +336,7 @@ namespace cv
static void copyImageMultiChannel(const Mat &image, vtkSmartPointer<vtkImageData> output) static void copyImageMultiChannel(const Mat &image, vtkSmartPointer<vtkImageData> output)
{ {
int i_chs = image.channels(); int i_chs = image.channels();
for (int i = 0; i < image.rows; ++i) for (int i = 0; i < image.rows; ++i)
{ {
const unsigned char * irows = image.ptr<unsigned char>(i); const unsigned char * irows = image.ptr<unsigned char>(i);
@ -349,7 +349,7 @@ namespace cv
} }
output->Modified(); output->Modified();
} }
static void copyImageSingleChannel(const Mat &image, vtkSmartPointer<vtkImageData> output) static void copyImageSingleChannel(const Mat &image, vtkSmartPointer<vtkImageData> output)
{ {
for (int i = 0; i < image.rows; ++i) for (int i = 0; i < image.rows; ++i)
@ -364,7 +364,7 @@ namespace cv
output->Modified(); output->Modified();
} }
}; };
static void convert(const Mat &image, vtkSmartPointer<vtkImageData> output) static void convert(const Mat &image, vtkSmartPointer<vtkImageData> output)
{ {
// Create the vtk image // Create the vtk image
@ -376,7 +376,7 @@ namespace cv
#else #else
output->AllocateScalars(VTK_UNSIGNED_CHAR, image.channels()); output->AllocateScalars(VTK_UNSIGNED_CHAR, image.channels());
#endif #endif
int i_chs = image.channels(); int i_chs = image.channels();
if (i_chs > 1) if (i_chs > 1)
{ {

30
modules/viz/src/widget.cpp
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@ -55,14 +55,14 @@ class cv::viz::Widget::Impl
{ {
public: public:
vtkSmartPointer<vtkProp> prop; vtkSmartPointer<vtkProp> prop;
Impl() : prop(0) {} Impl() : prop(0) {}
}; };
cv::viz::Widget::Widget() : impl_( new Impl() ) { } cv::viz::Widget::Widget() : impl_( new Impl() ) { }
cv::viz::Widget::Widget(const Widget& other) : impl_( new Impl() ) cv::viz::Widget::Widget(const Widget& other) : impl_( new Impl() )
{ {
if (other.impl_ && other.impl_->prop) impl_->prop = other.impl_->prop; if (other.impl_ && other.impl_->prop) impl_->prop = other.impl_->prop;
} }
@ -73,8 +73,8 @@ cv::viz::Widget& cv::viz::Widget::operator=(const Widget& other)
return *this; return *this;
} }
cv::viz::Widget::~Widget() cv::viz::Widget::~Widget()
{ {
if (impl_) if (impl_)
{ {
delete impl_; delete impl_;
@ -86,7 +86,7 @@ cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
{ {
vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New(); vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
reader->SetFileName(file_name.c_str()); reader->SetFileName(file_name.c_str());
vtkSmartPointer<vtkDataSet> data = reader->GetOutput(); vtkSmartPointer<vtkDataSet> data = reader->GetOutput();
CV_Assert("File does not exist or file format is not supported." && data); CV_Assert("File does not exist or file format is not supported." && data);
@ -120,7 +120,7 @@ cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
actor->GetProperty()->BackfaceCullingOn(); actor->GetProperty()->BackfaceCullingOn();
actor->SetMapper(mapper); actor->SetMapper(mapper);
Widget widget; Widget widget;
widget.impl_->prop = actor; widget.impl_->prop = actor;
return widget; return widget;
@ -130,7 +130,7 @@ void cv::viz::Widget::setRenderingProperty(int property, double value)
{ {
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget type is not supported." && actor); CV_Assert("Widget type is not supported." && actor);
switch (property) switch (property)
{ {
case POINT_SIZE: case POINT_SIZE:
@ -218,8 +218,8 @@ void cv::viz::Widget::setRenderingProperty(int property, double value)
actor->Modified(); actor->Modified();
break; break;
} }
default: default:
CV_Assert("setPointCloudRenderingProperties: Unknown property"); CV_Assert("setPointCloudRenderingProperties: Unknown property");
} }
@ -229,7 +229,7 @@ double cv::viz::Widget::getRenderingProperty(int property) const
{ {
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget type is not supported." && actor); CV_Assert("Widget type is not supported." && actor);
double value = 0.0; double value = 0.0;
switch (property) switch (property)
{ {
@ -313,7 +313,7 @@ struct cv::viz::Widget3D::MatrixConverter
m(i, k) = vtk_matrix->GetElement(i, k); m(i, k) = vtk_matrix->GetElement(i, k);
return m; return m;
} }
static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix(const Matx44f& m) static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix(const Matx44f& m)
{ {
vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New(); vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
@ -328,7 +328,7 @@ void cv::viz::Widget3D::setPose(const Affine3f &pose)
{ {
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this)); vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor); CV_Assert("Widget is not 3D." && actor);
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix); vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
actor->SetUserMatrix(matrix); actor->SetUserMatrix(matrix);
actor->Modified(); actor->Modified();
@ -338,7 +338,7 @@ void cv::viz::Widget3D::updatePose(const Affine3f &pose)
{ {
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this)); vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor); CV_Assert("Widget is not 3D." && actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix(); vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix) if (!matrix)
{ {
@ -358,7 +358,7 @@ cv::Affine3f cv::viz::Widget3D::getPose() const
{ {
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this)); vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor); CV_Assert("Widget is not 3D." && actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix(); vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix); Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
return Affine3f(matrix_cv); return Affine3f(matrix_cv);
@ -369,7 +369,7 @@ void cv::viz::Widget3D::setColor(const Color &color)
// Cast to actor instead of prop3d since prop3d doesn't provide getproperty // Cast to actor instead of prop3d since prop3d doesn't provide getproperty
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this)); vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget type is not supported." && actor); CV_Assert("Widget type is not supported." && actor);
Color c = vtkcolor(color); Color c = vtkcolor(color);
actor->GetMapper()->ScalarVisibilityOff(); actor->GetMapper()->ScalarVisibilityOff();
actor->GetProperty()->SetColor(c.val); actor->GetProperty()->SetColor(c.val);

24
modules/viz/test/test_viz3d.cpp
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@ -110,23 +110,23 @@ TEST(Viz_viz3d, accuracy)
for (int i = 0, j = 0; i <= 360; ++i, j+=5) for (int i = 0, j = 0; i <= 360; ++i, j+=5)
{ {
cam_path.push_back(viz::makeCameraPose(Point3f(0.5*cos(double(i)*CV_PI/180.0), 0.5*sin(double(j)*CV_PI/180.0), 0.5*sin(double(i)*CV_PI/180.0)), cam_path.push_back(viz::makeCameraPose(Point3f(0.5*cos(double(i)*CV_PI/180.0), 0.5*sin(double(j)*CV_PI/180.0), 0.5*sin(double(i)*CV_PI/180.0)),
Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0))); Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
} }
int path_counter = 0; int path_counter = 0;
int cam_path_size = cam_path.size(); int cam_path_size = cam_path.size();
// OTHER WIDGETS // OTHER WIDGETS
cv::Mat img = imread("opencv.png"); cv::Mat img = imread("opencv.png");
int downSample = 4; int downSample = 4;
int row_max = img.rows/downSample; int row_max = img.rows/downSample;
int col_max = img.cols/downSample; int col_max = img.cols/downSample;
cv::Mat *clouds = new cv::Mat[img.cols/downSample]; cv::Mat *clouds = new cv::Mat[img.cols/downSample];
cv::Mat *colors = new cv::Mat[img.cols/downSample]; cv::Mat *colors = new cv::Mat[img.cols/downSample];
for (int col = 0; col < col_max; ++col) for (int col = 0; col < col_max; ++col)
{ {
clouds[col] = Mat::zeros(img.rows/downSample, 1, CV_32FC3); clouds[col] = Mat::zeros(img.rows/downSample, 1, CV_32FC3);
@ -137,7 +137,7 @@ TEST(Viz_viz3d, accuracy)
colors[col].at<Vec3b>(row) = img.at<Vec3b>(row*downSample,col*downSample); colors[col].at<Vec3b>(row) = img.at<Vec3b>(row*downSample,col*downSample);
} }
} }
for (int col = 0; col < col_max; ++col) for (int col = 0; col < col_max; ++col)
{ {
std::stringstream strstrm; std::stringstream strstrm;
@ -146,16 +146,16 @@ TEST(Viz_viz3d, accuracy)
viz.getWidget(strstrm.str()).setRenderingProperty(viz::POINT_SIZE, 3.0); viz.getWidget(strstrm.str()).setRenderingProperty(viz::POINT_SIZE, 3.0);
viz.getWidget(strstrm.str()).setRenderingProperty(viz::OPACITY, 0.45); viz.getWidget(strstrm.str()).setRenderingProperty(viz::OPACITY, 0.45);
} }
viz.showWidget("trajectory", viz::WTrajectory(cam_path, viz::WTrajectory::DISPLAY_PATH, viz::Color::yellow())); viz.showWidget("trajectory", viz::WTrajectory(cam_path, viz::WTrajectory::DISPLAY_PATH, viz::Color::yellow()));
viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28)); viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28));
viz.registerKeyboardCallback(keyboard_callback, (void *) &viz); viz.registerKeyboardCallback(keyboard_callback, (void *) &viz);
int angle = 0; int angle = 0;
while(!viz.wasStopped()) while(!viz.wasStopped())
{ {
if (path_counter == cam_path_size) if (path_counter == cam_path_size)
{ {
path_counter = 0; path_counter = 0;
} }
@ -164,12 +164,12 @@ TEST(Viz_viz3d, accuracy)
{ {
viz.setViewerPose(cam_path[path_counter]); viz.setViewerPose(cam_path[path_counter]);
} }
if (angle == 360) angle = 0; if (angle == 360) angle = 0;
cam_1.cast<viz::WCameraPosition>().setPose(cam_path[path_counter]); cam_1.cast<viz::WCameraPosition>().setPose(cam_path[path_counter]);
cam_coordinates.cast<viz::WCameraPosition>().setPose(cam_path[path_counter++]); cam_coordinates.cast<viz::WCameraPosition>().setPose(cam_path[path_counter++]);
for (int i = 0; i < col_max; ++i) for (int i = 0; i < col_max; ++i)
{ {
std::stringstream strstrm; std::stringstream strstrm;

2
samples/cpp/CMakeLists.txt
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@ -82,7 +82,7 @@ if(BUILD_EXAMPLES AND OCV_DEPENDENCIES_FOUND)
if(NOT HAVE_opencv_gpuarithm OR NOT HAVE_opencv_gpufilters) if(NOT HAVE_opencv_gpuarithm OR NOT HAVE_opencv_gpufilters)
ocv_list_filterout(cpp_samples "/gpu/") ocv_list_filterout(cpp_samples "/gpu/")
endif() endif()
ocv_list_filterout(cpp_samples "viz") ocv_list_filterout(cpp_samples "viz")
foreach(sample_filename ${cpp_samples}) foreach(sample_filename ${cpp_samples})

11480
samples/cpp/tutorial_code/viz/bunny.ply
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30
samples/cpp/tutorial_code/viz/creating_widgets.cpp
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@ -5,7 +5,7 @@
*/ */
#include <opencv2/viz.hpp> #include <opencv2/viz.hpp>
#include <opencv2/viz/widget_accessor.hpp> #include <opencv2/viz/widget_accessor.hpp>
#include <iostream> #include <iostream>
#include <vtkPoints.h> #include <vtkPoints.h>
@ -42,7 +42,7 @@ void help()
class WTriangle : public viz::Widget3D class WTriangle : public viz::Widget3D
{ {
public: public:
WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
}; };
/** /**
@ -56,22 +56,22 @@ WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3,
points->InsertNextPoint(pt1.x, pt1.y, pt1.z); points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
points->InsertNextPoint(pt2.x, pt2.y, pt2.z); points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
points->InsertNextPoint(pt3.x, pt3.y, pt3.z); points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New(); vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
triangle->GetPointIds()->SetId(0,0); triangle->GetPointIds()->SetId(0,0);
triangle->GetPointIds()->SetId(1,1); triangle->GetPointIds()->SetId(1,1);
triangle->GetPointIds()->SetId(2,2); triangle->GetPointIds()->SetId(2,2);
vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New(); vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
cells->InsertNextCell(triangle); cells->InsertNextCell(triangle);
// Create a polydata object // Create a polydata object
vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New(); vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
// Add the geometry and topology to the polydata // Add the geometry and topology to the polydata
polyData->SetPoints(points); polyData->SetPoints(points);
polyData->SetPolys(cells); polyData->SetPolys(cells);
// Create mapper and actor // Create mapper and actor
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New(); vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
#if VTK_MAJOR_VERSION <= 5 #if VTK_MAJOR_VERSION <= 5
@ -79,13 +79,13 @@ WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3,
#else #else
mapper->SetInputData(polyData); mapper->SetInputData(polyData);
#endif #endif
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New(); vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
// Store this actor in the widget in order that visualizer can access it // Store this actor in the widget in order that visualizer can access it
viz::WidgetAccessor::setProp(*this, actor); viz::WidgetAccessor::setProp(*this, actor);
// Set the color of the widget. This has to be called after WidgetAccessor. // Set the color of the widget. This has to be called after WidgetAccessor.
setColor(color); setColor(color);
} }
@ -96,18 +96,18 @@ WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3,
int main() int main()
{ {
help(); help();
/// Create a window /// Create a window
viz::Viz3d myWindow("Creating Widgets"); viz::Viz3d myWindow("Creating Widgets");
/// Create a triangle widget /// Create a triangle widget
WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red()); WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
/// Show widget in the visualizer window /// Show widget in the visualizer window
myWindow.showWidget("TRIANGLE", tw); myWindow.showWidget("TRIANGLE", tw);
/// Start event loop /// Start event loop
myWindow.spin(); myWindow.spin();
return 0; return 0;
} }

16
samples/cpp/tutorial_code/viz/launching_viz.cpp
Unescape View File

@ -33,33 +33,33 @@ int main()
help(); help();
/// Create a window /// Create a window
viz::Viz3d myWindow("Viz Demo"); viz::Viz3d myWindow("Viz Demo");
/// Start event loop /// Start event loop
myWindow.spin(); myWindow.spin();
/// Event loop is over when pressed q, Q, e, E /// Event loop is over when pressed q, Q, e, E
cout << "First event loop is over" << endl; cout << "First event loop is over" << endl;
/// Access window via its name /// Access window via its name
viz::Viz3d sameWindow = viz::get("Viz Demo"); viz::Viz3d sameWindow = viz::get("Viz Demo");
/// Start event loop /// Start event loop
sameWindow.spin(); sameWindow.spin();
/// Event loop is over when pressed q, Q, e, E /// Event loop is over when pressed q, Q, e, E
cout << "Second event loop is over" << endl; cout << "Second event loop is over" << endl;
/// Event loop is over when pressed q, Q, e, E /// Event loop is over when pressed q, Q, e, E
/// Start event loop once for 1 millisecond /// Start event loop once for 1 millisecond
sameWindow.spinOnce(1, true); sameWindow.spinOnce(1, true);
while(!sameWindow.wasStopped()) while(!sameWindow.wasStopped())
{ {
/// Interact with window /// Interact with window
/// Event loop for 1 millisecond /// Event loop for 1 millisecond
sameWindow.spinOnce(1, true); sameWindow.spinOnce(1, true);
} }
/// Once more event loop is stopped /// Once more event loop is stopped
cout << "Last event loop is over" << endl; cout << "Last event loop is over" << endl;
return 0; return 0;

30
samples/cpp/tutorial_code/viz/transformations.cpp
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@ -44,7 +44,7 @@ Mat cvcloud_load()
float dummy1, dummy2; float dummy1, dummy2;
for(size_t i = 0; i < 1889; ++i) for(size_t i = 0; i < 1889; ++i)
ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2; ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
cloud *= 5.0f; cloud *= 5.0f;
return cloud; return cloud;
} }
@ -55,40 +55,40 @@ Mat cvcloud_load()
int main(int argn, char **argv) int main(int argn, char **argv)
{ {
help(); help();
if (argn < 2) if (argn < 2)
{ {
cout << "Missing arguments." << endl; cout << "Missing arguments." << endl;
return 1; return 1;
} }
bool camera_pov = (argv[1][0] == 'C'); bool camera_pov = (argv[1][0] == 'C');
/// Create a window /// Create a window
viz::Viz3d myWindow("Coordinate Frame"); viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes /// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Let's assume camera has the following properties /// Let's assume camera has the following properties
Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f); Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
/// We can get the pose of the cam using makeCameraPose /// We can get the pose of the cam using makeCameraPose
Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir); Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
/// We can get the transformation matrix from camera coordinate system to global using /// We can get the transformation matrix from camera coordinate system to global using
/// - makeTransformToGlobal. We need the axes of the camera /// - makeTransformToGlobal. We need the axes of the camera
Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos); Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
/// Create a cloud widget. /// Create a cloud widget.
Mat bunny_cloud = cvcloud_load(); Mat bunny_cloud = cvcloud_load();
viz::WCloud cloud_widget(bunny_cloud, viz::Color::green()); viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
/// Pose of the widget in camera frame /// Pose of the widget in camera frame
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f)); Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
/// Pose of the widget in global frame /// Pose of the widget in global frame
Affine3f cloud_pose_global = transform * cloud_pose; Affine3f cloud_pose_global = transform * cloud_pose;
/// Visualize camera frame /// Visualize camera frame
if (!camera_pov) if (!camera_pov)
{ {
@ -97,16 +97,16 @@ int main(int argn, char **argv)
myWindow.showWidget("CPW", cpw, cam_pose); myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose); myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
} }
/// Visualize widget /// Visualize widget
myWindow.showWidget("bunny", cloud_widget, cloud_pose_global); myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
/// Set the viewer pose to that of camera /// Set the viewer pose to that of camera
if (camera_pov) if (camera_pov)
myWindow.setViewerPose(cam_pose); myWindow.setViewerPose(cam_pose);
/// Start event loop. /// Start event loop.
myWindow.spin(); myWindow.spin();
return 0; return 0;
} }

26
samples/cpp/tutorial_code/viz/widget_pose.cpp
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@ -32,23 +32,23 @@ void help()
int main() int main()
{ {
help(); help();
/// Create a window /// Create a window
viz::Viz3d myWindow("Coordinate Frame"); viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes /// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Add line to represent (1,1,1) axis /// 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)); viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis); myWindow.showWidget("Line Widget", axis);
/// Construct a cube widget /// 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()); 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); cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Cube Widget", cube_widget); myWindow.showWidget("Cube Widget", cube_widget);
/// Rodrigues vector /// Rodrigues vector
Mat rot_vec = Mat::zeros(1,3,CV_32F); Mat rot_vec = Mat::zeros(1,3,CV_32F);
float translation_phase = 0.0, translation = 0.0; float translation_phase = 0.0, translation = 0.0;
@ -59,21 +59,21 @@ int main()
rot_vec.at<float>(0,0) += CV_PI * 0.01f; rot_vec.at<float>(0,0) += CV_PI * 0.01f;
rot_vec.at<float>(0,1) += CV_PI * 0.01f; rot_vec.at<float>(0,1) += CV_PI * 0.01f;
rot_vec.at<float>(0,2) += CV_PI * 0.01f; rot_vec.at<float>(0,2) += CV_PI * 0.01f;
/// Shift on (1,1,1) /// Shift on (1,1,1)
translation_phase += CV_PI * 0.01f; translation_phase += CV_PI * 0.01f;
translation = sin(translation_phase); translation = sin(translation_phase);
Mat rot_mat; Mat rot_mat;
Rodrigues(rot_vec, rot_mat); Rodrigues(rot_vec, rot_mat);
/// Construct pose /// Construct pose
Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose); myWindow.setWidgetPose("Cube Widget", pose);
myWindow.spinOnce(1, true); myWindow.spinOnce(1, true);
} }
return 0; return 0;
} }

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