@ -3,13 +3,29 @@ Widget
.. highlight :: cpp
In this section, the built-in widgets are presented.
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
point clouds and meshes.
Widget
------
Widgets are **implicitly shared** . Therefore, one can add a widget to the scene,
and modify the widget without re-adding the widget.
.. code-block :: cpp
...
/// Create a cloud widget
viz::CloudWidget cw(cloud, viz::Color::red());
/// Display it in a window
myWindow.showWidget("CloudWidget1", cw);
/// Modify it, and it will be modified in the window.
cw.setColor(viz::Color::yellow());
...
viz::Widget
-----------
.. ocv:class :: Widget
Base class of all widgets. Widget is implicitly shared.::
Base class of all widgets. Widget is implicitly shared. ::
class CV_EXPORTS Widget
{
@ -32,16 +48,16 @@ Base class of all widgets. Widget is implicitly shared.::
/* hidden * /
};
Widget::fromPlyFile
-------------------
viz:: Widget::fromPlyFile
------------------------
Creates a widget from ply file.
.. ocv:function :: static Widget fromPlyFile(const String &file_name)
:param file_name: Ply file name.
Widget::setRenderingProperty
----------------------------
viz:: Widget::setRenderingProperty
---------------------------------
Sets rendering property of the widget.
.. ocv:function :: void setRenderingProperty(int property, double value)
@ -49,22 +65,67 @@ Sets rendering property of the widget.
:param property: Property that will be modified.
:param value: The new value of the property.
Widget::getRenderingProperty
----------------------------
**Rendering property** can be one of the following:
* * *POINT_SIZE* *
* * *OPACITY* *
* * *LINE_WIDTH* *
* * *FONT_SIZE* *
* * *REPRESENTATION* *: Expected values are
* * *REPRESENTATION_POINTS* *
* * *REPRESENTATION_WIREFRAME* *
* * *REPRESENTATION_SURFACE* *
* * *IMMEDIATE_RENDERING* *:
* Turn on immediate rendering by setting the value to `` 1 `` .
* Turn off immediate rendering by setting the value to `` 0 `` .
* * *SHADING* *: Expected values are
* * *SHADING_FLAT* *
* * *SHADING_GOURAUD* *
* * *SHADING_PHONG* *
viz::Widget::getRenderingProperty
---------------------------------
Returns rendering property of the widget.
.. ocv:function :: double getRenderingProperty(int property) const
:param property: Property.
Widget::cast
------------
**Rendering property** can be one of the following:
* * *POINT_SIZE* *
* * *OPACITY* *
* * *LINE_WIDTH* *
* * *FONT_SIZE* *
* * *REPRESENTATION* *: Expected values are
* * *REPRESENTATION_POINTS* *
* * *REPRESENTATION_WIREFRAME* *
* * *REPRESENTATION_SURFACE* *
* * *IMMEDIATE_RENDERING* *:
* Turn on immediate rendering by setting the value to `` 1 `` .
* Turn off immediate rendering by setting the value to `` 0 `` .
* * *SHADING* *: Expected values are
* * *SHADING_FLAT* *
* * *SHADING_GOURAUD* *
* * *SHADING_PHONG* *
viz::Widget::cast
-----------------
Casts a widget to another.
.. ocv:function :: template<typename _W> _W cast()
WidgetAccessor
--------------
.. code-block :: cpp
// Create a sphere widget
viz::SphereWidget sw(Point3f(0.0f,0.0f,0.0f), 0.5f);
// Cast sphere widget to cloud widget
viz::CloudWidget cw = sw.cast<viz::CloudWidget>();
.. note :: 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets.
viz::WidgetAccessor
-------------------
.. ocv:class :: WidgetAccessor
This class is for users who want to develop their own widgets using VTK library API. ::
@ -75,8 +136,31 @@ This class is for users who want to develop their own widgets using VTK library
static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
};
Widget3D
--------
viz::WidgetAccessor::getProp
----------------------------
Returns `` vtkProp `` of a given widget.
.. ocv:function :: static vtkSmartPointer<vtkProp> getProp(const Widget &widget)
:param widget: Widget whose ``vtkProp`` is to be returned.
.. note :: vtkProp has to be down cast appropriately to be modified.
.. code-block :: cpp
vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget));
viz::WidgetAccessor::setProp
----------------------------
Sets `` vtkProp `` of a given widget.
.. ocv:function :: static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop)
:param widget: Widget whose ``vtkProp`` is to be set.
:param prop: A ``vtkProp``.
viz::Widget3D
-------------
.. ocv:class :: Widget3D
Base class of all 3D widgets. ::
@ -95,38 +179,38 @@ Base class of all 3D widgets. ::
/* hidden * /
};
Widget3D::setPose
-----------------
viz:: Widget3D::setPose
----------------------
Sets pose of the widget.
.. ocv:function :: void setPose(const Affine3f &pose)
:param pose: The new pose of the widget.
Widget3D::updateWidgetPose
--------------------------
viz:: Widget3D::updateWidgetPose
-------------------------------
Updates pose of the widget by pre-multiplying its current pose.
.. ocv:function :: void updateWidgetPose(const Affine3f &pose)
:param pose: The pose that the current pose of the widget will be pre-multiplied by.
Widget3D::getPose
-----------------
viz:: Widget3D::getPose
----------------------
Returns the current pose of the widget.
.. ocv:function :: Affine3f getWidgetPose() const
Widget3D::setColor
------------------
viz:: Widget3D::setColor
-----------------------
Sets the color of the widget.
.. ocv:function :: void setColor(const Color &color)
:param color: Color
:param color: color of type :ocv:class:` Color`
Widget2D
--------
viz:: Widget2D
-------------
.. ocv:class :: Widget2D
Base class of all 2D widgets. ::
@ -139,16 +223,16 @@ Base class of all 2D widgets. ::
void setColor(const Color &color);
};
Widget2D::setColor
------------------
viz:: Widget2D::setColor
-----------------------
Sets the color of the widget.
.. ocv:function :: void setColor(const Color &color)
:param color: Color
:param color: color of type :ocv:class:` Color`
LineWidget
----------
viz:: LineWidget
---------------
.. ocv:class :: LineWidget
This 3D Widget defines a finite line. ::
@ -159,18 +243,18 @@ This 3D Widget defines a finite line. ::
LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
};
LineWidget::LineWidget
----------------------
viz:: LineWidget::LineWidget
---------------------------
Constructs a LineWidget.
.. ocv:function :: LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white())
:param pt1: Start point of the line.
:param pt2: End point of the line.
:param color: Color of the line.
:param color: :ocv:class:` Color` of the line.
PlaneWidget
-----------
viz:: PlaneWidget
----------------
.. ocv:class :: PlaneWidget
This 3D Widget defines a finite plane. ::
@ -184,24 +268,25 @@ This 3D Widget defines a finite plane. ::
/* hidden * /
};
PlaneWidget::PlaneWidget
------------------------
viz:: PlaneWidget::PlaneWidget
-----------------------------
Constructs a PlaneWidget.
.. ocv:function :: PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white())
:param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param size: Size of the plane.
:param color: Color of the plane.
:param color: :ocv:class:` Color` of the plane.
.. ocv:function :: PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white())
:param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param pt: Position of the plane.
:param color: Color of the plane.
:param size: Size of the plane.
:param color: :ocv:class:`Color` of the plane.
SphereWidget
------------
viz:: SphereWidget
-----------------
.. ocv:class :: SphereWidget
This 3D Widget defines a sphere. ::
@ -212,8 +297,8 @@ This 3D Widget defines a sphere. ::
SphereWidget(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white())
};
SphereWidget::SphereWidget
--------------------------
viz:: SphereWidget::SphereWidget
-------------------------------
Constructs a SphereWidget.
.. ocv:function :: SphereWidget(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white())
@ -221,10 +306,10 @@ Constructs a SphereWidget.
:param center: Center of the sphere.
:param radius: Radius of the sphere.
:param sphere_resolution: Resolution of the sphere.
:param color: Color of the sphere.
:param color: :ocv:class:` Color` of the sphere.
ArrowWidget
-----------
viz:: ArrowWidget
----------------
.. ocv:class :: ArrowWidget
This 3D Widget defines an arrow. ::
@ -235,8 +320,8 @@ This 3D Widget defines an arrow. ::
ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white());
};
ArrowWidget::ArrowWidget
------------------------
viz:: ArrowWidget::ArrowWidget
-----------------------------
Constructs an ArrowWidget.
.. ocv:function :: ArrowWidget(const Point3f& pt1, const Point3f& pt2, double thickness = 0.03, const Color &color = Color::white())
@ -244,12 +329,12 @@ Constructs an ArrowWidget.
:param pt1: Start point of the arrow.
:param pt2: End point of the arrow.
:param thickness: Thickness of the arrow. Thickness of arrow head is also adjusted accordingly.
:param color: Color of the arrow.
:param color: :ocv:class:` Color` of the arrow.
Arrow head is located at the end point of the arrow.
CircleWidget
------------
viz:: CircleWidget
-----------------
.. ocv:class :: CircleWidget
This 3D Widget defines a circle. ::
@ -260,8 +345,8 @@ This 3D Widget defines a circle. ::
CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
};
CircleWidget::CircleWidget
--------------------------
viz:: CircleWidget::CircleWidget
-------------------------------
Constructs a CircleWidget.
.. ocv:function :: CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white())
@ -269,10 +354,10 @@ Constructs a CircleWidget.
:param pt: Center of the circle.
:param radius: Radius of the circle.
:param thickness: Thickness of the circle.
:param color: Color of the circle.
:param color: :ocv:class:` Color` of the circle.
CylinderWidget
--------------
viz:: CylinderWidget
-------------------
.. ocv:class :: CylinderWidget
This 3D Widget defines a cylinder. ::
@ -283,8 +368,8 @@ This 3D Widget defines a cylinder. ::
CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
};
CylinderWidget::CylinderWidget
------------------------------
viz:: CylinderWidget::CylinderWidget
-----------------------------------
Constructs a CylinderWidget.
.. ocv:function :: CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white())
@ -293,10 +378,10 @@ Constructs a CylinderWidget.
:param axis_direction: Direction of the axis of the cylinder.
:param radius: Radius of the cylinder.
:param numsides: Resolution of the cylinder.
:param color: Color of the cylinder.
:param color: :ocv:class:` Color` of the cylinder.
CubeWidget
----------
viz:: CubeWidget
---------------
.. ocv:class :: CubeWidget
This 3D Widget defines a cube. ::
@ -307,8 +392,8 @@ This 3D Widget defines a cube. ::
CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
};
CubeWidget::CubeWidget
----------------------
viz:: CubeWidget::CubeWidget
---------------------------
Constructs a CudeWidget.
.. ocv:function :: CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white())
@ -316,10 +401,14 @@ Constructs a CudeWidget.
:param pt_min: Specifies minimum point of the bounding box.
:param pt_max: Specifies maximum point of the bounding box.
:param wire_frame: If true, cube is represented as wireframe.
:param color: Color of the cube.
:param color: :ocv:class:` Color` of the cube.
CoordinateSystemWidget
----------------------
.. image :: images/cube_widget.png
:alt: Cube Widget
:align: center
viz::CoordinateSystemWidget
---------------------------
.. ocv:class :: CoordinateSystemWidget
This 3D Widget represents a coordinate system. ::
@ -330,16 +419,16 @@ This 3D Widget represents a coordinate system. ::
CoordinateSystemWidget(double scale = 1.0);
};
CoordinateSystemWidget::CoordinateSystemWidget
----------------------------------------------
viz:: CoordinateSystemWidget::CoordinateSystemWidget
---------------------------------------------------
Constructs a CoordinateSystemWidget.
.. ocv:function :: CoordinateSystemWidget(double scale = 1.0)
:param scale: Determines the size of the axes.
PolyLineWidget
--------------
viz:: PolyLineWidget
-------------------
.. ocv:class :: PolyLineWidget
This 3D Widget defines a poly line. ::
@ -353,17 +442,17 @@ This 3D Widget defines a poly line. ::
/* hidden * /
};
PolyLineWidget::PolyLineWidget
------------------------------
viz:: PolyLineWidget::PolyLineWidget
-----------------------------------
Constructs a PolyLineWidget.
.. ocv:function :: PolyLineWidget(InputArray points, const Color &color = Color::white())
:param points: Point set.
:param color: Color of the poly line.
:param color: :ocv:class:` Color` of the poly line.
GridWidget
----------
viz:: GridWidget
---------------
.. ocv:class :: GridWidget
This 3D Widget defines a grid. ::
@ -379,25 +468,25 @@ This 3D Widget defines a grid. ::
/* hidden * /
};
GridWidget::GridWidget
----------------------
viz:: GridWidget::GridWidget
---------------------------
Constructs a GridWidget.
.. ocv:function :: GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
:param dimensions: Number of columns and rows, respectively.
:param spacing: Size of each column and row, respectively.
:param color: Color of the grid.
:param color: :ocv:class:` Color` of the grid.
.. ocv:function: GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white())
:param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
:param dimensions: Number of columns and rows, respectively.
:param spacing: Size of each column and row, respectively.
:param color: Color of the grid.
:param color: :ocv:class:` Color` of the grid.
Text3DWidget
------------
viz:: Text3DWidget
-----------------
.. ocv:class :: Text3DWidget
This 3D Widget represents 3D text. The text always faces the camera. ::
@ -405,39 +494,40 @@ This 3D Widget represents 3D text. The text always faces the camera. ::
class CV_EXPORTS Text3DWidget : public Widget3D
{
public:
Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white());
Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, double face_camera = true, const Color &color = Color::white());
void setText(const String &text);
String getText() const;
};
Text3DWidget::Text3DWidget
--------------------------
viz:: Text3DWidget::Text3DWidget
-------------------------------
Constructs a Text3DWidget.
.. ocv:function :: Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white())
.. ocv:function :: Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, double face_camera = true, const Color &color = Color::white())
:param text: Text content of the widget.
:param position: Position of the text.
:param text_scale: Size of the text.
:param color: Color of the text.
:param face_camera: If true, text always faces the camera.
:param color: :ocv:class:`Color` of the text.
Text3DWidget::setText
---------------------
viz:: Text3DWidget::setText
--------------------------
Sets the text content of the widget.
.. ocv:function :: void setText(const String &text)
:param text: Text content of the widget.
Text3DWidget::getText
---------------------
viz:: Text3DWidget::getText
--------------------------
Returns the current text content of the widget.
.. ocv:function :: String getText() const
TextWidget
----------
viz:: TextWidget
---------------
.. ocv:class :: TextWidget
This 2D Widget represents text overlay. ::
@ -451,8 +541,8 @@ This 2D Widget represents text overlay. ::
String getText() const;
};
TextWidget::TextWidget
----------------------
viz:: TextWidget::TextWidget
---------------------------
Constructs a TextWidget.
.. ocv:function :: TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white())
@ -460,24 +550,24 @@ Constructs a TextWidget.
:param text: Text content of the widget.
:param pos: Position of the text.
:param font_size: Font size.
:param color: Color of the text.
:param color: :ocv:class:` Color` of the text.
TextWidget::setText
---------------------
viz:: TextWidget::setText
------------------------
Sets the text content of the widget.
.. ocv:function :: void setText(const String &text)
:param text: Text content of the widget.
TextWidget::getText
---------------------
viz:: TextWidget::getText
------------------------
Returns the current text content of the widget.
.. ocv:function :: String getText() const
ImageOverlayWidget
------------------
viz:: ImageOverlayWidget
-----------------------
.. ocv:class :: ImageOverlayWidget
This 2D Widget represents an image overlay. ::
@ -490,28 +580,28 @@ This 2D Widget represents an image overlay. ::
void setImage(const Mat &image);
};
ImageOverlayWidget::ImageOverlayWidget
--------------------------------------
Constructs a ImageOverlayWidget.
viz:: ImageOverlayWidget::ImageOverlayWidget
-------------------------------------------
Constructs an ImageOverlayWidget.
.. ocv:function :: ImageOverlayWidget(const Mat &image, const Rect &rect)
:param image: BGR or Gray-Scale image.
:param rect: Image is scaled and positioned based on rect.
ImageOverlayWidget::setImage
----------------------------
viz:: ImageOverlayWidget::setImage
---------------------------------
Sets the image content of the widget.
.. ocv:function :: void setImage(const Mat &image)
:param image: BGR or Gray-Scale image.
Image3DWidget
-------------
viz:: Image3DWidget
------------------
.. ocv:class :: Image3DWidget
This 3D Widget represents 3D imag e. ::
This 3D Widget represents an image in 3D spac e. ::
class CV_EXPORTS Image3DWidget : public Widget3D
{
@ -524,9 +614,9 @@ This 3D Widget represents 3D image. ::
void setImage(const Mat &image);
};
Image3DWidget::Image3DWidget
----------------------------
Constructs a Image3DWidget.
viz:: Image3DWidget::Image3DWidget
---------------------------------
Constructs an Image3DWidget.
.. ocv:function :: Image3DWidget(const Mat &image, const Size &size)
@ -541,19 +631,19 @@ Constructs a Image3DWidget.
:param image: BGR or Gray-Scale image.
:param size: Size of the image.
Image3DWidget::setImage
-----------------------
viz:: Image3DWidget::setImage
----------------------------
Sets the image content of the widget.
.. ocv:function :: void setImage(const Mat &image)
:param image: BGR or Gray-Scale image.
CameraPositionWidget
--------------------
viz:: CameraPositionWidget
-------------------------
.. ocv:class :: CameraPositionWidget
This 3D Widget represents camera position. ::
This 3D Widget represents camera position in a scene by its axes or viewing frustum . ::
class CV_EXPORTS CameraPositionWidget : public Widget3D
{
@ -566,43 +656,72 @@ This 3D Widget represents camera position. ::
CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
//! Creates frustum and display given image at the far plane
CameraPositionWidget(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white());
};
CameraPositionWidget::CameraPositionWidget
------------------------------------------
viz:: CameraPositionWidget::CameraPositionWidget
-----------------------------------------------
Constructs a CameraPositionWidget.
.. ocv:function :: CameraPositionWidget(double scale = 1.0)
- **Display camera coordinate frame.**
Creates camera coordinate frame at the origin.
.. ocv:function :: CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white())
.. ocv:function :: CameraPositionWidget(double scale = 1.0)
:param K: Intrinsic matrix of the camera.
:param scale: Scale of the frustum.
:param color: Color of the frustum.
Creates viewing frustum of the camera based on its intrinsic matrix K.
.. ocv:function :: CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white())
Creates camera coordinate frame at the origin.
.. image :: images/cpw1.png
:alt: Camera coordinate frame
:align: center
:param fov: Field of view of the camera (horizontal, vertical).
:param scale: Scale of the frustum.
:param color: Color of the frustum.
Creates viewing frustum of the camera based on its field of view fov.
- **Display the viewing frustum.**
.. ocv:function :: CameraPositionWidget(const Matx33f &K, const Mat &img , double scale = 1.0, const Color &color = Color::white())
.. ocv:function :: CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white())
:param K: Intrinsic matrix of the camera.
:param img: BGR or Gray-Scale image that is going to be displayed at the far plane of the frustum.
:param scale: Scale of the frustum and image.
:param color: Color of the frustum.
Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.
:param K: Intrinsic matrix of the camera.
:param scale: Scale of the frustum.
:param color: :ocv:class:`Color` of the frustum.
Creates viewing frustum of the camera based on its intrinsic matrix K.
TrajectoryWidget
----------------
.. ocv:function :: CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white())
:param fov: Field of view of the camera (horizontal, vertical).
:param scale: Scale of the frustum.
:param color: :ocv:class:`Color` of the frustum.
Creates viewing frustum of the camera based on its field of view fov.
.. image :: images/cpw2.png
:alt: Camera viewing frustum
:align: center
- **Display image on the far plane of the viewing frustum.**
.. ocv:function :: CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white())
:param K: Intrinsic matrix of the camera.
:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
:param scale: Scale of the frustum and image.
: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.
.. ocv:function :: CameraPositionWidget(const Vec2f &fov, const Mat &img, double scale = 1.0, const Color &color = Color::white())
:param fov: Field of view of the camera (horizontal, vertical).
: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 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.
.. image :: images/cpw3.png
:alt: Camera viewing frustum with image
:align: center
viz::TrajectoryWidget
---------------------
.. ocv:class :: TrajectoryWidget
This 3D Widget represents a trajectory. ::
@ -623,15 +742,15 @@ This 3D Widget represents a trajectory. ::
/* hidden * /
};
TrajectoryWidget::TrajectoryWidget
----------------------------------
viz:: TrajectoryWidget::TrajectoryWidget
---------------------------------------
Constructs a TrajectoryWidget.
.. ocv:function :: TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0)
:param path: List of poses on a trajectory.
:param display_mode: Display mode. This can be DISPLAY_PATH, DISPLAY_FRAMES, DISPLAY_PATH & DISPLAY_FRAMES.
:param color: Color of the polyline that represents path. Frames are not affected.
:param color: :ocv:class:` Color` of the polyline that represents path. Frames are not affected.
:param scale: Scale of the frames. Polyline is not affected.
Displays trajectory of the given path as follows:
@ -645,7 +764,7 @@ Constructs a TrajectoryWidget.
:param path: List of poses on a trajectory.
:param K: Intrinsic matrix of the camera.
:param scale: Scale of the frustums.
:param color: Color of the frustums.
:param color: :ocv:class:` Color` of the frustums.
Displays frustums at each pose of the trajectory.
@ -654,12 +773,12 @@ Constructs a TrajectoryWidget.
:param path: List of poses on a trajectory.
:param fov: Field of view of the camera (horizontal, vertical).
:param scale: Scale of the frustums.
:param color: Color of the frustums.
:param color: :ocv:class:` Color` of the frustums.
Displays frustums at each pose of the trajectory.
SpheresTrajectoryWidget
-----------------------
viz:: SpheresTrajectoryWidget
----------------------------
.. ocv:class :: SpheresTrajectoryWidget
This 3D Widget represents a trajectory using spheres and lines, where spheres represent the positions of the camera, and lines
@ -673,8 +792,8 @@ represent the direction from previous position to the current. ::
Color &line_color = Color::white(), const Color &sphere_color = Color::white());
};
SpheresTrajectoryWidget::SpheresTrajectoryWidget
------------------------------------------------
viz:: SpheresTrajectoryWidget::SpheresTrajectoryWidget
-----------------------------------------------------
Constructs a SpheresTrajectoryWidget.
.. ocv:function :: SpheresTrajectoryWidget(const std::vector<Affine3f> &path, float line_length = 0.05f, double init_sphere_radius = 0.021, double sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white())
@ -683,11 +802,11 @@ Constructs a SpheresTrajectoryWidget.
:param line_length: Length of the lines.
:param init_sphere_radius: Radius of the first sphere which represents the initial position of the camera.
:param sphere_radius: Radius of the rest of the spheres.
:param line_color: Color of the lines.
:param sphere_color: Color of the spheres.
:param line_color: :ocv:class:` Color` of the lines.
:param sphere_color: :ocv:class:` Color` of the spheres.
CloudWidget
-----------
viz:: CloudWidget
----------------
.. ocv:class :: CloudWidget
This 3D Widget defines a point cloud. ::
@ -704,26 +823,28 @@ This 3D Widget defines a point cloud. ::
/* hidden * /
};
CloudWidget::CloudWidget
------------------------
viz:: CloudWidget::CloudWidget
-----------------------------
Constructs a CloudWidget.
.. ocv:function :: CloudWidget(InputArray cloud, InputArray colors)
:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4 .
:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4`` .
:param colors: Set of colors. It has to be of the same size with cloud.
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
.. ocv:function :: CloudWidget(InputArray cloud, const Color &color = Color::white())
:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4 .
:param color: A single color for the whole cloud.
:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4`` .
:param color: A single :o cv:class:`C olor` for the whole cloud.
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.
CloudCollectionWidget
---------------------
viz:: CloudCollectionWidget
--------------------------
.. ocv:class :: CloudCollectionWidget
This 3D Widget defines a collection of clouds. ::
@ -742,19 +863,19 @@ This 3D Widget defines a collection of clouds. ::
/* hidden * /
};
CloudCollectionWidget::CloudCollectionWidget
--------------------------------------------
viz:: CloudCollectionWidget::CloudCollectionWidget
-------------------------------------------------
Constructs a CloudCollectionWidget.
.. ocv:function :: CloudCollectionWidget()
CloudCollectionWidget::addCloud
-------------------------------
viz:: CloudCollectionWidget::addCloud
------------------------------------
Adds a cloud to the collection.
.. ocv:function :: void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity())
:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
:param cloud: Point set which can be of type: `` CV_32FC3`` , `` CV_32FC4`` , `` CV_64FC3`` , `` CV_64FC4`` .
:param colors: Set of colors. It has to be of the same size with cloud.
:param pose: Pose of the cloud.
@ -762,14 +883,16 @@ Adds a cloud to the collection.
.. ocv:function :: void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity())
:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
:param colors: A single color for the whole cloud.
:param cloud: Point set which can be of type: `` CV_32FC3`` , `` CV_32FC4`` , `` CV_64FC3`` , `` CV_64FC4`` .
:param colors: A single :o cv:class:`C olor` for the whole cloud.
:param pose: Pose of the cloud.
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
.. note :: In case there are four channels in the cloud, fourth channel is ignored.
CloudNormalsWidget
------------------
viz:: CloudNormalsWidget
-----------------------
.. ocv:class :: CloudNormalsWidget
This 3D Widget represents normals of a point cloud. ::
@ -783,20 +906,22 @@ This 3D Widget represents normals of a point cloud. ::
/* hidden * /
};
CloudNormalsWidget::CloudNormalsWidget
--------------------------------------
viz:: CloudNormalsWidget::CloudNormalsWidget
-------------------------------------------
Constructs a CloudNormalsWidget.
.. ocv:function :: CloudNormalsWidget(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white())
:param cloud: Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4.
:param cloud: Point set which can be of type: `` CV_32FC3`` , `` CV_32FC4`` , `` CV_64FC3`` , `` CV_64FC4`` .
:param normals: A set of normals that has to be of same type with cloud.
:param level: Display only every levelth normal.
:param level: Display only every `` level`` th normal.
:param scale: Scale of the arrows that represent normals.
:param color: Color of the arrows that represent normals.
: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.
MeshWidget
----------
viz:: MeshWidget
---------------
.. ocv:class :: MeshWidget
This 3D Widget defines a mesh. ::
@ -810,13 +935,13 @@ This 3D Widget defines a mesh. ::
/* hidden * /
};
MeshWidget::MeshWidget
----------------------
viz:: MeshWidget::MeshWidget
---------------------------
Constructs a MeshWidget.
.. ocv:function :: MeshWidget(const Mesh3d &mesh)
:param mesh: Mesh object that will be displayed.
:param mesh: :ocv:class:` Mesh3d` object that will be displayed.
Ozan Tonkal
12 years ago
