mirror of https://github.com/opencv/opencv.git
Open Source Computer Vision Library
https://opencv.org/
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
162 lines
4.0 KiB
162 lines
4.0 KiB
.. _widget_pose: |
|
|
|
Pose of a widget |
|
**************** |
|
|
|
Goal |
|
==== |
|
|
|
In this tutorial you will learn how to |
|
|
|
.. container:: enumeratevisibleitemswithsquare |
|
|
|
* Add widgets to the visualization window |
|
* Use Affine3 to set pose of a widget |
|
* Rotating and translating a widget along an axis |
|
|
|
Code |
|
==== |
|
|
|
You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/widget_pose.cpp>`. |
|
|
|
.. code-block:: cpp |
|
|
|
#include <opencv2/viz.hpp> |
|
#include <opencv2/calib3d.hpp> |
|
#include <iostream> |
|
|
|
using namespace cv; |
|
using namespace std; |
|
|
|
/** |
|
* @function main |
|
*/ |
|
int main() |
|
{ |
|
/// Create a window |
|
viz::Viz3d myWindow("Coordinate Frame"); |
|
|
|
/// Add coordinate axes |
|
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); |
|
|
|
/// Add line to represent (1,1,1) axis |
|
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); |
|
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); |
|
myWindow.showWidget("Line Widget", axis); |
|
|
|
/// Construct a cube widget |
|
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); |
|
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); |
|
|
|
/// Display widget (update if already displayed) |
|
myWindow.showWidget("Cube Widget", cube_widget); |
|
|
|
/// Rodrigues vector |
|
Mat rot_vec = Mat::zeros(1,3,CV_32F); |
|
float translation_phase = 0.0, translation = 0.0; |
|
while(!myWindow.wasStopped()) |
|
{ |
|
/* Rotation using rodrigues */ |
|
/// Rotate around (1,1,1) |
|
rot_vec.at<float>(0,0) += CV_PI * 0.01f; |
|
rot_vec.at<float>(0,1) += CV_PI * 0.01f; |
|
rot_vec.at<float>(0,2) += CV_PI * 0.01f; |
|
|
|
/// Shift on (1,1,1) |
|
translation_phase += CV_PI * 0.01f; |
|
translation = sin(translation_phase); |
|
|
|
Mat rot_mat; |
|
Rodrigues(rot_vec, rot_mat); |
|
|
|
/// Construct pose |
|
Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); |
|
|
|
myWindow.setWidgetPose("Cube Widget", pose); |
|
|
|
myWindow.spinOnce(1, true); |
|
} |
|
|
|
return 0; |
|
} |
|
|
|
Explanation |
|
=========== |
|
|
|
Here is the general structure of the program: |
|
|
|
* Create a visualization window. |
|
|
|
.. code-block:: cpp |
|
|
|
/// Create a window |
|
viz::Viz3d myWindow("Coordinate Frame"); |
|
|
|
* Show coordinate axes in the window using CoordinateSystemWidget. |
|
|
|
.. code-block:: cpp |
|
|
|
/// Add coordinate axes |
|
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); |
|
|
|
* Display a line representing the axis (1,1,1). |
|
|
|
.. code-block:: cpp |
|
|
|
/// Add line to represent (1,1,1) axis |
|
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); |
|
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); |
|
myWindow.showWidget("Line Widget", axis); |
|
|
|
* Construct a cube. |
|
|
|
.. code-block:: cpp |
|
|
|
/// Construct a cube widget |
|
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); |
|
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); |
|
myWindow.showWidget("Cube Widget", cube_widget); |
|
|
|
* Create rotation matrix from rodrigues vector |
|
|
|
.. code-block:: cpp |
|
|
|
/// Rotate around (1,1,1) |
|
rot_vec.at<float>(0,0) += CV_PI * 0.01f; |
|
rot_vec.at<float>(0,1) += CV_PI * 0.01f; |
|
rot_vec.at<float>(0,2) += CV_PI * 0.01f; |
|
|
|
... |
|
|
|
Mat rot_mat; |
|
Rodrigues(rot_vec, rot_mat); |
|
|
|
* Use Affine3f to set pose of the cube. |
|
|
|
.. code-block:: cpp |
|
|
|
/// Construct pose |
|
Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); |
|
myWindow.setWidgetPose("Cube Widget", pose); |
|
|
|
* Animate the rotation using wasStopped and spinOnce |
|
|
|
.. code-block:: cpp |
|
|
|
while(!myWindow.wasStopped()) |
|
{ |
|
... |
|
|
|
myWindow.spinOnce(1, true); |
|
} |
|
|
|
Results |
|
======= |
|
|
|
Here is the result of the program. |
|
|
|
.. raw:: html |
|
|
|
<div align="center"> |
|
<iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe> |
|
</div>
|
|
|