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956 lines
30 KiB
956 lines
30 KiB
Widget |
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====== |
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.. highlight:: cpp |
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In this section, the widget framework is explained. Widgets represent |
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2D or 3D objects, varying from simple ones such as lines to complex one such as |
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point clouds and meshes. |
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Widgets are **implicitly shared**. Therefore, one can add a widget to the scene, |
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and modify the widget without re-adding the widget. |
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.. code-block:: cpp |
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... |
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/// Create a cloud widget |
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viz::WCloud cw(cloud, viz::Color::red()); |
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/// Display it in a window |
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myWindow.showWidget("CloudWidget1", cw); |
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/// Modify it, and it will be modified in the window. |
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cw.setColor(viz::Color::yellow()); |
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... |
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viz::Widget |
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----------- |
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.. ocv:class:: Widget |
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Base class of all widgets. Widget is implicitly shared. :: |
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class CV_EXPORTS Widget |
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{ |
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public: |
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Widget(); |
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Widget(const Widget& other); |
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Widget& operator=(const Widget& other); |
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~Widget(); |
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//! Create a widget directly from ply file |
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static Widget fromPlyFile(const String &file_name); |
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//! Rendering properties of this particular widget |
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void setRenderingProperty(int property, double value); |
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double getRenderingProperty(int property) const; |
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//! Casting between widgets |
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template<typename _W> _W cast(); |
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private: |
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/* hidden */ |
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}; |
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viz::Widget::fromPlyFile |
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------------------------ |
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Creates a widget from ply file. |
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.. ocv:function:: static Widget fromPlyFile(const String &file_name) |
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:param file_name: Ply file name. |
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viz::Widget::setRenderingProperty |
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--------------------------------- |
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Sets rendering property of the widget. |
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.. ocv:function:: void setRenderingProperty(int property, double value) |
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:param property: Property that will be modified. |
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:param value: The new value of the property. |
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**Rendering property** can be one of the following: |
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* **POINT_SIZE** |
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* **OPACITY** |
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* **LINE_WIDTH** |
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* **FONT_SIZE** |
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* **REPRESENTATION**: Expected values are |
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* **REPRESENTATION_POINTS** |
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* **REPRESENTATION_WIREFRAME** |
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* **REPRESENTATION_SURFACE** |
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* **IMMEDIATE_RENDERING**: |
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* Turn on immediate rendering by setting the value to ``1``. |
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* Turn off immediate rendering by setting the value to ``0``. |
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* **SHADING**: Expected values are |
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* **SHADING_FLAT** |
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* **SHADING_GOURAUD** |
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* **SHADING_PHONG** |
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viz::Widget::getRenderingProperty |
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--------------------------------- |
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Returns rendering property of the widget. |
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.. ocv:function:: double getRenderingProperty(int property) const |
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:param property: Property. |
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**Rendering property** can be one of the following: |
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* **POINT_SIZE** |
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* **OPACITY** |
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* **LINE_WIDTH** |
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* **FONT_SIZE** |
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* **REPRESENTATION**: Expected values are |
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* **REPRESENTATION_POINTS** |
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* **REPRESENTATION_WIREFRAME** |
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* **REPRESENTATION_SURFACE** |
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* **IMMEDIATE_RENDERING**: |
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* Turn on immediate rendering by setting the value to ``1``. |
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* Turn off immediate rendering by setting the value to ``0``. |
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* **SHADING**: Expected values are |
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* **SHADING_FLAT** |
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* **SHADING_GOURAUD** |
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* **SHADING_PHONG** |
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viz::Widget::cast |
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----------------- |
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Casts a widget to another. |
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.. ocv:function:: template<typename _W> _W cast() |
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.. code-block:: cpp |
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// Create a sphere widget |
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viz::WSphere sw(Point3f(0.0f,0.0f,0.0f), 0.5f); |
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// Cast sphere widget to cloud widget |
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viz::WCloud cw = sw.cast<viz::WCloud>(); |
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.. note:: 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets. |
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viz::WidgetAccessor |
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------------------- |
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.. ocv:class:: WidgetAccessor |
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This class is for users who want to develop their own widgets using VTK library API. :: |
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struct CV_EXPORTS WidgetAccessor |
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{ |
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static vtkSmartPointer<vtkProp> getProp(const Widget &widget); |
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static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop); |
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}; |
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viz::WidgetAccessor::getProp |
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---------------------------- |
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Returns ``vtkProp`` of a given widget. |
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.. ocv:function:: static vtkSmartPointer<vtkProp> getProp(const Widget &widget) |
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:param widget: Widget whose ``vtkProp`` is to be returned. |
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.. note:: vtkProp has to be down cast appropriately to be modified. |
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.. code-block:: cpp |
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vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget)); |
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viz::WidgetAccessor::setProp |
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---------------------------- |
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Sets ``vtkProp`` of a given widget. |
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.. ocv:function:: static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop) |
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:param widget: Widget whose ``vtkProp`` is to be set. |
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:param prop: A ``vtkProp``. |
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viz::Widget3D |
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------------- |
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.. ocv:class:: Widget3D |
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Base class of all 3D widgets. :: |
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class CV_EXPORTS Widget3D : public Widget |
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{ |
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public: |
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Widget3D() {} |
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void setPose(const Affine3f &pose); |
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void updatePose(const Affine3f &pose); |
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Affine3f getPose() const; |
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void setColor(const Color &color); |
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private: |
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/* hidden */ |
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}; |
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viz::Widget3D::setPose |
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---------------------- |
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Sets pose of the widget. |
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.. ocv:function:: void setPose(const Affine3f &pose) |
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:param pose: The new pose of the widget. |
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viz::Widget3D::updateWidgetPose |
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------------------------------- |
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Updates pose of the widget by pre-multiplying its current pose. |
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.. ocv:function:: void updateWidgetPose(const Affine3f &pose) |
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:param pose: The pose that the current pose of the widget will be pre-multiplied by. |
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viz::Widget3D::getPose |
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---------------------- |
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Returns the current pose of the widget. |
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.. ocv:function:: Affine3f getWidgetPose() const |
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viz::Widget3D::setColor |
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----------------------- |
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Sets the color of the widget. |
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.. ocv:function:: void setColor(const Color &color) |
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:param color: color of type :ocv:class:`Color` |
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viz::Widget2D |
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------------- |
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.. ocv:class:: Widget2D |
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Base class of all 2D widgets. :: |
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class CV_EXPORTS Widget2D : public Widget |
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{ |
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public: |
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Widget2D() {} |
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void setColor(const Color &color); |
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}; |
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viz::Widget2D::setColor |
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----------------------- |
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Sets the color of the widget. |
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.. ocv:function:: void setColor(const Color &color) |
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:param color: color of type :ocv:class:`Color` |
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viz::WLine |
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---------- |
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.. ocv:class:: WLine |
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This 3D Widget defines a finite line. :: |
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class CV_EXPORTS WLine : public Widget3D |
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{ |
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public: |
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WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white()); |
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}; |
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viz::WLine::WLine |
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----------------- |
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Constructs a WLine. |
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.. ocv:function:: WLine(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white()) |
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:param pt1: Start point of the line. |
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:param pt2: End point of the line. |
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:param color: :ocv:class:`Color` of the line. |
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viz::WPlane |
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----------- |
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.. ocv:class:: WPlane |
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This 3D Widget defines a finite plane. :: |
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class CV_EXPORTS WPlane : public Widget3D |
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{ |
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public: |
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WPlane(const Vec4f& coefs, float size = 1.0, const Color &color = Color::white()); |
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WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.0, const Color &color = Color::white()); |
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private: |
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/* hidden */ |
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}; |
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viz::WPlane::WPlane |
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------------------- |
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Constructs a WPlane. |
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.. ocv:function:: WPlane(const Vec4f& coefs, float size = 1.0, const Color &color = Color::white()) |
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:param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0. |
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:param size: Size of the plane. |
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:param color: :ocv:class:`Color` of the plane. |
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.. ocv:function:: WPlane(const Vec4f& coefs, const Point3f& pt, float size = 1.0, const Color &color = Color::white()) |
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:param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0. |
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:param pt: Position of the plane. |
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:param size: Size of the plane. |
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:param color: :ocv:class:`Color` of the plane. |
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viz::WSphere |
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------------ |
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.. ocv:class:: WSphere |
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This 3D Widget defines a sphere. :: |
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class CV_EXPORTS WSphere : public Widget3D |
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{ |
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public: |
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WSphere(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white()) |
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}; |
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viz::WSphere::WSphere |
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--------------------- |
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Constructs a WSphere. |
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.. ocv:function:: WSphere(const cv::Point3f ¢er, float radius, int sphere_resolution = 10, const Color &color = Color::white()) |
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:param center: Center of the sphere. |
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:param radius: Radius of the sphere. |
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:param sphere_resolution: Resolution of the sphere. |
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:param color: :ocv:class:`Color` of the sphere. |
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viz::WArrow |
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---------------- |
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.. ocv:class:: WArrow |
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This 3D Widget defines an arrow. :: |
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class CV_EXPORTS WArrow : public Widget3D |
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{ |
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public: |
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WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03, const Color &color = Color::white()); |
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}; |
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viz::WArrow::WArrow |
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----------------------------- |
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Constructs an WArrow. |
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.. ocv:function:: WArrow(const Point3f& pt1, const Point3f& pt2, float thickness = 0.03, const Color &color = Color::white()) |
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:param pt1: Start point of the arrow. |
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:param pt2: End point of the arrow. |
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:param thickness: Thickness of the arrow. Thickness of arrow head is also adjusted accordingly. |
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:param color: :ocv:class:`Color` of the arrow. |
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Arrow head is located at the end point of the arrow. |
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viz::WCircle |
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----------------- |
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.. ocv:class:: WCircle |
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This 3D Widget defines a circle. :: |
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class CV_EXPORTS WCircle : public Widget3D |
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{ |
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public: |
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WCircle(const Point3f& pt, float radius, float thickness = 0.01, const Color &color = Color::white()); |
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}; |
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viz::WCircle::WCircle |
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------------------------------- |
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Constructs a WCircle. |
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.. ocv:function:: WCircle(const Point3f& pt, float radius, float thickness = 0.01, const Color &color = Color::white()) |
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:param pt: Center of the circle. |
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:param radius: Radius of the circle. |
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:param thickness: Thickness of the circle. |
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:param color: :ocv:class:`Color` of the circle. |
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viz::WCylinder |
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-------------- |
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.. ocv:class:: WCylinder |
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This 3D Widget defines a cylinder. :: |
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class CV_EXPORTS WCylinder : public Widget3D |
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{ |
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public: |
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WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white()); |
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}; |
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viz::WCylinder::WCylinder |
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----------------------------------- |
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Constructs a WCylinder. |
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.. ocv:function:: WCylinder(const Point3f& pt_on_axis, const Point3f& axis_direction, float radius, int numsides = 30, const Color &color = Color::white()) |
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:param pt_on_axis: A point on the axis of the cylinder. |
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:param axis_direction: Direction of the axis of the cylinder. |
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:param radius: Radius of the cylinder. |
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:param numsides: Resolution of the cylinder. |
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:param color: :ocv:class:`Color` of the cylinder. |
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viz::WCube |
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---------- |
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.. ocv:class:: WCube |
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This 3D Widget defines a cube. :: |
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class CV_EXPORTS WCube : public Widget3D |
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{ |
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public: |
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WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white()); |
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}; |
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viz::WCube::WCube |
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--------------------------- |
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Constructs a WCube. |
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.. ocv:function:: WCube(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white()) |
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:param pt_min: Specifies minimum point of the bounding box. |
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:param pt_max: Specifies maximum point of the bounding box. |
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:param wire_frame: If true, cube is represented as wireframe. |
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:param color: :ocv:class:`Color` of the cube. |
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.. image:: images/cube_widget.png |
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:alt: Cube Widget |
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:align: center |
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viz::WCoordinateSystem |
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---------------------- |
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.. ocv:class:: WCoordinateSystem |
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This 3D Widget represents a coordinate system. :: |
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class CV_EXPORTS WCoordinateSystem : public Widget3D |
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{ |
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public: |
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WCoordinateSystem(float scale = 1.0); |
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}; |
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viz::WCoordinateSystem::WCoordinateSystem |
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--------------------------------------------------- |
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Constructs a WCoordinateSystem. |
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.. ocv:function:: WCoordinateSystem(float scale = 1.0) |
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:param scale: Determines the size of the axes. |
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viz::WPolyLine |
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-------------- |
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.. ocv:class:: WPolyLine |
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This 3D Widget defines a poly line. :: |
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class CV_EXPORTS WPolyLine : public Widget3D |
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{ |
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public: |
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WPolyLine(InputArray points, const Color &color = Color::white()); |
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private: |
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/* hidden */ |
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}; |
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viz::WPolyLine::WPolyLine |
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----------------------------------- |
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Constructs a WPolyLine. |
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.. ocv:function:: WPolyLine(InputArray points, const Color &color = Color::white()) |
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:param points: Point set. |
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:param color: :ocv:class:`Color` of the poly line. |
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viz::WGrid |
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---------- |
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.. ocv:class:: WGrid |
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This 3D Widget defines a grid. :: |
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class CV_EXPORTS WGrid : public Widget3D |
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{ |
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public: |
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//! Creates grid at the origin |
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WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); |
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//! Creates grid based on the plane equation |
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WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()); |
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private: |
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/* hidden */ |
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}; |
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viz::WGrid::WGrid |
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--------------------------- |
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Constructs a WGrid. |
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.. ocv:function:: WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()) |
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:param dimensions: Number of columns and rows, respectively. |
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:param spacing: Size of each column and row, respectively. |
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:param color: :ocv:class:`Color` of the grid. |
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.. ocv:function: WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white()) |
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:param coeffs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0. |
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:param dimensions: Number of columns and rows, respectively. |
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:param spacing: Size of each column and row, respectively. |
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:param color: :ocv:class:`Color` of the grid. |
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viz::WText3D |
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------------ |
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.. ocv:class:: WText3D |
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This 3D Widget represents 3D text. The text always faces the camera. :: |
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class CV_EXPORTS WText3D : public Widget3D |
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{ |
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public: |
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WText3D(const String &text, const Point3f &position, float text_scale = 1.0, bool face_camera = true, const Color &color = Color::white()); |
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void setText(const String &text); |
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String getText() const; |
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}; |
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viz::WText3D::WText3D |
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------------------------------- |
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Constructs a WText3D. |
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.. ocv:function:: WText3D(const String &text, const Point3f &position, float text_scale = 1.0, bool face_camera = true, const Color &color = Color::white()) |
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:param text: Text content of the widget. |
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:param position: Position of the text. |
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:param text_scale: Size of the text. |
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:param face_camera: If true, text always faces the camera. |
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:param color: :ocv:class:`Color` of the text. |
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viz::WText3D::setText |
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--------------------- |
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Sets the text content of the widget. |
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.. ocv:function:: void setText(const String &text) |
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:param text: Text content of the widget. |
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viz::WText3D::getText |
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--------------------- |
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Returns the current text content of the widget. |
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.. ocv:function:: String getText() const |
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viz::WText |
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---------- |
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.. ocv:class:: WText |
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This 2D Widget represents text overlay. :: |
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class CV_EXPORTS WText : public Widget2D |
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{ |
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public: |
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WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white()); |
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void setText(const String &text); |
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String getText() const; |
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}; |
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viz::WText::WText |
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----------------- |
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Constructs a WText. |
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.. ocv:function:: WText(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white()) |
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:param text: Text content of the widget. |
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:param pos: Position of the text. |
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:param font_size: Font size. |
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:param color: :ocv:class:`Color` of the text. |
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viz::WText::setText |
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------------------- |
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Sets the text content of the widget. |
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.. ocv:function:: void setText(const String &text) |
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:param text: Text content of the widget. |
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viz::WText::getText |
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------------------- |
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Returns the current text content of the widget. |
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.. ocv:function:: String getText() const |
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viz::WImageOverlay |
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------------------ |
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.. ocv:class:: WImageOverlay |
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This 2D Widget represents an image overlay. :: |
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class CV_EXPORTS WImageOverlay : public Widget2D |
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{ |
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public: |
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WImageOverlay(const Mat &image, const Rect &rect); |
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void setImage(const Mat &image); |
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}; |
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viz::WImageOverlay::WImageOverlay |
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--------------------------------- |
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Constructs an WImageOverlay. |
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.. ocv:function:: WImageOverlay(const Mat &image, const Rect &rect) |
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:param image: BGR or Gray-Scale image. |
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:param rect: Image is scaled and positioned based on rect. |
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viz::WImageOverlay::setImage |
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---------------------------- |
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Sets the image content of the widget. |
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.. ocv:function:: void setImage(const Mat &image) |
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:param image: BGR or Gray-Scale image. |
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viz::WImage3D |
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------------- |
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.. ocv:class:: WImage3D |
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This 3D Widget represents an image in 3D space. :: |
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class CV_EXPORTS WImage3D : public Widget3D |
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{ |
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public: |
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//! Creates 3D image at the origin |
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WImage3D(const Mat &image, const Size &size); |
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//! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation |
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WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size); |
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void setImage(const Mat &image); |
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}; |
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viz::WImage3D::WImage3D |
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----------------------- |
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Constructs an WImage3D. |
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.. ocv:function:: WImage3D(const Mat &image, const Size &size) |
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:param image: BGR or Gray-Scale image. |
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:param size: Size of the image. |
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.. ocv:function:: WImage3D(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size) |
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:param position: Position of the image. |
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:param normal: Normal of the plane that represents the image. |
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:param up_vector: Determines orientation of the image. |
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:param image: BGR or Gray-Scale image. |
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:param size: Size of the image. |
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viz::WImage3D::setImage |
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----------------------- |
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Sets the image content of the widget. |
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.. ocv:function:: void setImage(const Mat &image) |
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:param image: BGR or Gray-Scale image. |
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viz::WCameraPosition |
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-------------------- |
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.. ocv:class:: WCameraPosition |
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This 3D Widget represents camera position in a scene by its axes or viewing frustum. :: |
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class CV_EXPORTS WCameraPosition : public Widget3D |
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{ |
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public: |
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//! Creates camera coordinate frame (axes) at the origin |
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WCameraPosition(float scale = 1.0); |
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//! Creates frustum based on the intrinsic marix K at the origin |
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WCameraPosition(const Matx33f &K, float scale = 1.0, const Color &color = Color::white()); |
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//! Creates frustum based on the field of view at the origin |
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WCameraPosition(const Vec2f &fov, float scale = 1.0, const Color &color = Color::white()); |
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//! Creates frustum and display given image at the far plane |
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WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.0, const Color &color = Color::white()); |
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//! Creates frustum and display given image at the far plane |
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WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.0, const Color &color = Color::white()); |
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}; |
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viz::WCameraPosition::WCameraPosition |
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------------------------------------- |
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Constructs a WCameraPosition. |
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- **Display camera coordinate frame.** |
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.. ocv:function:: WCameraPosition(float scale = 1.0) |
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Creates camera coordinate frame at the origin. |
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.. image:: images/cpw1.png |
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:alt: Camera coordinate frame |
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:align: center |
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- **Display the viewing frustum.** |
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.. ocv:function:: WCameraPosition(const Matx33f &K, float scale = 1.0, const Color &color = Color::white()) |
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:param K: Intrinsic matrix of the camera. |
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:param scale: Scale of the frustum. |
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:param color: :ocv:class:`Color` of the frustum. |
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Creates viewing frustum of the camera based on its intrinsic matrix K. |
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.. ocv:function:: WCameraPosition(const Vec2f &fov, float scale = 1.0, const Color &color = Color::white()) |
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:param fov: Field of view of the camera (horizontal, vertical). |
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:param scale: Scale of the frustum. |
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:param color: :ocv:class:`Color` of the frustum. |
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Creates viewing frustum of the camera based on its field of view fov. |
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.. image:: images/cpw2.png |
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:alt: Camera viewing frustum |
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:align: center |
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- **Display image on the far plane of the viewing frustum.** |
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.. ocv:function:: WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.0, const Color &color = Color::white()) |
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:param K: Intrinsic matrix of the camera. |
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:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. |
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:param scale: Scale of the frustum and image. |
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:param color: :ocv:class:`Color` of the frustum. |
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Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane. |
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.. ocv:function:: WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.0, const Color &color = Color::white()) |
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:param fov: Field of view of the camera (horizontal, vertical). |
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:param img: BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. |
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:param scale: Scale of the frustum and image. |
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:param color: :ocv:class:`Color` of the frustum. |
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Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane. |
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.. image:: images/cpw3.png |
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:alt: Camera viewing frustum with image |
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:align: center |
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viz::WTrajectory |
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---------------- |
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.. ocv:class:: WTrajectory |
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This 3D Widget represents a trajectory. :: |
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class CV_EXPORTS WTrajectory : public Widget3D |
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{ |
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public: |
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enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH}; |
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//! Displays trajectory of the given path either by coordinate frames or polyline |
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WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white(),; |
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}; |
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viz::WTrajectory::WTrajectory |
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----------------------------- |
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Constructs a WTrajectory. |
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.. ocv:function:: WTrajectory(const std::vector<Affine3f> &path, int display_mode = WTrajectory::PATH, float scale = 1.f, const Color &color = Color::white()) |
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:param path: List of poses on a trajectory. |
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:param display_mode: Display mode. This can be PATH, FRAMES, and BOTH. |
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:param scale: Scale of the frames. Polyline is not affected. |
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:param color: :ocv:class:`Color` of the polyline that represents path. Frames are not affected. |
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Displays trajectory of the given path as follows: |
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* PATH : Displays a poly line that represents the path. |
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* FRAMES : Displays coordinate frames at each pose. |
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* PATH & FRAMES : Displays both poly line and coordinate frames. |
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viz::WTrajectoryFrustums |
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---------------- |
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.. ocv:class:: WTrajectoryFrustums |
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This 3D Widget represents a trajectory. :: |
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class CV_EXPORTS WTrajectoryFrustums : public Widget3D |
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{ |
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public: |
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//! Displays trajectory of the given path by frustums |
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WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white()); |
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//! Displays trajectory of the given path by frustums |
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WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white()); |
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}; |
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viz::WTrajectoryFrustums::WTrajectoryFrustums |
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----------------------------- |
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Constructs a WTrajectoryFrustums. |
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.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.0, const Color &color = Color::white()) |
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:param path: List of poses on a trajectory. |
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:param K: Intrinsic matrix of the camera. |
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:param scale: Scale of the frustums. |
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:param color: :ocv:class:`Color` of the frustums. |
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Displays frustums at each pose of the trajectory. |
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.. ocv:function:: WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.0, const Color &color = Color::white()) |
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:param path: List of poses on a trajectory. |
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:param fov: Field of view of the camera (horizontal, vertical). |
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:param scale: Scale of the frustums. |
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:param color: :ocv:class:`Color` of the frustums. |
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Displays frustums at each pose of the trajectory. |
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viz::WTrajectorySpheres |
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----------------------- |
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.. ocv:class:: WTrajectorySpheres |
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This 3D Widget represents a trajectory using spheres and lines, where spheres represent the positions of the camera, and lines |
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represent the direction from previous position to the current. :: |
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class CV_EXPORTS WTrajectorySpheres : public Widget3D |
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{ |
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public: |
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WTrajectorySpheres(const std::vector<Affine3f> &path, float line_length = 0.05f, |
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float init_sphere_radius = 0.021, sphere_radius = 0.007, |
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Color &line_color = Color::white(), const Color &sphere_color = Color::white()); |
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}; |
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viz::WTrajectorySpheres::WTrajectorySpheres |
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------------------------------------------- |
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Constructs a WTrajectorySpheres. |
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.. ocv:function:: WTrajectorySpheres(const std::vector<Affine3f> &path, float line_length = 0.05f, float init_sphere_radius = 0.021, float sphere_radius = 0.007, const Color &line_color = Color::white(), const Color &sphere_color = Color::white()) |
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:param path: List of poses on a trajectory. |
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:param line_length: Length of the lines. |
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:param init_sphere_radius: Radius of the first sphere which represents the initial position of the camera. |
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:param sphere_radius: Radius of the rest of the spheres. |
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:param line_color: :ocv:class:`Color` of the lines. |
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:param sphere_color: :ocv:class:`Color` of the spheres. |
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viz::WCloud |
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----------- |
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.. ocv:class:: WCloud |
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This 3D Widget defines a point cloud. :: |
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class CV_EXPORTS WCloud : public Widget3D |
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{ |
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public: |
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//! Each point in cloud is mapped to a color in colors |
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WCloud(InputArray cloud, InputArray colors); |
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//! All points in cloud have the same color |
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WCloud(InputArray cloud, const Color &color = Color::white()); |
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private: |
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/* hidden */ |
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}; |
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viz::WCloud::WCloud |
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------------------- |
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Constructs a WCloud. |
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.. ocv:function:: WCloud(InputArray cloud, InputArray colors) |
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:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. |
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:param colors: Set of colors. It has to be of the same size with cloud. |
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Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). |
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.. ocv:function:: WCloud(InputArray cloud, const Color &color = Color::white()) |
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:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. |
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:param color: A single :ocv:class:`Color` for the whole cloud. |
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Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). |
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.. note:: In case there are four channels in the cloud, fourth channel is ignored. |
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viz::WCloudCollection |
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--------------------- |
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.. ocv:class:: WCloudCollection |
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This 3D Widget defines a collection of clouds. :: |
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class CV_EXPORTS WCloudCollection : public Widget3D |
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{ |
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public: |
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WCloudCollection(); |
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//! Each point in cloud is mapped to a color in colors |
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void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity()); |
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//! All points in cloud have the same color |
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void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3f &pose = Affine3f::Identity()); |
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private: |
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/* hidden */ |
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}; |
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viz::WCloudCollection::WCloudCollection |
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--------------------------------------- |
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Constructs a WCloudCollection. |
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.. ocv:function:: WCloudCollection() |
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viz::WCloudCollection::addCloud |
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------------------------------- |
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Adds a cloud to the collection. |
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.. ocv:function:: void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity()) |
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:param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. |
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:param colors: Set of colors. It has to be of the same size with cloud. |
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:param pose: Pose of the cloud. |
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Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). |
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.. ocv:function:: void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity()) |
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:param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. |
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:param colors: A single :ocv:class:`Color` for the whole cloud. |
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:param pose: Pose of the cloud. |
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Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). |
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.. note:: In case there are four channels in the cloud, fourth channel is ignored. |
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viz::WCloudNormals |
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------------------ |
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.. ocv:class:: WCloudNormals |
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This 3D Widget represents normals of a point cloud. :: |
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class CV_EXPORTS WCloudNormals : public Widget3D |
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{ |
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public: |
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WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white()); |
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private: |
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/* hidden */ |
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}; |
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viz::WCloudNormals::WCloudNormals |
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--------------------------------- |
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Constructs a WCloudNormals. |
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.. ocv:function:: WCloudNormals(InputArray cloud, InputArray normals, int level = 100, float scale = 0.02f, const Color &color = Color::white()) |
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:param cloud: Point set which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``. |
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:param normals: A set of normals that has to be of same type with cloud. |
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:param level: Display only every ``level`` th normal. |
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:param scale: Scale of the arrows that represent normals. |
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:param color: :ocv:class:`Color` of the arrows that represent normals. |
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.. note:: In case there are four channels in the cloud, fourth channel is ignored. |
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viz::WMesh |
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---------- |
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.. ocv:class:: WMesh |
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This 3D Widget defines a mesh. :: |
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class CV_EXPORTS WMesh : public Widget3D |
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{ |
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public: |
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WMesh(const Mesh3d &mesh); |
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private: |
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/* hidden */ |
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}; |
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viz::WMesh::WMesh |
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----------------- |
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Constructs a WMesh. |
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.. ocv:function:: WMesh(const Mesh3d &mesh) |
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:param mesh: :ocv:class:`Mesh3d` object that will be displayed.
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