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Open Source Computer Vision Library
https://opencv.org/
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642 lines
20 KiB
642 lines
20 KiB
Viz |
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=== |
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.. highlight:: cpp |
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This section describes 3D visualization window as well as classes and methods |
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that are used to interact with it. |
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3D visualization window (see :ocv:class:`Viz3d`) is used to display widgets (see :ocv:class:`Widget`), and it provides |
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several methods to interact with scene and widgets. |
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viz::makeTransformToGlobal |
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-------------------------- |
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Takes coordinate frame data and builds transform to global coordinate frame. |
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.. ocv:function:: Affine3d viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0)) |
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:param axis_x: X axis vector in global coordinate frame. |
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:param axis_y: Y axis vector in global coordinate frame. |
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:param axis_z: Z axis vector in global coordinate frame. |
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:param origin: Origin of the coordinate frame in global coordinate frame. |
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This function returns affine transform that describes transformation between global coordinate frame and a given coordinate frame. |
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viz::makeCameraPose |
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------------------- |
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Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation). |
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.. ocv:function:: Affine3d makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir) |
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:param position: Position of the camera in global coordinate frame. |
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:param focal_point: Focal point of the camera in global coordinate frame. |
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:param y_dir: Up vector of the camera in global coordinate frame. |
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This function returns pose of the camera in global coordinate frame. |
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viz::get |
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-------- |
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Retrieves a window by its name. |
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.. ocv:function:: Viz3d get(const String &window_name) |
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:param window_name: Name of the window that is to be retrieved. |
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This function returns a :ocv:class:`Viz3d` object with the given name. |
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.. note:: If the window with that name already exists, that window is returned. Otherwise, new window is created with the given name, and it is returned. |
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.. note:: Window names are automatically prefixed by "Viz - " if it is not done by the user. |
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.. code-block:: cpp |
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/// window and window_2 are the same windows. |
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viz::Viz3d window = viz::get("myWindow"); |
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viz::Viz3d window_2 = viz::get("Viz - myWindow"); |
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viz::isNan |
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---------- |
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Checks **float/double** value for nan. |
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.. ocv:function:: bool isNan(float x) |
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.. ocv:function:: bool isNan(double x) |
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:param x: return true if nan. |
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Checks **vector** for nan. |
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.. ocv:function:: bool isNan(const Vec<_Tp, cn>& v) |
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:param v: return true if **any** of the elements of the vector is *nan*. |
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Checks **point** for nan |
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.. ocv:function:: bool isNan(const Point3_<_Tp>& p) |
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:param p: return true if **any** of the elements of the point is *nan*. |
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viz::Viz3d |
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---------- |
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.. ocv:class:: Viz3d |
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The Viz3d class represents a 3D visualizer window. This class is implicitly shared. :: |
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class CV_EXPORTS Viz3d |
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{ |
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public: |
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typedef cv::Ptr<Viz3d> Ptr; |
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typedef void (*KeyboardCallback)(const KeyboardEvent&, void*); |
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typedef void (*MouseCallback)(const MouseEvent&, void*); |
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Viz3d(const String& window_name = String()); |
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Viz3d(const Viz3d&); |
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Viz3d& operator=(const Viz3d&); |
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~Viz3d(); |
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void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity()); |
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void removeWidget(const String &id); |
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Widget getWidget(const String &id) const; |
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void removeAllWidgets(); |
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void setWidgetPose(const String &id, const Affine3d &pose); |
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void updateWidgetPose(const String &id, const Affine3d &pose); |
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Affine3d getWidgetPose(const String &id) const; |
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void setCamera(const Camera &camera); |
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Camera getCamera() const; |
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Affine3d getViewerPose(); |
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void setViewerPose(const Affine3d &pose); |
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void resetCameraViewpoint (const String &id); |
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void resetCamera(); |
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void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord); |
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void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction); |
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Size getWindowSize() const; |
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void setWindowSize(const Size &window_size); |
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String getWindowName() const; |
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void saveScreenshot (const String &file); |
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void setWindowPosition (int x, int y); |
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void setFullScreen (bool mode); |
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void setBackgroundColor(const Color& color = Color::black()); |
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void spin(); |
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void spinOnce(int time = 1, bool force_redraw = false); |
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bool wasStopped() const; |
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void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0); |
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void registerMouseCallback(MouseCallback callback, void* cookie = 0); |
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void setRenderingProperty(const String &id, int property, double value); |
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double getRenderingProperty(const String &id, int property); |
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void setDesiredUpdateRate(double rate); |
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double getDesiredUpdateRate(); |
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void setRepresentation(int representation); |
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private: |
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/* hidden */ |
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}; |
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viz::Viz3d::Viz3d |
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----------------- |
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The constructors. |
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.. ocv:function:: Viz3d::Viz3d(const String& window_name = String()) |
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:param window_name: Name of the window. |
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viz::Viz3d::showWidget |
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---------------------- |
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Shows a widget in the window. |
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.. ocv:function:: void Viz3d::showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity()) |
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:param id: A unique id for the widget. |
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:param widget: The widget to be displayed in the window. |
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:param pose: Pose of the widget. |
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viz::Viz3d::removeWidget |
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------------------------ |
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Removes a widget from the window. |
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.. ocv:function:: void removeWidget(const String &id) |
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:param id: The id of the widget that will be removed. |
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viz::Viz3d::getWidget |
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--------------------- |
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Retrieves a widget from the window. A widget is implicitly shared; |
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that is, if the returned widget is modified, the changes will be |
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immediately visible in the window. |
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.. ocv:function:: Widget getWidget(const String &id) const |
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:param id: The id of the widget that will be returned. |
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viz::Viz3d::removeAllWidgets |
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---------------------------- |
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Removes all widgets from the window. |
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.. ocv:function:: void removeAllWidgets() |
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viz::Viz3d::setWidgetPose |
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------------------------- |
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Sets pose of a widget in the window. |
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.. ocv:function:: void setWidgetPose(const String &id, const Affine3d &pose) |
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:param id: The id of the widget whose pose will be set. |
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:param pose: The new pose of the widget. |
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viz::Viz3d::updateWidgetPose |
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---------------------------- |
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Updates pose of a widget in the window by pre-multiplying its current pose. |
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.. ocv:function:: void updateWidgetPose(const String &id, const Affine3d &pose) |
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:param id: The id of the widget whose pose will be updated. |
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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::Viz3d::getWidgetPose |
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------------------------- |
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Returns the current pose of a widget in the window. |
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.. ocv:function:: Affine3d getWidgetPose(const String &id) const |
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:param id: The id of the widget whose pose will be returned. |
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viz::Viz3d::setCamera |
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--------------------- |
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Sets the intrinsic parameters of the viewer using Camera. |
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.. ocv:function:: void setCamera(const Camera &camera) |
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:param camera: Camera object wrapping intrinsinc parameters. |
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viz::Viz3d::getCamera |
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--------------------- |
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Returns a camera object that contains intrinsic parameters of the current viewer. |
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.. ocv:function:: Camera getCamera() const |
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viz::Viz3d::getViewerPose |
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------------------------- |
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Returns the current pose of the viewer. |
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..ocv:function:: Affine3d getViewerPose() |
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viz::Viz3d::setViewerPose |
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------------------------- |
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Sets pose of the viewer. |
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.. ocv:function:: void setViewerPose(const Affine3d &pose) |
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:param pose: The new pose of the viewer. |
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viz::Viz3d::resetCameraViewpoint |
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-------------------------------- |
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Resets camera viewpoint to a 3D widget in the scene. |
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.. ocv:function:: void resetCameraViewpoint (const String &id) |
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:param pose: Id of a 3D widget. |
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viz::Viz3d::resetCamera |
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----------------------- |
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Resets camera. |
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.. ocv:function:: void resetCamera() |
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viz::Viz3d::convertToWindowCoordinates |
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-------------------------------------- |
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Transforms a point in world coordinate system to window coordinate system. |
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.. ocv:function:: void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord) |
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:param pt: Point in world coordinate system. |
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:param window_coord: Output point in window coordinate system. |
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viz::Viz3d::converTo3DRay |
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------------------------- |
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Transforms a point in window coordinate system to a 3D ray in world coordinate system. |
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.. ocv:function:: void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction) |
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:param window_coord: Point in window coordinate system. |
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:param origin: Output origin of the ray. |
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:param direction: Output direction of the ray. |
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viz::Viz3d::getWindowSize |
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------------------------- |
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Returns the current size of the window. |
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.. ocv:function:: Size getWindowSize() const |
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viz::Viz3d::setWindowSize |
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------------------------- |
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Sets the size of the window. |
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.. ocv:function:: void setWindowSize(const Size &window_size) |
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:param window_size: New size of the window. |
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viz::Viz3d::getWindowName |
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------------------------- |
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Returns the name of the window which has been set in the constructor. |
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.. ocv:function:: String getWindowName() const |
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viz::Viz3d::saveScreenshot |
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-------------------------- |
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Saves screenshot of the current scene. |
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.. ocv:function:: void saveScreenshot(const String &file) |
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:param file: Name of the file. |
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viz::Viz3d::setWindowPosition |
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----------------------------- |
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Sets the position of the window in the screen. |
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.. ocv:function:: void setWindowPosition(int x, int y) |
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:param x: x coordinate of the window |
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:param y: y coordinate of the window |
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viz::Viz3d::setFullScreen |
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------------------------- |
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Sets or unsets full-screen rendering mode. |
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.. ocv:function:: void setFullScreen(bool mode) |
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:param mode: If true, window will use full-screen mode. |
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viz::Viz3d::setBackgroundColor |
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------------------------------ |
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Sets background color. |
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.. ocv:function:: void setBackgroundColor(const Color& color = Color::black()) |
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viz::Viz3d::spin |
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---------------- |
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The window renders and starts the event loop. |
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.. ocv:function:: void spin() |
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viz::Viz3d::spinOnce |
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-------------------- |
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Starts the event loop for a given time. |
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.. ocv:function:: void spinOnce(int time = 1, bool force_redraw = false) |
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:param time: Amount of time in milliseconds for the event loop to keep running. |
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:param force_draw: If true, window renders. |
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viz::Viz3d::wasStopped |
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---------------------- |
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Returns whether the event loop has been stopped. |
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.. ocv:function:: bool wasStopped() |
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viz::Viz3d::registerKeyboardCallback |
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------------------------------------ |
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Sets keyboard handler. |
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.. ocv:function:: void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0) |
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:param callback: Keyboard callback ``(void (*KeyboardCallbackFunction(const KeyboardEvent&, void*))``. |
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:param cookie: The optional parameter passed to the callback. |
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viz::Viz3d::registerMouseCallback |
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--------------------------------- |
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Sets mouse handler. |
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.. ocv:function:: void registerMouseCallback(MouseCallback callback, void* cookie = 0) |
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:param callback: Mouse callback ``(void (*MouseCallback)(const MouseEvent&, void*))``. |
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:param cookie: The optional parameter passed to the callback. |
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viz::Viz3d::setRenderingProperty |
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-------------------------------- |
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Sets rendering property of a widget. |
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.. ocv:function:: void setRenderingProperty(const String &id, int property, double value) |
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:param id: Id of the widget. |
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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::Viz3d::getRenderingProperty |
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-------------------------------- |
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Returns rendering property of a widget. |
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.. ocv:function:: double getRenderingProperty(const String &id, int property) |
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:param id: Id of the widget. |
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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::Viz3d::setDesiredUpdateRate |
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-------------------------------- |
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Sets desired update rate of the window. |
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.. ocv:function:: void setDesiredUpdateRate(double rate) |
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:param rate: Desired update rate. The default is 30. |
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viz::Viz3d::getDesiredUpdateRate |
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-------------------------------- |
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Returns desired update rate of the window. |
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.. ocv:function:: double getDesiredUpdateRate() |
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viz::Viz3d::setRepresentation |
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----------------------------- |
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Sets geometry representation of the widgets to surface, wireframe or points. |
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.. ocv:function:: void setRepresentation(int representation) |
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:param representation: Geometry representation which can be one of the following: |
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* **REPRESENTATION_POINTS** |
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* **REPRESENTATION_WIREFRAME** |
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* **REPRESENTATION_SURFACE** |
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viz::Color |
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---------- |
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.. ocv:class:: Color |
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This class a represents BGR color. :: |
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class CV_EXPORTS Color : public Scalar |
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{ |
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public: |
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Color(); |
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Color(double gray); |
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Color(double blue, double green, double red); |
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Color(const Scalar& color); |
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static Color black(); |
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static Color blue(); |
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static Color green(); |
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static Color cyan(); |
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static Color red(); |
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static Color magenta(); |
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static Color yellow(); |
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static Color white(); |
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static Color gray(); |
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}; |
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viz::Mesh3d |
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----------- |
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.. ocv:class:: Mesh3d |
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This class wraps mesh attributes, and it can load a mesh from a ``ply`` file. :: |
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class CV_EXPORTS Mesh3d |
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{ |
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public: |
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Mat cloud, colors; |
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Mat polygons; |
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//! Loads mesh from a given ply file |
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static Mesh3d loadMesh(const String& file); |
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private: |
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/* hidden */ |
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}; |
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viz::Mesh3d::loadMesh |
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--------------------- |
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Loads a mesh from a ``ply`` file. |
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.. ocv:function:: static Mesh3d loadMesh(const String& file) |
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:param file: File name. |
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viz::KeyboardEvent |
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------------------ |
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.. ocv:class:: KeyboardEvent |
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This class represents a keyboard event. :: |
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class CV_EXPORTS KeyboardEvent |
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{ |
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public: |
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enum { ALT = 1, CTRL = 2, SHIFT = 4 }; |
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enum Action { KEY_UP = 0, KEY_DOWN = 1 }; |
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KeyboardEvent(Action action, const String& symbol, unsigned char code, int modifiers); |
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Action action; |
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String symbol; |
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unsigned char code; |
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int modifiers; |
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}; |
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viz::KeyboardEvent::KeyboardEvent |
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--------------------------------- |
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Constructs a KeyboardEvent. |
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.. ocv:function:: KeyboardEvent (Action action, const String& symbol, unsigned char code, Modifiers modifiers) |
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:param action: Signals if key is pressed or released. |
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:param symbol: Name of the key. |
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:param code: Code of the key. |
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:param modifiers: Signals if ``alt``, ``ctrl`` or ``shift`` are pressed or their combination. |
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viz::MouseEvent |
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--------------- |
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.. ocv:class:: MouseEvent |
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This class represents a mouse event. :: |
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class CV_EXPORTS MouseEvent |
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{ |
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public: |
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enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ; |
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enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ; |
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MouseEvent(const Type& type, const MouseButton& button, const Point& pointer, int modifiers); |
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Type type; |
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MouseButton button; |
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Point pointer; |
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int modifiers; |
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}; |
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viz::MouseEvent::MouseEvent |
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--------------------------- |
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Constructs a MouseEvent. |
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.. ocv:function:: MouseEvent (const Type& type, const MouseButton& button, const Point& p, Modifiers modifiers) |
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:param type: Type of the event. This can be **MouseMove**, **MouseButtonPress**, **MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**. |
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:param button: Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**, **RightButton**, **VScroll**. |
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:param p: Position of the event. |
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:param modifiers: Signals if ``alt``, ``ctrl`` or ``shift`` are pressed or their combination. |
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viz::Camera |
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----------- |
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.. ocv:class:: Camera |
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This class wraps intrinsic parameters of a camera. It provides several constructors |
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that can extract the intrinsic parameters from ``field of view``, ``intrinsic matrix`` and |
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``projection matrix``. :: |
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class CV_EXPORTS Camera |
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{ |
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public: |
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Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size); |
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Camera(const Vec2f &fov, const Size &window_size); |
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Camera(const cv::Matx33f &K, const Size &window_size); |
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Camera(const cv::Matx44f &proj, const Size &window_size); |
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inline const Vec2d & getClip() const { return clip_; } |
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inline void setClip(const Vec2d &clip) { clip_ = clip; } |
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inline const Size & getWindowSize() const { return window_size_; } |
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void setWindowSize(const Size &window_size); |
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inline const Vec2f & getFov() const { return fov_; } |
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inline void setFov(const Vec2f & fov) { fov_ = fov; } |
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inline const Vec2f & getPrincipalPoint() const { return principal_point_; } |
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inline const Vec2f & getFocalLength() const { return focal_; } |
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void computeProjectionMatrix(Matx44f &proj) const; |
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static Camera KinectCamera(const Size &window_size); |
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private: |
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/* hidden */ |
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}; |
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viz::Camera::Camera |
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------------------- |
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Constructs a Camera. |
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.. ocv:function:: Camera(float f_x, float f_y, float c_x, float c_y, const Size &window_size) |
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:param f_x: Horizontal focal length. |
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:param f_y: Vertical focal length. |
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:param c_x: x coordinate of the principal point. |
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:param c_y: y coordinate of the principal point. |
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:param window_size: Size of the window. This together with focal length and principal point determines the field of view. |
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.. ocv:function:: Camera(const Vec2f &fov, const Size &window_size) |
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:param fov: Field of view (horizontal, vertical) |
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:param window_size: Size of the window. |
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Principal point is at the center of the window by default. |
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.. ocv:function:: Camera(const cv::Matx33f &K, const Size &window_size) |
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:param K: Intrinsic matrix of the camera. |
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:param window_size: Size of the window. This together with intrinsic matrix determines the field of view. |
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.. ocv:function:: Camera(const cv::Matx44f &proj, const Size &window_size) |
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:param proj: Projection matrix of the camera. |
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:param window_size: Size of the window. This together with projection matrix determines the field of view. |
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viz::Camera::computeProjectionMatrix |
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------------------------------------ |
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Computes projection matrix using intrinsic parameters of the camera. |
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.. ocv:function:: void computeProjectionMatrix(Matx44f &proj) const |
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:param proj: Output projection matrix. |
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viz::Camera::KinectCamera |
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------------------------- |
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Creates a Kinect Camera. |
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.. ocv:function:: static Camera KinectCamera(const Size &window_size) |
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:param window_size: Size of the window. This together with intrinsic matrix of a Kinect Camera determines the field of view.
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