2.3 KiB
Pose of a widget
Goal
In this tutorial you will learn how to
- Add widgets to the visualization window
- Use Affine3 to set pose of a widget
- Rotating and translating a widget along an axis
Code
You can download the code from here . @includelineno samples/cpp/tutorial_code/viz/widget_pose.cpp
Explanation
Here is the general structure of the program:
-
Create a visualization window. @code{.cpp} /// Create a window viz::Viz3d myWindow("Coordinate Frame"); @endcode
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Show coordinate axes in the window using CoordinateSystemWidget. @code{.cpp} /// Add coordinate axes myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); @endcode
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Display a line representing the axis (1,1,1). @code{.cpp} /// Add line to represent (1,1,1) axis viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); myWindow.showWidget("Line Widget", axis); @endcode
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Construct a cube. @code{.cpp} /// Construct a cube widget viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); myWindow.showWidget("Cube Widget", cube_widget); @endcode
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Create rotation matrix from rodrigues vector @code{.cpp} /// Rotate around (1,1,1) rot_vec.at(0,0) += CV_PI * 0.01f; rot_vec.at(0,1) += CV_PI * 0.01f; rot_vec.at(0,2) += CV_PI * 0.01f;
...
Mat rot_mat; Rodrigues(rot_vec, rot_mat); @endcode
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Use Affine3f to set pose of the cube. @code{.cpp} /// Construct pose Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); myWindow.setWidgetPose("Cube Widget", pose); @endcode
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Animate the rotation using wasStopped and spinOnce @code{.cpp} while(!myWindow.wasStopped()) { ...
myWindow.spinOnce(1, true);} @endcode
Results
Here is the result of the program.
\htmlonly