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397bf7f2
编写于
11月 20, 2014
作者:
M
Maksim Shabunin
浏览文件
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差异文件
Doxygen documentation: viz
上级
9d89f8d3
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6
展开全部
隐藏空白更改
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6 changed file
with
833 addition
and
45 deletion
+833
-45
modules/viz/include/opencv2/viz.hpp
modules/viz/include/opencv2/viz.hpp
+30
-0
modules/viz/include/opencv2/viz/types.hpp
modules/viz/include/opencv2/viz/types.hpp
+74
-1
modules/viz/include/opencv2/viz/viz3d.hpp
modules/viz/include/opencv2/viz/viz3d.hpp
+194
-0
modules/viz/include/opencv2/viz/vizcore.hpp
modules/viz/include/opencv2/viz/vizcore.hpp
+56
-7
modules/viz/include/opencv2/viz/widget_accessor.hpp
modules/viz/include/opencv2/viz/widget_accessor.hpp
+22
-2
modules/viz/include/opencv2/viz/widgets.hpp
modules/viz/include/opencv2/viz/widgets.hpp
+457
-35
未找到文件。
modules/viz/include/opencv2/viz.hpp
浏览文件 @
397bf7f2
...
...
@@ -51,4 +51,34 @@
#include <opencv2/viz/viz3d.hpp>
#include <opencv2/viz/vizcore.hpp>
/**
@defgroup viz 3D Visualizer
This section describes 3D visualization window as well as classes and methods that are used to
interact with it.
3D visualization window (see Viz3d) is used to display widgets (see Widget), and it provides several
methods to interact with scene and widgets.
@{
@defgroup viz_widget Widget
In this section, the widget framework is explained. Widgets represent 2D or 3D objects, varying from
simple ones such as lines to complex one such as point clouds and meshes.
Widgets are **implicitly shared**. Therefore, one can add a widget to the scene, and modify the
widget without re-adding the widget.
@code
// Create a cloud widget
viz::WCloud cw(cloud, viz::Color::red());
// Display it in a window
myWindow.showWidget("CloudWidget1", cw);
// Modify it, and it will be modified in the window.
cw.setColor(viz::Color::yellow());
@endcode
@}
*/
#endif
/* __OPENCV_VIZ_HPP__ */
modules/viz/include/opencv2/viz/types.hpp
浏览文件 @
397bf7f2
...
...
@@ -54,6 +54,12 @@ namespace cv
{
namespace
viz
{
//! @addtogroup viz
//! @{
/** @brief This class a represents BGR color.
*/
class
Color
:
public
Scalar
{
public:
...
...
@@ -108,6 +114,8 @@ namespace cv
static
Color
not_set
();
};
/** @brief This class wraps mesh attributes, and it can load a mesh from a ply file. :
*/
class
CV_EXPORTS
Mesh
{
public:
...
...
@@ -119,16 +127,49 @@ namespace cv
Mat
texture
,
tcoords
;
//! Loads mesh from a given ply file (no texture load support for now)
/** @brief Loads a mesh from a ply file.
@param file File name (for now only PLY is supported)
*/
static
Mesh
load
(
const
String
&
file
);
};
/** @brief This class wraps intrinsic parameters of a camera.
It provides several constructors that can extract the intrinsic parameters from field of
view, intrinsic matrix and projection matrix. :
*/
class
CV_EXPORTS
Camera
{
public:
/** @brief Constructs a Camera.
@param fx Horizontal focal length.
@param fy Vertical focal length.
@param cx x coordinate of the principal point.
@param cy y coordinate of the principal point.
@param window_size Size of the window. This together with focal length and principal
point determines the field of view.
*/
Camera
(
double
fx
,
double
fy
,
double
cx
,
double
cy
,
const
Size
&
window_size
);
/** @overload
@param fov Field of view (horizontal, vertical)
@param window\_size Size of the window. Principal point is at the center of the window
by default.
*/
explicit
Camera
(
const
Vec2d
&
fov
,
const
Size
&
window_size
);
/** @overload
@param K Intrinsic matrix of the camera.
@param window\_size Size of the window. This together with intrinsic matrix determines
the field of view.
*/
explicit
Camera
(
const
Matx33d
&
K
,
const
Size
&
window_size
);
/** @overload
@param proj Projection matrix of the camera.
@param window\_size Size of the window. This together with projection matrix determines
the field of view.
*/
explicit
Camera
(
const
Matx44d
&
proj
,
const
Size
&
window_size
);
const
Vec2d
&
getClip
()
const
{
return
clip_
;
}
...
...
@@ -143,8 +184,17 @@ namespace cv
const
Vec2d
&
getPrincipalPoint
()
const
{
return
principal_point_
;
}
const
Vec2d
&
getFocalLength
()
const
{
return
focal_
;
}
/** @brief Computes projection matrix using intrinsic parameters of the camera.
@param proj Output projection matrix.
*/
void
computeProjectionMatrix
(
Matx44d
&
proj
)
const
;
/** @brief Creates a Kinect Camera.
@param window\_size Size of the window. This together with intrinsic matrix of a Kinect Camera
determines the field of view.
*/
static
Camera
KinectCamera
(
const
Size
&
window_size
);
private:
...
...
@@ -157,12 +207,21 @@ namespace cv
Vec2d
focal_
;
};
/** @brief This class represents a keyboard event.
*/
class
CV_EXPORTS
KeyboardEvent
{
public:
enum
{
NONE
=
0
,
ALT
=
1
,
CTRL
=
2
,
SHIFT
=
4
};
enum
Action
{
KEY_UP
=
0
,
KEY_DOWN
=
1
};
/** @brief Constructs a KeyboardEvent.
@param action Signals if key is pressed or released.
@param symbol Name of the key.
@param code Code of the key.
@param modifiers Signals if alt, ctrl or shift are pressed or their combination.
*/
KeyboardEvent
(
Action
action
,
const
String
&
symbol
,
unsigned
char
code
,
int
modifiers
);
Action
action
;
...
...
@@ -171,12 +230,23 @@ namespace cv
int
modifiers
;
};
/** @brief This class represents a mouse event.
*/
class
CV_EXPORTS
MouseEvent
{
public:
enum
Type
{
MouseMove
=
1
,
MouseButtonPress
,
MouseButtonRelease
,
MouseScrollDown
,
MouseScrollUp
,
MouseDblClick
}
;
enum
MouseButton
{
NoButton
=
0
,
LeftButton
,
MiddleButton
,
RightButton
,
VScroll
}
;
/** @brief Constructs a MouseEvent.
@param type Type of the event. This can be **MouseMove**, **MouseButtonPress**,
**MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**.
@param button Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**,
**RightButton**, **VScroll**.
@param pointer Position of the event.
@param modifiers Signals if alt, ctrl or shift are pressed or their combination.
*/
MouseEvent
(
const
Type
&
type
,
const
MouseButton
&
button
,
const
Point
&
pointer
,
int
modifiers
);
Type
type
;
...
...
@@ -184,6 +254,9 @@ namespace cv
Point
pointer
;
int
modifiers
;
};
//! @} viz
}
/* namespace viz */
}
/* namespace cv */
...
...
modules/viz/include/opencv2/viz/viz3d.hpp
浏览文件 @
397bf7f2
...
...
@@ -58,6 +58,12 @@ namespace cv
{
namespace
viz
{
//! @addtogroup viz
//! @{
/** @brief The Viz3d class represents a 3D visualizer window. This class is implicitly shared. :
*/
class
CV_EXPORTS
Viz3d
{
public:
...
...
@@ -65,54 +71,240 @@ namespace cv
typedef
void
(
*
KeyboardCallback
)(
const
KeyboardEvent
&
,
void
*
);
typedef
void
(
*
MouseCallback
)(
const
MouseEvent
&
,
void
*
);
/** @brief The constructors.
@param window\_name Name of the window.
*/
Viz3d
(
const
String
&
window_name
=
String
());
Viz3d
(
const
Viz3d
&
);
Viz3d
&
operator
=
(
const
Viz3d
&
);
~
Viz3d
();
/** @brief Shows a widget in the window.
@param id A unique id for the widget. @param widget The widget to be displayed in the window.
@param pose Pose of the widget.
*/
void
showWidget
(
const
String
&
id
,
const
Widget
&
widget
,
const
Affine3d
&
pose
=
Affine3d
::
Identity
());
/** @brief Removes a widget from the window.
@param id The id of the widget that will be removed.
*/
void
removeWidget
(
const
String
&
id
);
/** @brief Retrieves a widget from the window.
A widget is implicitly shared; that is, if the returned widget is modified, the changes
will be immediately visible in the window.
@param id The id of the widget that will be returned.
*/
Widget
getWidget
(
const
String
&
id
)
const
;
/** @brief Removes all widgets from the window.
*/
void
removeAllWidgets
();
/** @brief Removed all widgets and displays image scaled to whole window area.
@param image Image to be displayed.
@param window_size Size of Viz3d window. Default value means no change.
*/
void
showImage
(
InputArray
image
,
const
Size
&
window_size
=
Size
(
-
1
,
-
1
));
/** @brief Sets pose of a widget in the window.
@param id The id of the widget whose pose will be set. @param pose The new pose of the widget.
*/
void
setWidgetPose
(
const
String
&
id
,
const
Affine3d
&
pose
);
/** @brief Updates pose of a widget in the window by pre-multiplying its current pose.
@param id The id of the widget whose pose will be updated. @param pose The pose that the current
pose of the widget will be pre-multiplied by.
*/
void
updateWidgetPose
(
const
String
&
id
,
const
Affine3d
&
pose
);
/** @brief Returns the current pose of a widget in the window.
@param id The id of the widget whose pose will be returned.
*/
Affine3d
getWidgetPose
(
const
String
&
id
)
const
;
/** @brief Sets the intrinsic parameters of the viewer using Camera.
@param camera Camera object wrapping intrinsinc parameters.
*/
void
setCamera
(
const
Camera
&
camera
);
/** @brief Returns a camera object that contains intrinsic parameters of the current viewer.
*/
Camera
getCamera
()
const
;
/** @brief Returns the current pose of the viewer.
*/
Affine3d
getViewerPose
();
/** @brief Sets pose of the viewer.
@param pose The new pose of the viewer.
*/
void
setViewerPose
(
const
Affine3d
&
pose
);
/** @brief Resets camera viewpoint to a 3D widget in the scene.
@param id Id of a 3D widget.
*/
void
resetCameraViewpoint
(
const
String
&
id
);
/** @brief Resets camera.
*/
void
resetCamera
();
/** @brief Transforms a point in world coordinate system to window coordinate system.
@param pt Point in world coordinate system.
@param window\_coord Output point in window coordinate system.
*/
void
convertToWindowCoordinates
(
const
Point3d
&
pt
,
Point3d
&
window_coord
);
/** @brief Transforms a point in window coordinate system to a 3D ray in world coordinate system.
@param window\_coord Point in window coordinate system. @param origin Output origin of the ray.
@param direction Output direction of the ray.
*/
void
converTo3DRay
(
const
Point3d
&
window_coord
,
Point3d
&
origin
,
Vec3d
&
direction
);
/** @brief Returns the current size of the window.
*/
Size
getWindowSize
()
const
;
/** @brief Sets the size of the window.
@param window\_size New size of the window.
*/
void
setWindowSize
(
const
Size
&
window_size
);
/** @brief Returns the name of the window which has been set in the constructor.
*/
String
getWindowName
()
const
;
/** @brief Saves screenshot of the current scene.
@param file Name of the file.
*/
void
saveScreenshot
(
const
String
&
file
);
/** @brief Sets the position of the window in the screen.
@param window_position coordinates of the window
*/
void
setWindowPosition
(
const
Point
&
window_position
);
/** @brief Sets or unsets full-screen rendering mode.
@param mode If true, window will use full-screen mode.
*/
void
setFullScreen
(
bool
mode
=
true
);
/** @brief Sets background color.
*/
void
setBackgroundColor
(
const
Color
&
color
=
Color
::
black
(),
const
Color
&
color2
=
Color
::
not_set
());
void
setBackgroundTexture
(
InputArray
image
=
noArray
());
void
setBackgroundMeshLab
();
/** @brief The window renders and starts the event loop.
*/
void
spin
();
/** @brief Starts the event loop for a given time.
@param time Amount of time in milliseconds for the event loop to keep running.
@param force_redraw If true, window renders.
*/
void
spinOnce
(
int
time
=
1
,
bool
force_redraw
=
false
);
/** @brief Returns whether the event loop has been stopped.
*/
bool
wasStopped
()
const
;
void
close
();
/** @brief Sets keyboard handler.
@param callback Keyboard callback (void (\*KeyboardCallbackFunction(const
KeyboardEvent&, void\*)).
@param cookie The optional parameter passed to the callback.
*/
void
registerKeyboardCallback
(
KeyboardCallback
callback
,
void
*
cookie
=
0
);
/** @brief Sets mouse handler.
@param callback Mouse callback (void (\*MouseCallback)(const MouseEvent&, void\*)).
@param cookie The optional parameter passed to the callback.
*/
void
registerMouseCallback
(
MouseCallback
callback
,
void
*
cookie
=
0
);
/** @brief Sets rendering property of a widget.
@param id Id of the widget.
@param property Property that will be modified.
@param value The new value of the property.
**Rendering property** can be one of the following:
- **POINT\_SIZE**
- **OPACITY**
- **LINE\_WIDTH**
- **FONT\_SIZE**
-
**REPRESENTATION**: Expected values are
- **REPRESENTATION\_POINTS**
- **REPRESENTATION\_WIREFRAME**
- **REPRESENTATION\_SURFACE**
-
**IMMEDIATE\_RENDERING**:
- Turn on immediate rendering by setting the value to 1.
- Turn off immediate rendering by setting the value to 0.
-
**SHADING**: Expected values are
- **SHADING\_FLAT**
- **SHADING\_GOURAUD**
- **SHADING\_PHONG**
*/
void
setRenderingProperty
(
const
String
&
id
,
int
property
,
double
value
);
/** @brief Returns rendering property of a widget.
@param id Id of the widget.
@param property Property.
**Rendering property** can be one of the following:
- **POINT\_SIZE**
- **OPACITY**
- **LINE\_WIDTH**
- **FONT\_SIZE**
-
**REPRESENTATION**: Expected values are
- **REPRESENTATION\_POINTS**
- **REPRESENTATION\_WIREFRAME**
- **REPRESENTATION\_SURFACE**
-
**IMMEDIATE\_RENDERING**:
- Turn on immediate rendering by setting the value to 1.
- Turn off immediate rendering by setting the value to 0.
-
**SHADING**: Expected values are
- **SHADING\_FLAT**
- **SHADING\_GOURAUD**
- **SHADING\_PHONG**
*/
double
getRenderingProperty
(
const
String
&
id
,
int
property
);
/** @brief Sets geometry representation of the widgets to surface, wireframe or points.
@param representation Geometry representation which can be one of the following:
- **REPRESENTATION\_POINTS**
- **REPRESENTATION\_WIREFRAME**
- **REPRESENTATION\_SURFACE**
*/
void
setRepresentation
(
int
representation
);
void
setGlobalWarnings
(
bool
enabled
=
false
);
...
...
@@ -127,6 +319,8 @@ namespace cv
friend
class
VizStorage
;
};
//! @}
}
/* namespace viz */
}
/* namespace cv */
...
...
modules/viz/include/opencv2/viz/vizcore.hpp
浏览文件 @
397bf7f2
...
...
@@ -54,13 +54,48 @@ namespace cv
{
namespace
viz
{
//! takes coordiante frame data and builds transfrom to global coordinate frame
//! @addtogroup viz
//! @{
/** @brief Takes coordinate frame data and builds transform to global coordinate frame.
@param axis\_x X axis vector in global coordinate frame. @param axis\_y Y axis vector in global
coordinate frame. @param axis\_z Z axis vector in global coordinate frame. @param origin Origin of
the coordinate frame in global coordinate frame.
This function returns affine transform that describes transformation between global coordinate frame
and a given coordinate frame.
*/
CV_EXPORTS
Affine3d
makeTransformToGlobal
(
const
Vec3d
&
axis_x
,
const
Vec3d
&
axis_y
,
const
Vec3d
&
axis_z
,
const
Vec3d
&
origin
=
Vec3d
::
all
(
0
));
//! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation)
/** @brief Constructs camera pose from position, focal\_point and up\_vector (see gluLookAt() for more
infromation).
@param position Position of the camera in global coordinate frame. @param focal\_point Focal point
of the camera in global coordinate frame. @param y\_dir Up vector of the camera in global
coordinate frame.
This function returns pose of the camera in global coordinate frame.
*/
CV_EXPORTS
Affine3d
makeCameraPose
(
const
Vec3d
&
position
,
const
Vec3d
&
focal_point
,
const
Vec3d
&
y_dir
);
//! retrieves a window by its name. If no window with such name, then it creates new.
/** @brief Retrieves a window by its name.
@param window\_name Name of the window that is to be retrieved.
This function returns a Viz3d object with the given name.
@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.
@note Window names are automatically prefixed by "Viz - " if it is not done by the user.
@code
/// window and window_2 are the same windows.
viz::Viz3d window = viz::getWindowByName("myWindow");
viz::Viz3d window_2 = viz::getWindowByName("Viz - myWindow");
@endcode
*/
CV_EXPORTS
Viz3d
getWindowByName
(
const
String
&
window_name
);
//! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead getting existing from the database.
...
...
@@ -69,25 +104,37 @@ namespace cv
//! Displays image in specified window
CV_EXPORTS
Viz3d
imshow
(
const
String
&
window_name
,
InputArray
image
,
const
Size
&
window_size
=
Size
(
-
1
,
-
1
));
//! checks float value for Nan
/** @brief Checks **float/double** value for nan.
@param x return true if nan.
*/
inline
bool
isNan
(
float
x
)
{
unsigned
int
*
u
=
reinterpret_cast
<
unsigned
int
*>
(
&
x
);
return
((
u
[
0
]
&
0x7f800000
)
==
0x7f800000
)
&&
(
u
[
0
]
&
0x007fffff
);
}
//! checks double value for Nan
/** @brief Checks **float/double** value for nan.
@param x return true if nan.
*/
inline
bool
isNan
(
double
x
)
{
unsigned
int
*
u
=
reinterpret_cast
<
unsigned
int
*>
(
&
x
);
return
(
u
[
1
]
&
0x7ff00000
)
==
0x7ff00000
&&
(
u
[
0
]
!=
0
||
(
u
[
1
]
&
0x000fffff
)
!=
0
);
}
//! checks vectors for Nans
/** @brief Checks **float/double** value for nan.
@param v return true if **any** of the elements of the vector is *nan*.
*/
template
<
typename
_Tp
,
int
cn
>
inline
bool
isNan
(
const
Vec
<
_Tp
,
cn
>&
v
)
{
return
isNan
(
v
.
val
[
0
])
||
isNan
(
v
.
val
[
1
])
||
isNan
(
v
.
val
[
2
]);
}
//! checks point for Nans
/** @brief Checks **float/double** value for nan.
@param p return true if **any** of the elements of the point is *nan*.
*/
template
<
typename
_Tp
>
inline
bool
isNan
(
const
Point3_
<
_Tp
>&
p
)
{
return
isNan
(
p
.
x
)
||
isNan
(
p
.
y
)
||
isNan
(
p
.
z
);
}
...
...
@@ -121,6 +168,8 @@ namespace cv
CV_EXPORTS
void
computeNormals
(
const
Mesh
&
mesh
,
OutputArray
normals
);
//! @}
}
/* namespace viz */
}
/* namespace cv */
...
...
modules/viz/include/opencv2/viz/widget_accessor.hpp
浏览文件 @
397bf7f2
...
...
@@ -54,15 +54,35 @@ namespace cv
{
namespace
viz
{
//! @addtogroup viz_widget
//! @{
class
Widget
;
/
/The class is only that depends on VTK in its interface.
//It is indended for those users who want to develop own widgets system using VTK library API.
/
** @brief This class is for users who want to develop their own widgets using VTK library API. :
*/
struct
CV_EXPORTS
WidgetAccessor
{
/** @brief Returns vtkProp of a given widget.
@param widget Widget whose vtkProp is to be returned.
@note vtkProp has to be down cast appropriately to be modified.
@code
vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget));
@endcode
*/
static
vtkSmartPointer
<
vtkProp
>
getProp
(
const
Widget
&
widget
);
/** @brief Sets vtkProp of a given widget.
@param widget Widget whose vtkProp is to be set. @param prop A vtkProp.
*/
static
void
setProp
(
Widget
&
widget
,
vtkSmartPointer
<
vtkProp
>
prop
);
};
//! @}
}
}
...
...
modules/viz/include/opencv2/viz/widgets.hpp
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