1 /**
2 * @file widget_pose.cpp
3 * @brief Setting pose of a widget
4 * @author Ozan Cagri Tonkal
5 */
6
7 #include <opencv2/viz.hpp>
8 #include <opencv2/calib3d.hpp>
9 #include <iostream>
10
11 using namespace cv;
12 using namespace std;
13
14 /**
15 * @function help
16 * @brief Display instructions to use this tutorial program
17 */
help()18 void help()
19 {
20 cout
21 << "--------------------------------------------------------------------------" << endl
22 << "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
23 << "using Rodrigues vector." << endl
24 << "Usage:" << endl
25 << "./widget_pose" << endl
26 << endl;
27 }
28
29 /**
30 * @function main
31 */
main()32 int main()
33 {
34 help();
35
36 /// Create a window
37 viz::Viz3d myWindow("Coordinate Frame");
38
39 /// Add coordinate axes
40 myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
41
42 /// Add line to represent (1,1,1) axis
43 viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
44 axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
45 myWindow.showWidget("Line Widget", axis);
46
47 /// Construct a cube widget
48 viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
49 cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
50 myWindow.showWidget("Cube Widget", cube_widget);
51
52 /// Rodrigues vector
53 Mat rot_vec = Mat::zeros(1,3,CV_32F);
54 float translation_phase = 0.0, translation = 0.0;
55 while(!myWindow.wasStopped())
56 {
57 /* Rotation using rodrigues */
58 /// Rotate around (1,1,1)
59 rot_vec.at<float>(0,0) += CV_PI * 0.01f;
60 rot_vec.at<float>(0,1) += CV_PI * 0.01f;
61 rot_vec.at<float>(0,2) += CV_PI * 0.01f;
62
63 /// Shift on (1,1,1)
64 translation_phase += CV_PI * 0.01f;
65 translation = sin(translation_phase);
66
67 Mat rot_mat;
68 Rodrigues(rot_vec, rot_mat);
69
70 /// Construct pose
71 Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
72
73 myWindow.setWidgetPose("Cube Widget", pose);
74
75 myWindow.spinOnce(1, true);
76 }
77
78 return 0;
79 }
80