1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2013, OpenCV Foundation, all rights reserved. 14 // Third party copyrights are property of their respective owners. 15 // 16 // Redistribution and use in source and binary forms, with or without modification, 17 // are permitted provided that the following conditions are met: 18 // 19 // * Redistribution's of source code must retain the above copyright notice, 20 // this list of conditions and the following disclaimer. 21 // 22 // * Redistribution's in binary form must reproduce the above copyright notice, 23 // this list of conditions and the following disclaimer in the documentation 24 // and/or other materials provided with the distribution. 25 // 26 // * The name of the copyright holders may not be used to endorse or promote products 27 // derived from this software without specific prior written permission. 28 // 29 // This software is provided by the copyright holders and contributors "as is" and 30 // any express or implied warranties, including, but not limited to, the implied 31 // warranties of merchantability and fitness for a particular purpose are disclaimed. 32 // In no event shall the Intel Corporation or contributors be liable for any direct, 33 // indirect, incidental, special, exemplary, or consequential damages 34 // (including, but not limited to, procurement of substitute goods or services; 35 // loss of use, data, or profits; or business interruption) however caused 36 // and on any theory of liability, whether in contract, strict liability, 37 // or tort (including negligence or otherwise) arising in any way out of 38 // the use of this software, even if advised of the possibility of such damage. 39 // 40 // Authors: 41 // * Ozan Tonkal, ozantonkal@gmail.com 42 // * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com 43 // 44 //M*/ 45 46 #ifndef __OPENCV_VIZ_WIDGETS_HPP__ 47 #define __OPENCV_VIZ_WIDGETS_HPP__ 48 49 #include <opencv2/viz/types.hpp> 50 51 namespace cv 52 { 53 namespace viz 54 { 55 56 //! @addtogroup viz_widget 57 //! @{ 58 59 ///////////////////////////////////////////////////////////////////////////// 60 /// Widget rendering properties 61 enum RenderingProperties 62 { 63 POINT_SIZE, 64 OPACITY, 65 LINE_WIDTH, 66 FONT_SIZE, 67 REPRESENTATION, 68 IMMEDIATE_RENDERING, 69 SHADING 70 }; 71 72 enum RepresentationValues 73 { 74 REPRESENTATION_POINTS, 75 REPRESENTATION_WIREFRAME, 76 REPRESENTATION_SURFACE 77 }; 78 79 enum ShadingValues 80 { 81 SHADING_FLAT, 82 SHADING_GOURAUD, 83 SHADING_PHONG 84 }; 85 86 ///////////////////////////////////////////////////////////////////////////// 87 88 /** @brief Base class of all widgets. Widget is implicitly shared. : 89 */ 90 class CV_EXPORTS Widget 91 { 92 public: 93 Widget(); 94 Widget(const Widget& other); 95 Widget& operator=(const Widget& other); 96 ~Widget(); 97 98 /** @brief Creates a widget from ply file. 99 100 @param file_name Ply file name. 101 */ 102 static Widget fromPlyFile(const String &file_name); 103 104 /** @brief Sets rendering property of the widget. 105 106 @param property Property that will be modified. 107 @param value The new value of the property. 108 109 **Rendering property** can be one of the following: 110 - **POINT_SIZE** 111 - **OPACITY** 112 - **LINE_WIDTH** 113 - **FONT_SIZE** 114 - 115 **REPRESENTATION**: Expected values are 116 - **REPRESENTATION_POINTS** 117 - **REPRESENTATION_WIREFRAME** 118 - **REPRESENTATION_SURFACE** 119 - 120 **IMMEDIATE_RENDERING**: 121 - Turn on immediate rendering by setting the value to 1. 122 - Turn off immediate rendering by setting the value to 0. 123 - 124 **SHADING**: Expected values are 125 - **SHADING_FLAT** 126 - **SHADING_GOURAUD** 127 - **SHADING_PHONG** 128 */ 129 void setRenderingProperty(int property, double value); 130 /** @brief Returns rendering property of the widget. 131 132 @param property Property. 133 134 **Rendering property** can be one of the following: 135 - **POINT_SIZE** 136 - **OPACITY** 137 - **LINE_WIDTH** 138 - **FONT_SIZE** 139 - 140 **REPRESENTATION**: Expected values are 141 : - **REPRESENTATION_POINTS** 142 - **REPRESENTATION_WIREFRAME** 143 - **REPRESENTATION_SURFACE** 144 - 145 **IMMEDIATE_RENDERING**: 146 : - Turn on immediate rendering by setting the value to 1. 147 - Turn off immediate rendering by setting the value to 0. 148 - 149 **SHADING**: Expected values are 150 : - **SHADING_FLAT** 151 - **SHADING_GOURAUD** 152 - **SHADING_PHONG** 153 */ 154 double getRenderingProperty(int property) const; 155 156 /** @brief Casts a widget to another. 157 158 @code 159 // Create a sphere widget 160 viz::WSphere sw(Point3f(0.0f,0.0f,0.0f), 0.5f); 161 // Cast sphere widget to cloud widget 162 viz::WCloud cw = sw.cast<viz::WCloud>(); 163 @endcode 164 165 @note 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets. 166 */ 167 template<typename _W> _W cast(); 168 private: 169 class Impl; 170 Impl *impl_; 171 friend struct WidgetAccessor; 172 }; 173 174 ///////////////////////////////////////////////////////////////////////////// 175 176 /** @brief Base class of all 3D widgets. 177 */ 178 class CV_EXPORTS Widget3D : public Widget 179 { 180 public: Widget3D()181 Widget3D() {} 182 183 /** @brief Sets pose of the widget. 184 185 @param pose The new pose of the widget. 186 */ 187 void setPose(const Affine3d &pose); 188 /** @brief Updates pose of the widget by pre-multiplying its current pose. 189 190 @param pose The pose that the current pose of the widget will be pre-multiplied by. 191 */ 192 void updatePose(const Affine3d &pose); 193 /** @brief Returns the current pose of the widget. 194 */ 195 Affine3d getPose() const; 196 197 /** @brief Transforms internal widget data (i.e. points, normals) using the given transform. 198 199 @param transform Specified transformation to apply. 200 */ 201 void applyTransform(const Affine3d &transform); 202 203 /** @brief Sets the color of the widget. 204 205 @param color color of type Color 206 */ 207 void setColor(const Color &color); 208 209 }; 210 211 ///////////////////////////////////////////////////////////////////////////// 212 213 /** @brief Base class of all 2D widgets. 214 */ 215 class CV_EXPORTS Widget2D : public Widget 216 { 217 public: Widget2D()218 Widget2D() {} 219 220 /** @brief Sets the color of the widget. 221 222 @param color color of type Color 223 */ 224 void setColor(const Color &color); 225 }; 226 227 ///////////////////////////////////////////////////////////////////////////// 228 /// Simple widgets 229 230 /** @brief This 3D Widget defines a finite line. 231 */ 232 class CV_EXPORTS WLine : public Widget3D 233 { 234 public: 235 /** @brief Constructs a WLine. 236 237 @param pt1 Start point of the line. 238 @param pt2 End point of the line. 239 @param color Color of the line. 240 */ 241 WLine(const Point3d &pt1, const Point3d &pt2, const Color &color = Color::white()); 242 }; 243 244 /** @brief This 3D Widget defines a finite plane. 245 */ 246 class CV_EXPORTS WPlane : public Widget3D 247 { 248 public: 249 /** @brief Constructs a default plane with center point at origin and normal oriented along z-axis. 250 251 @param size Size of the plane 252 @param color Color of the plane. 253 */ 254 WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); 255 256 /** @brief Constructs a repositioned plane 257 258 @param center Center of the plane 259 @param normal Plane normal orientation 260 @param new_yaxis Up-vector. New orientation of plane y-axis. 261 @param size 262 @param color Color of the plane. 263 */ 264 WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, 265 const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); 266 }; 267 268 /** @brief This 3D Widget defines a sphere. : 269 */ 270 class CV_EXPORTS WSphere : public Widget3D 271 { 272 public: 273 /** @brief Constructs a WSphere. 274 275 @param center Center of the sphere. 276 @param radius Radius of the sphere. 277 @param sphere_resolution Resolution of the sphere. 278 @param color Color of the sphere. 279 */ 280 WSphere(const cv::Point3d ¢er, double radius, int sphere_resolution = 10, const Color &color = Color::white()); 281 }; 282 283 /** @brief This 3D Widget defines an arrow. 284 */ 285 class CV_EXPORTS WArrow : public Widget3D 286 { 287 public: 288 /** @brief Constructs an WArrow. 289 290 @param pt1 Start point of the arrow. 291 @param pt2 End point of the arrow. 292 @param thickness Thickness of the arrow. Thickness of arrow head is also adjusted 293 accordingly. 294 @param color Color of the arrow. 295 296 Arrow head is located at the end point of the arrow. 297 */ 298 WArrow(const Point3d& pt1, const Point3d& pt2, double thickness = 0.03, const Color &color = Color::white()); 299 }; 300 301 /** @brief This 3D Widget defines a circle. 302 */ 303 class CV_EXPORTS WCircle : public Widget3D 304 { 305 public: 306 /** @brief Constructs default planar circle centred at origin with plane normal along z-axis 307 308 @param radius Radius of the circle. 309 @param thickness Thickness of the circle. 310 @param color Color of the circle. 311 */ 312 WCircle(double radius, double thickness = 0.01, const Color &color = Color::white()); 313 314 /** @brief Constructs repositioned planar circle. 315 316 @param radius Radius of the circle. 317 @param center Center of the circle. 318 @param normal Normal of the plane in which the circle lies. 319 @param thickness Thickness of the circle. 320 @param color Color of the circle. 321 */ 322 WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white()); 323 }; 324 325 /** @brief This 3D Widget defines a cone. : 326 */ 327 class CV_EXPORTS WCone : public Widget3D 328 { 329 public: 330 /** @brief Constructs default cone oriented along x-axis with center of its base located at origin 331 332 @param length Length of the cone. 333 @param radius Radius of the cone. 334 @param resolution Resolution of the cone. 335 @param color Color of the cone. 336 */ 337 WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white()); 338 339 /** @brief Constructs repositioned planar cone. 340 341 @param radius Radius of the cone. 342 @param center Center of the cone base. 343 @param tip Tip of the cone. 344 @param resolution Resolution of the cone. 345 @param color Color of the cone. 346 347 */ 348 WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white()); 349 }; 350 351 /** @brief This 3D Widget defines a cylinder. : 352 */ 353 class CV_EXPORTS WCylinder : public Widget3D 354 { 355 public: 356 /** @brief Constructs a WCylinder. 357 358 @param axis_point1 A point1 on the axis of the cylinder. 359 @param axis_point2 A point2 on the axis of the cylinder. 360 @param radius Radius of the cylinder. 361 @param numsides Resolution of the cylinder. 362 @param color Color of the cylinder. 363 */ 364 WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double radius, int numsides = 30, const Color &color = Color::white()); 365 }; 366 367 /** @brief This 3D Widget defines a cube. 368 */ 369 class CV_EXPORTS WCube : public Widget3D 370 { 371 public: 372 /** @brief Constructs a WCube. 373 374 @param min_point Specifies minimum point of the bounding box. 375 @param max_point Specifies maximum point of the bounding box. 376 @param wire_frame If true, cube is represented as wireframe. 377 @param color Color of the cube. 378 379  380 */ 381 WCube(const Point3d& min_point = Vec3d::all(-0.5), const Point3d& max_point = Vec3d::all(0.5), 382 bool wire_frame = true, const Color &color = Color::white()); 383 }; 384 385 /** @brief This 3D Widget defines a poly line. : 386 */ 387 class CV_EXPORTS WPolyLine : public Widget3D 388 { 389 public: 390 WPolyLine(InputArray points, InputArray colors); 391 /** @brief Constructs a WPolyLine. 392 393 @param points Point set. 394 @param color Color of the poly line. 395 */ 396 WPolyLine(InputArray points, const Color &color = Color::white()); 397 }; 398 399 ///////////////////////////////////////////////////////////////////////////// 400 /// Text and image widgets 401 402 /** @brief This 2D Widget represents text overlay. 403 */ 404 class CV_EXPORTS WText : public Widget2D 405 { 406 public: 407 /** @brief Constructs a WText. 408 409 @param text Text content of the widget. 410 @param pos Position of the text. 411 @param font_size Font size. 412 @param color Color of the text. 413 */ 414 WText(const String &text, const Point &pos, int font_size = 20, const Color &color = Color::white()); 415 416 /** @brief Sets the text content of the widget. 417 418 @param text Text content of the widget. 419 */ 420 void setText(const String &text); 421 /** @brief Returns the current text content of the widget. 422 */ 423 String getText() const; 424 }; 425 426 /** @brief This 3D Widget represents 3D text. The text always faces the camera. 427 */ 428 class CV_EXPORTS WText3D : public Widget3D 429 { 430 public: 431 /** @brief Constructs a WText3D. 432 433 @param text Text content of the widget. 434 @param position Position of the text. 435 @param text_scale Size of the text. 436 @param face_camera If true, text always faces the camera. 437 @param color Color of the text. 438 */ 439 WText3D(const String &text, const Point3d &position, double text_scale = 1., bool face_camera = true, const Color &color = Color::white()); 440 441 /** @brief Sets the text content of the widget. 442 443 @param text Text content of the widget. 444 445 */ 446 void setText(const String &text); 447 /** @brief Returns the current text content of the widget. 448 */ 449 String getText() const; 450 }; 451 452 /** @brief This 2D Widget represents an image overlay. : 453 */ 454 class CV_EXPORTS WImageOverlay : public Widget2D 455 { 456 public: 457 /** @brief Constructs an WImageOverlay. 458 459 @param image BGR or Gray-Scale image. 460 @param rect Image is scaled and positioned based on rect. 461 */ 462 WImageOverlay(InputArray image, const Rect &rect); 463 /** @brief Sets the image content of the widget. 464 465 @param image BGR or Gray-Scale image. 466 */ 467 void setImage(InputArray image); 468 }; 469 470 /** @brief This 3D Widget represents an image in 3D space. : 471 */ 472 class CV_EXPORTS WImage3D : public Widget3D 473 { 474 public: 475 /** @brief Constructs an WImage3D. 476 477 @param image BGR or Gray-Scale image. 478 @param size Size of the image. 479 */ 480 WImage3D(InputArray image, const Size2d &size); 481 482 /** @brief Constructs an WImage3D. 483 484 @param image BGR or Gray-Scale image. 485 @param size Size of the image. 486 @param center Position of the image. 487 @param normal Normal of the plane that represents the image. 488 @param up_vector Determines orientation of the image. 489 */ 490 WImage3D(InputArray image, const Size2d &size, const Vec3d ¢er, const Vec3d &normal, const Vec3d &up_vector); 491 492 /** @brief Sets the image content of the widget. 493 494 @param image BGR or Gray-Scale image. 495 */ 496 void setImage(InputArray image); 497 }; 498 499 ///////////////////////////////////////////////////////////////////////////// 500 /// Compond widgets 501 502 /** @brief This 3D Widget represents a coordinate system. : 503 */ 504 class CV_EXPORTS WCoordinateSystem : public Widget3D 505 { 506 public: 507 /** @brief Constructs a WCoordinateSystem. 508 509 @param scale Determines the size of the axes. 510 */ 511 WCoordinateSystem(double scale = 1.0); 512 }; 513 514 /** @brief This 3D Widget defines a grid. : 515 */ 516 class CV_EXPORTS WGrid : public Widget3D 517 { 518 public: 519 /** @brief Constructs a WGrid. 520 521 @param cells Number of cell columns and rows, respectively. 522 @param cells_spacing Size of each cell, respectively. 523 @param color Color of the grid. 524 */ 525 WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white()); 526 527 //! Creates repositioned grid 528 WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, 529 const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white()); 530 }; 531 532 /** @brief This 3D Widget represents camera position in a scene by its axes or viewing frustum. : 533 */ 534 class CV_EXPORTS WCameraPosition : public Widget3D 535 { 536 public: 537 /** @brief Creates camera coordinate frame at the origin. 538 539  540 */ 541 WCameraPosition(double scale = 1.0); 542 /** @brief Display the viewing frustum 543 @param K Intrinsic matrix of the camera. 544 @param scale Scale of the frustum. 545 @param color Color of the frustum. 546 547 Creates viewing frustum of the camera based on its intrinsic matrix K. 548 549  550 */ 551 WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white()); 552 /** @brief Display the viewing frustum 553 @param fov Field of view of the camera (horizontal, vertical). 554 @param scale Scale of the frustum. 555 @param color Color of the frustum. 556 557 Creates viewing frustum of the camera based on its field of view fov. 558 559  560 */ 561 WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white()); 562 /** @brief Display image on the far plane of the viewing frustum 563 564 @param K Intrinsic matrix of the camera. 565 @param image BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. 566 @param scale Scale of the frustum and image. 567 @param color Color of the frustum. 568 569 Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on 570 the far end plane. 571 572  573 */ 574 WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white()); 575 /** @brief Display image on the far plane of the viewing frustum 576 577 @param fov Field of view of the camera (horizontal, vertical). 578 @param image BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. 579 @param scale Scale of the frustum and image. 580 @param color Color of the frustum. 581 582 Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on 583 the far end plane. 584 585  586 */ 587 WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white()); 588 }; 589 590 ///////////////////////////////////////////////////////////////////////////// 591 /// Trajectories 592 593 /** @brief This 3D Widget represents a trajectory. : 594 */ 595 class CV_EXPORTS WTrajectory : public Widget3D 596 { 597 public: 598 enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH }; 599 600 /** @brief Constructs a WTrajectory. 601 602 @param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double] 603 @param display_mode Display mode. This can be PATH, FRAMES, and BOTH. 604 @param scale Scale of the frames. Polyline is not affected. 605 @param color Color of the polyline that represents path. 606 607 Frames are not affected. 608 Displays trajectory of the given path as follows: 609 - PATH : Displays a poly line that represents the path. 610 - FRAMES : Displays coordinate frames at each pose. 611 - PATH & FRAMES : Displays both poly line and coordinate frames. 612 */ 613 WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white()); 614 }; 615 616 /** @brief This 3D Widget represents a trajectory. : 617 */ 618 class CV_EXPORTS WTrajectoryFrustums : public Widget3D 619 { 620 public: 621 /** @brief Constructs a WTrajectoryFrustums. 622 623 @param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double] 624 @param K Intrinsic matrix of the camera. 625 @param scale Scale of the frustums. 626 @param color Color of the frustums. 627 628 Displays frustums at each pose of the trajectory. 629 */ 630 WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1., const Color &color = Color::white()); 631 632 /** @brief Constructs a WTrajectoryFrustums. 633 634 @param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double] 635 @param fov Field of view of the camera (horizontal, vertical). 636 @param scale Scale of the frustums. 637 @param color Color of the frustums. 638 639 Displays frustums at each pose of the trajectory. 640 */ 641 WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1., const Color &color = Color::white()); 642 }; 643 644 /** @brief This 3D Widget represents a trajectory using spheres and lines 645 646 where spheres represent the positions of the camera, and lines represent the direction from 647 previous position to the current. : 648 */ 649 class CV_EXPORTS WTrajectorySpheres: public Widget3D 650 { 651 public: 652 /** @brief Constructs a WTrajectorySpheres. 653 654 @param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double] 655 @param line_length Max length of the lines which point to previous position 656 @param radius Radius of the spheres. 657 @param from Color for first sphere. 658 @param to Color for last sphere. Intermediate spheres will have interpolated color. 659 */ 660 WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007, 661 const Color &from = Color::red(), const Color &to = Color::white()); 662 }; 663 664 ///////////////////////////////////////////////////////////////////////////// 665 /// Clouds 666 667 /** @brief This 3D Widget defines a point cloud. : 668 669 @note In case there are four channels in the cloud, fourth channel is ignored. 670 */ 671 class CV_EXPORTS WCloud: public Widget3D 672 { 673 public: 674 /** @brief Constructs a WCloud. 675 676 @param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. 677 @param colors Set of colors. It has to be of the same size with cloud. 678 679 Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 680 */ 681 WCloud(InputArray cloud, InputArray colors); 682 683 /** @brief Constructs a WCloud. 684 @param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. 685 @param color A single Color for the whole cloud. 686 687 Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 688 */ 689 WCloud(InputArray cloud, const Color &color = Color::white()); 690 691 /** @brief Constructs a WCloud. 692 @param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. 693 @param colors Set of colors. It has to be of the same size with cloud. 694 @param normals Normals for each point in cloud. Size and type should match with the cloud parameter. 695 696 Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 697 */ 698 WCloud(InputArray cloud, InputArray colors, InputArray normals); 699 700 /** @brief Constructs a WCloud. 701 @param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. 702 @param color A single Color for the whole cloud. 703 @param normals Normals for each point in cloud. 704 705 Size and type should match with the cloud parameter. 706 Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 707 */ 708 WCloud(InputArray cloud, const Color &color, InputArray normals); 709 }; 710 711 class CV_EXPORTS WPaintedCloud: public Widget3D 712 { 713 public: 714 //! Paint cloud with default gradient between cloud bounds points 715 WPaintedCloud(InputArray cloud); 716 717 //! Paint cloud with default gradient between given points 718 WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2); 719 720 //! Paint cloud with gradient specified by given colors between given points 721 WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2, const Color& c1, const Color c2); 722 }; 723 724 /** @brief This 3D Widget defines a collection of clouds. : 725 @note In case there are four channels in the cloud, fourth channel is ignored. 726 */ 727 class CV_EXPORTS WCloudCollection : public Widget3D 728 { 729 public: 730 WCloudCollection(); 731 732 /** @brief Adds a cloud to the collection. 733 734 @param cloud Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. 735 @param colors Set of colors. It has to be of the same size with cloud. 736 @param pose Pose of the cloud. Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 737 */ 738 void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity()); 739 /** @brief Adds a cloud to the collection. 740 741 @param cloud Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. 742 @param color A single Color for the whole cloud. 743 @param pose Pose of the cloud. Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). 744 */ 745 void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity()); 746 /** @brief Finalizes cloud data by repacking to single cloud. 747 748 Useful for large cloud collections to reduce memory usage 749 */ 750 void finalize(); 751 }; 752 753 /** @brief This 3D Widget represents normals of a point cloud. : 754 */ 755 class CV_EXPORTS WCloudNormals : public Widget3D 756 { 757 public: 758 /** @brief Constructs a WCloudNormals. 759 760 @param cloud Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. 761 @param normals A set of normals that has to be of same type with cloud. 762 @param level Display only every level th normal. 763 @param scale Scale of the arrows that represent normals. 764 @param color Color of the arrows that represent normals. 765 766 @note In case there are four channels in the cloud, fourth channel is ignored. 767 */ 768 WCloudNormals(InputArray cloud, InputArray normals, int level = 64, double scale = 0.1, const Color &color = Color::white()); 769 }; 770 771 /** @brief Constructs a WMesh. 772 773 @param mesh Mesh object that will be displayed. 774 @param cloud Points of the mesh object. 775 @param polygons Points of the mesh object. 776 @param colors Point colors. 777 @param normals Point normals. 778 */ 779 class CV_EXPORTS WMesh : public Widget3D 780 { 781 public: 782 WMesh(const Mesh &mesh); 783 WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray()); 784 }; 785 786 /** @brief This class allows to merge several widgets to single one. 787 788 It has quite limited functionality and can't merge widgets with different attributes. For 789 instance, if widgetA has color array and widgetB has only global color defined, then result 790 of merge won't have color at all. The class is suitable for merging large amount of similar 791 widgets. : 792 */ 793 class CV_EXPORTS WWidgetMerger : public Widget3D 794 { 795 public: 796 WWidgetMerger(); 797 798 //! Add widget to merge with optional position change 799 void addWidget(const Widget3D& widget, const Affine3d &pose = Affine3d::Identity()); 800 801 //! Repacks internal structure to single widget 802 void finalize(); 803 }; 804 805 ///////////////////////////////////////////////////////////////////////////// 806 /// Utility exports 807 808 template<> CV_EXPORTS Widget2D Widget::cast<Widget2D>(); 809 template<> CV_EXPORTS Widget3D Widget::cast<Widget3D>(); 810 template<> CV_EXPORTS WLine Widget::cast<WLine>(); 811 template<> CV_EXPORTS WPlane Widget::cast<WPlane>(); 812 template<> CV_EXPORTS WSphere Widget::cast<WSphere>(); 813 template<> CV_EXPORTS WCylinder Widget::cast<WCylinder>(); 814 template<> CV_EXPORTS WArrow Widget::cast<WArrow>(); 815 template<> CV_EXPORTS WCircle Widget::cast<WCircle>(); 816 template<> CV_EXPORTS WCone Widget::cast<WCone>(); 817 template<> CV_EXPORTS WCube Widget::cast<WCube>(); 818 template<> CV_EXPORTS WCoordinateSystem Widget::cast<WCoordinateSystem>(); 819 template<> CV_EXPORTS WPolyLine Widget::cast<WPolyLine>(); 820 template<> CV_EXPORTS WGrid Widget::cast<WGrid>(); 821 template<> CV_EXPORTS WText3D Widget::cast<WText3D>(); 822 template<> CV_EXPORTS WText Widget::cast<WText>(); 823 template<> CV_EXPORTS WImageOverlay Widget::cast<WImageOverlay>(); 824 template<> CV_EXPORTS WImage3D Widget::cast<WImage3D>(); 825 template<> CV_EXPORTS WCameraPosition Widget::cast<WCameraPosition>(); 826 template<> CV_EXPORTS WTrajectory Widget::cast<WTrajectory>(); 827 template<> CV_EXPORTS WTrajectoryFrustums Widget::cast<WTrajectoryFrustums>(); 828 template<> CV_EXPORTS WTrajectorySpheres Widget::cast<WTrajectorySpheres>(); 829 template<> CV_EXPORTS WCloud Widget::cast<WCloud>(); 830 template<> CV_EXPORTS WPaintedCloud Widget::cast<WPaintedCloud>(); 831 template<> CV_EXPORTS WCloudCollection Widget::cast<WCloudCollection>(); 832 template<> CV_EXPORTS WCloudNormals Widget::cast<WCloudNormals>(); 833 template<> CV_EXPORTS WMesh Widget::cast<WMesh>(); 834 template<> CV_EXPORTS WWidgetMerger Widget::cast<WWidgetMerger>(); 835 836 //! @} 837 838 } /* namespace viz */ 839 } /* namespace cv */ 840 841 #endif 842
