Modules | |
Widget | |
Classes | |
class | cv::viz::Camera |
This class wraps intrinsic parameters of a camera. More... | |
class | cv::viz::Color |
This class represents color in BGR order. More... | |
class | cv::viz::KeyboardEvent |
This class represents a keyboard event. More... | |
class | cv::viz::Mesh |
This class wraps mesh attributes, and it can load a mesh from a ply file. : More... | |
class | cv::viz::MouseEvent |
This class represents a mouse event. More... | |
class | cv::viz::Viz3d |
The Viz3d class represents a 3D visualizer window. This class is implicitly shared. More... | |
Functions | |
void | cv::viz::computeNormals (const Mesh &mesh, OutputArray normals) |
Viz3d | cv::viz::getWindowByName (const String &window_name) |
Retrieves a window by its name. | |
Viz3d | cv::viz::imshow (const String &window_name, InputArray image, const Size &window_size=Size(-1, -1)) |
Displays image in specified window. | |
template<typename _Tp > | |
bool | cv::viz::isNan (const Point3_< _Tp > &p) |
Checks float/double value for nan. | |
template<typename _Tp , int cn> | |
bool | cv::viz::isNan (const Vec< _Tp, cn > &v) |
Checks float/double value for nan. | |
bool | cv::viz::isNan (double x) |
Checks float/double value for nan. | |
bool | cv::viz::isNan (float x) |
Checks float/double value for nan. | |
Affine3d | cv::viz::makeCameraPose (const Vec3d &position, const Vec3d &focal_point, const Vec3d &y_dir) |
Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more information). | |
Affine3d | cv::viz::makeTransformToGlobal (const Vec3d &axis_x, const Vec3d &axis_y, const Vec3d &axis_z, const Vec3d &origin=Vec3d::all(0)) |
Takes coordinate frame data and builds transform to global coordinate frame. | |
Mat | cv::viz::readCloud (const String &file, OutputArray colors=noArray(), OutputArray normals=noArray()) |
Mesh | cv::viz::readMesh (const String &file) |
Reads mesh. Only ply format is supported now and no texture load support. | |
bool | cv::viz::readPose (const String &file, Affine3d &pose, const String &tag="pose") |
Read/write poses and trajectories. | |
void | cv::viz::readTrajectory (OutputArray traj, const String &files_format="pose%05d.xml", int start=0, int end=INT_MAX, const String &tag="pose") |
void | cv::viz::unregisterAllWindows () |
Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead of getting existing from the database. | |
void | cv::viz::writeCloud (const String &file, InputArray cloud, InputArray colors=noArray(), InputArray normals=noArray(), bool binary=false) |
Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly) | |
void | cv::viz::writePose (const String &file, const Affine3d &pose, const String &tag="pose") |
void | cv::viz::writeTrajectory (InputArray traj, const String &files_format="pose%05d.xml", int start=0, const String &tag="pose") |
Detailed Description
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.
Function Documentation
◆ computeNormals()
void cv::viz::computeNormals | ( | const Mesh & | mesh, |
OutputArray | normals | ||
) |
#include <opencv2/viz/vizcore.hpp>
Computing normals for mesh
- Parameters
-
mesh Input mesh. normals Normals at very point in the mesh of type CV_64FC3.
◆ getWindowByName()
#include <opencv2/viz/vizcore.hpp>
Retrieves a window by its name.
- Parameters
-
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.
◆ imshow()
Viz3d cv::viz::imshow | ( | const String & | window_name, |
InputArray | image, | ||
const Size & | window_size = Size(-1, -1) |
||
) |
#include <opencv2/viz/vizcore.hpp>
Displays image in specified window.
◆ isNan() [1/4]
#include <opencv2/viz/vizcore.hpp>
Checks float/double value for nan.
- Parameters
-
p return true if any of the elements of the point is nan.
◆ isNan() [2/4]
#include <opencv2/viz/vizcore.hpp>
Checks float/double value for nan.
- Parameters
-
v return true if any of the elements of the vector is nan.
◆ isNan() [3/4]
|
inline |
#include <opencv2/viz/vizcore.hpp>
Checks float/double value for nan.
- Parameters
-
x return true if nan.
◆ isNan() [4/4]
|
inline |
#include <opencv2/viz/vizcore.hpp>
Checks float/double value for nan.
- Parameters
-
x return true if nan.
◆ makeCameraPose()
Affine3d cv::viz::makeCameraPose | ( | const Vec3d & | position, |
const Vec3d & | focal_point, | ||
const Vec3d & | y_dir | ||
) |
#include <opencv2/viz/vizcore.hpp>
Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more information).
- Parameters
-
position Position of the camera in global coordinate frame. focal_point Focal point of the camera in global coordinate frame. y_dir Up vector of the camera in global coordinate frame.
This function returns pose of the camera in global coordinate frame.
◆ makeTransformToGlobal()
Affine3d cv::viz::makeTransformToGlobal | ( | const Vec3d & | axis_x, |
const Vec3d & | axis_y, | ||
const Vec3d & | axis_z, | ||
const Vec3d & | origin = Vec3d::all(0) |
||
) |
#include <opencv2/viz/vizcore.hpp>
Takes coordinate frame data and builds transform to global coordinate frame.
- Parameters
-
axis_x X axis vector in global coordinate frame. axis_y Y axis vector in global coordinate frame. axis_z Z axis vector in global coordinate frame. origin Origin of the coordinate frame in global coordinate frame.
- Returns
- An affine transform that describes transformation between global coordinate frame and a given coordinate frame. The returned transforms can transform a point in the given coordinate frame to the global coordinate frame.
◆ readCloud()
Mat cv::viz::readCloud | ( | const String & | file, |
OutputArray | colors = noArray() , |
||
OutputArray | normals = noArray() |
||
) |
#include <opencv2/viz/vizcore.hpp>
- Parameters
-
file Filename with extension. Supported formats: PLY, XYZ, OBJ and STL. colors Used by PLY and STL formats only. normals Used by PLY, OBJ and STL formats only.
- Returns
- A mat containing the point coordinates with depth CV_32F or CV_64F and number of channels 3 or 4 with only 1 row.
◆ readMesh()
#include <opencv2/viz/vizcore.hpp>
Reads mesh. Only ply format is supported now and no texture load support.
◆ readPose()
#include <opencv2/viz/vizcore.hpp>
Read/write poses and trajectories.
- Parameters
-
file Filename of type supported by cv::FileStorage. pose Output matrix. tag Name of the pose in the file.
◆ readTrajectory()
void cv::viz::readTrajectory | ( | OutputArray | traj, |
const String & | files_format = "pose%05d.xml" , |
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int | start = 0 , |
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int | end = INT_MAX , |
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const String & | tag = "pose" |
||
) |
#include <opencv2/viz/vizcore.hpp>
takes vector<Affine3<T>> with T = float/double and loads poses from sequence of files
- Parameters
-
traj Output array containing a lists of poses. It can be - std::vector<cv::Affine3f>, std::vector<cv::Affine3d>
- cv::Mat
files_format Format specifier string for constructing filenames. The only placeholder in the string should support int
.start The initial counter for files_format. It must be greater than or equal to 0. end The final counter for files_format. tag Name of the matrix in the file.
◆ unregisterAllWindows()
void cv::viz::unregisterAllWindows | ( | ) |
#include <opencv2/viz/vizcore.hpp>
Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead of getting existing from the database.
◆ writeCloud()
void cv::viz::writeCloud | ( | const String & | file, |
InputArray | cloud, | ||
InputArray | colors = noArray() , |
||
InputArray | normals = noArray() , |
||
bool | binary = false |
||
) |
#include <opencv2/viz/vizcore.hpp>
Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly)
- Parameters
-
file Filename with extension. Supported formats: PLY, XYZ and OBJ. cloud Supported depths: CV_32F and CV_64F. Supported channels: 3 and 4. colors Used by PLY format only. Supported depth: CV_8U. Supported channels: 1, 3 and 4. normals Used by PLY and OBJ format only. Supported depths: CV_32F and CV_64F. Supported channels: 3 and 4. binary Used only for PLY format.
◆ writePose()
#include <opencv2/viz/vizcore.hpp>
- Parameters
-
file Filename. pose Input matrix. tag Name of the pose to be saved into the given file.
◆ writeTrajectory()
void cv::viz::writeTrajectory | ( | InputArray | traj, |
const String & | files_format = "pose%05d.xml" , |
||
int | start = 0 , |
||
const String & | tag = "pose" |
||
) |
#include <opencv2/viz/vizcore.hpp>
takes vector<Affine3<T>> with T = float/double and writes to a sequence of files with given filename format
- Parameters
-
traj Trajectory containing a list of poses. It can be files_format Format specifier string for constructing filenames. The only placeholder in the string should support int
.start The initial counter for files_format. tag Name of the matrix in the file.