cv::viz::WCameraPosition Class Reference

This 3D Widget represents camera position in a scene by its axes or viewing frustum. More...

#include "widgets.hpp"

Inheritance diagram for cv::viz::WCameraPosition:

Collaboration diagram for cv::viz::WCameraPosition:

Public Member Functions
	WCameraPosition (double scale=1.0)
	Creates camera coordinate frame at the origin. More...
	WCameraPosition (const Matx33d &K, double scale=1.0, const Color &color=Color::white())
	Display the viewing frustum. More...
	WCameraPosition (const Vec2d &fov, double scale=1.0, const Color &color=Color::white())
	Display the viewing frustum. More...
	WCameraPosition (const Matx33d &K, InputArray image, double scale=1.0, const Color &color=Color::white())
	Display image on the far plane of the viewing frustum. More...
	WCameraPosition (const Vec2d &fov, InputArray image, double scale=1.0, const Color &color=Color::white())
	Display image on the far plane of the viewing frustum. More...
void	applyTransform (const Affine3d &transform)
	Transforms internal widget data (i.e. More...
template<typename _W >
_W	cast ()
	Casts a widget to another. More...
template<>
Widget2D	cast ()
	Utility exports. More...
template<>
Widget3D	cast ()
template<>
WLine	cast ()
template<>
WPlane	cast ()
template<>
WSphere	cast ()
template<>
WCylinder	cast ()
template<>
WArrow	cast ()
template<>
WCircle	cast ()
template<>
WCone	cast ()
template<>
WCube	cast ()
template<>
WCoordinateSystem	cast ()
template<>
WPolyLine	cast ()
template<>
WGrid	cast ()
template<>
WText3D	cast ()
template<>
WText	cast ()
template<>
WImageOverlay	cast ()
template<>
WImage3D	cast ()
template<>
WCameraPosition	cast ()
template<>
WTrajectory	cast ()
template<>
WTrajectoryFrustums	cast ()
template<>
WTrajectorySpheres	cast ()
template<>
WCloud	cast ()
template<>
WPaintedCloud	cast ()
template<>
WCloudCollection	cast ()
template<>
WCloudNormals	cast ()
template<>
WMesh	cast ()
template<>
WWidgetMerger	cast ()
Affine3d	getPose () const
	Returns the current pose of the widget. More...
double	getRenderingProperty (int property) const
	Returns rendering property of the widget. More...
void	setColor (const Color &color)
	Sets the color of the widget. More...
void	setPose (const Affine3d &pose)
	Sets pose of the widget. More...
void	setRenderingProperty (int property, double value)
	Sets rendering property of the widget. More...
void	updatePose (const Affine3d &pose)
	Updates pose of the widget by pre-multiplying its current pose. More...

Static Public Member Functions
static Widget	fromPlyFile (const String &file_name)
	Creates a widget from ply file. More...

Detailed Description

This 3D Widget represents camera position in a scene by its axes or viewing frustum.

:

Constructor & Destructor Documentation

WCameraPosition() [1/5]

cv::viz::WCameraPosition::WCameraPosition

(

double

scale = 1.0

)

Creates camera coordinate frame at the origin.

Camera coordinate frame

WCameraPosition() [2/5]

cv::viz::WCameraPosition::WCameraPosition	(	const Matx33d &	K,
		double	scale = 1.0,
		const Color &	color = Color::white()
	)

Display the viewing frustum.

Parameters

K	Intrinsic matrix of the camera.
scale	Scale of the frustum.
color	Color of the frustum.

Creates viewing frustum of the camera based on its intrinsic matrix K.

Camera viewing frustum

WCameraPosition() [3/5]

cv::viz::WCameraPosition::WCameraPosition	(	const Vec2d &	fov,
		double	scale = 1.0,
		const Color &	color = Color::white()
	)

Display the viewing frustum.

Parameters

fov	Field of view of the camera (horizontal, vertical).
scale	Scale of the frustum.
color	Color of the frustum.

Creates viewing frustum of the camera based on its field of view fov.

Camera viewing frustum

WCameraPosition() [4/5]

cv::viz::WCameraPosition::WCameraPosition	(	const Matx33d &	K,
		InputArray	image,
		double	scale = 1.0,
		const Color &	color = Color::white()
	)

Display image on the far plane of the viewing frustum.

Parameters

K	Intrinsic matrix of the camera.
image	BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
scale	Scale of the frustum and image.
color	Color of the frustum.

Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.

Camera viewing frustum with image

WCameraPosition() [5/5]

cv::viz::WCameraPosition::WCameraPosition	(	const Vec2d &	fov,
		InputArray	image,
		double	scale = 1.0,
		const Color &	color = Color::white()
	)

Display image on the far plane of the viewing frustum.

Parameters

fov	Field of view of the camera (horizontal, vertical).
image	BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum.
scale	Scale of the frustum and image.
color	Color of the frustum.

Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on the far end plane.

Camera viewing frustum with image

Member Function Documentation

applyTransform()

void cv::viz::Widget3D::applyTransform ( const Affine3d &  transform )

inherited

Transforms internal widget data (i.e.

points, normals) using the given transform.

Parameters

transform

Specified transformation to apply.

cast() [1/27]

template<typename _W >

_W cv::viz::Widget::cast ( )

inherited

Casts a widget to another.

// Create a sphere widget
viz::WSphere sw(Point3f(0.0f,0.0f,0.0f), 0.5f);
// Cast sphere widget to cloud widget
viz::WCloud cw = sw.cast<viz::WCloud>();

Note

3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets.

cast() [2/27]

template<>

Widget3D cv::viz::Widget::cast ( )

inherited

cast() [3/27]

template<>

WLine cv::viz::Widget::cast ( )

inherited

cast() [4/27]

template<>

WPlane cv::viz::Widget::cast ( )

inherited

cast() [5/27]

template<>

WSphere cv::viz::Widget::cast ( )

inherited

cast() [6/27]

template<>

WCylinder cv::viz::Widget::cast ( )

inherited

cast() [7/27]

template<>

WArrow cv::viz::Widget::cast ( )

inherited

cast() [8/27]

template<>

WCircle cv::viz::Widget::cast ( )

inherited

cast() [9/27]

template<>

WCone cv::viz::Widget::cast ( )

inherited

cast() [10/27]

template<>

WCube cv::viz::Widget::cast ( )

inherited

cast() [11/27]

template<>

WCoordinateSystem cv::viz::Widget::cast ( )

inherited

cast() [12/27]

template<>

WPolyLine cv::viz::Widget::cast ( )

inherited

cast() [13/27]

template<>

WGrid cv::viz::Widget::cast ( )

inherited

cast() [14/27]

template<>

WText3D cv::viz::Widget::cast ( )

inherited

cast() [15/27]

template<>

WText cv::viz::Widget::cast ( )

inherited

cast() [16/27]

template<>

WImageOverlay cv::viz::Widget::cast ( )

inherited

cast() [17/27]

template<>

WImage3D cv::viz::Widget::cast ( )

inherited

cast() [18/27]

template<>

WCameraPosition cv::viz::Widget::cast ( )

inherited

cast() [19/27]

template<>

WTrajectory cv::viz::Widget::cast ( )

inherited

cast() [20/27]

template<>

WTrajectoryFrustums cv::viz::Widget::cast ( )

inherited

cast() [21/27]

template<>

WTrajectorySpheres cv::viz::Widget::cast ( )

inherited

cast() [22/27]

template<>

WCloud cv::viz::Widget::cast ( )

inherited

cast() [23/27]

template<>

WPaintedCloud cv::viz::Widget::cast ( )

inherited

cast() [24/27]

template<>

WCloudCollection cv::viz::Widget::cast ( )

inherited

cast() [25/27]

template<>

WCloudNormals cv::viz::Widget::cast ( )

inherited

cast() [26/27]

template<>

WMesh cv::viz::Widget::cast ( )

inherited

cast() [27/27]

template<>

WWidgetMerger cv::viz::Widget::cast ( )

inherited

fromPlyFile()

static Widget cv::viz::Widget::fromPlyFile ( const String &  file_name )

staticinherited

Creates a widget from ply file.

Parameters

file_name

Ply file name.

getPose()

Affine3d cv::viz::Widget3D::getPose ( ) const

inherited

Returns the current pose of the widget.

getRenderingProperty()

double cv::viz::Widget::getRenderingProperty ( int  property ) const

inherited

Returns rendering property of the widget.

Parameters

property

Property.

Rendering property can be one of the following:

• POINT_SIZE
• OPACITY
• LINE_WIDTH
• FONT_SIZE
• AMBIENT

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

setColor()

void cv::viz::Widget3D::setColor ( const Color &  color )

inherited

Sets the color of the widget.

Parameters

color

color of type Color

setPose()

void cv::viz::Widget3D::setPose ( const Affine3d &  pose )

inherited

Sets pose of the widget.

Parameters

pose	The new pose of the widget.

setRenderingProperty()

void cv::viz::Widget::setRenderingProperty ( int  property, double  value  )

inherited

Sets rendering property of the widget.

Parameters

property	Property that will be modified.
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

updatePose()

void cv::viz::Widget3D::updatePose ( const Affine3d &  pose )

inherited

Updates pose of the widget by pre-multiplying its current pose.

Parameters

pose	The pose that the current pose of the widget will be pre-multiplied by.

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The documentation for this class was generated from the following file:

• viz/include/opencv2/viz/widgets.hpp