OpenCV  3.2.0-dev
Open Source Computer Vision
cv::viz::WTrajectorySpheres Class Reference

This 3D Widget represents a trajectory using spheres and lines. More...

#include "widgets.hpp"

Inheritance diagram for cv::viz::WTrajectorySpheres:
Collaboration diagram for cv::viz::WTrajectorySpheres:

Public Member Functions

 WTrajectorySpheres (InputArray path, double line_length=0.05, double radius=0.007, const Color &from=Color::red(), const Color &to=Color::white())
 Constructs a WTrajectorySpheres. 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 a trajectory using spheres and lines.

where spheres represent the positions of the camera, and lines represent the direction from previous position to the current. :

Constructor & Destructor Documentation

cv::viz::WTrajectorySpheres::WTrajectorySpheres ( InputArray  path,
double  line_length = 0.05,
double  radius = 0.007,
const Color from = Color::red(),
const Color to = Color::white() 
)

Constructs a WTrajectorySpheres.

Parameters
pathList of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
line_lengthMax length of the lines which point to previous position
radiusRadius of the spheres.
fromColor for first sphere.
toColor for last sphere. Intermediate spheres will have interpolated color.

Member Function Documentation

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

Transforms internal widget data (i.e.

points, normals) using the given transform.

Parameters
transformSpecified transformation to apply.
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.
template<>
Widget3D cv::viz::Widget::cast ( )
inherited
template<>
WLine cv::viz::Widget::cast ( )
inherited
template<>
WPlane cv::viz::Widget::cast ( )
inherited
template<>
WSphere cv::viz::Widget::cast ( )
inherited
template<>
WCylinder cv::viz::Widget::cast ( )
inherited
template<>
WArrow cv::viz::Widget::cast ( )
inherited
template<>
WCircle cv::viz::Widget::cast ( )
inherited
template<>
WCone cv::viz::Widget::cast ( )
inherited
template<>
WCube cv::viz::Widget::cast ( )
inherited
template<>
WCoordinateSystem cv::viz::Widget::cast ( )
inherited
template<>
WPolyLine cv::viz::Widget::cast ( )
inherited
template<>
WGrid cv::viz::Widget::cast ( )
inherited
template<>
WText3D cv::viz::Widget::cast ( )
inherited
template<>
WText cv::viz::Widget::cast ( )
inherited
template<>
WImageOverlay cv::viz::Widget::cast ( )
inherited
template<>
WImage3D cv::viz::Widget::cast ( )
inherited
template<>
WCameraPosition cv::viz::Widget::cast ( )
inherited
template<>
WTrajectory cv::viz::Widget::cast ( )
inherited
template<>
WTrajectoryFrustums cv::viz::Widget::cast ( )
inherited
template<>
WTrajectorySpheres cv::viz::Widget::cast ( )
inherited
template<>
WCloud cv::viz::Widget::cast ( )
inherited
template<>
WPaintedCloud cv::viz::Widget::cast ( )
inherited
template<>
WCloudCollection cv::viz::Widget::cast ( )
inherited
template<>
WCloudNormals cv::viz::Widget::cast ( )
inherited
template<>
WMesh cv::viz::Widget::cast ( )
inherited
template<>
WWidgetMerger cv::viz::Widget::cast ( )
inherited
static Widget cv::viz::Widget::fromPlyFile ( const String file_name)
staticinherited

Creates a widget from ply file.

Parameters
file_namePly file name.
Affine3d cv::viz::Widget3D::getPose ( ) const
inherited

Returns the current pose of the widget.

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

Returns rendering property of the widget.

Parameters
propertyProperty.

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

Sets the color of the widget.

Parameters
colorcolor of type Color
void cv::viz::Widget3D::setPose ( const Affine3d pose)
inherited

Sets pose of the widget.

Parameters
poseThe new pose of the widget.
void cv::viz::Widget::setRenderingProperty ( int  property,
double  value 
)
inherited

Sets rendering property of the widget.

Parameters
propertyProperty that will be modified.
valueThe 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 cv::viz::Widget3D::updatePose ( const Affine3d pose)
inherited

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

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

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