Pose of a widget
2018-10-27 10:28 更新
目标
在本教程中,您将学习如何
- 将窗口小部件添加到可视化窗口
- 使用Affine3设置窗口Pose of a widget
旋转和平移沿轴部件
Code
你可以从这里下载代码。
#include <opencv2/viz.hpp>
#include <opencv2/calib3d.hpp>
#include <iostream>
using namespace cv;
using namespace std;
static void help()
{
cout
<< "--------------------------------------------------------------------------" << endl
<< "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
<< "using Rodrigues vector." << endl
<< "Usage:" << endl
<< "./widget_pose" << endl
<< endl;
}
int main()
{
help();
viz::Viz3d myWindow("Coordinate Frame");
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis);
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Cube Widget", cube_widget);
Mat rot_vec = Mat::zeros(1,3,CV_32F);
float translation_phase = 0.0, translation = 0.0;
while(!myWindow.wasStopped())
{
/* Rotation using rodrigues */
rot_vec.at<float>(0,0) += CV_PI * 0.01f;
rot_vec.at<float>(0,1) += CV_PI * 0.01f;
rot_vec.at<float>(0,2) += CV_PI * 0.01f;
translation_phase += CV_PI * 0.01f;
translation = sin(translation_phase);
Mat rot_mat;
Rodrigues(rot_vec, rot_mat);
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose);
myWindow.spinOnce(1, true);
}
return 0;
}
说明
这是程序的一般结构:
- 创建一个可视化窗口。
viz :: Viz3d myWindow(“Coordinate Frame”);
- 使用CoordinateSystemWidget在窗口中显示坐标轴。
myWindow.showWidget(“Coordinate Widget”,viz :: WCoordinateSystem());
- 显示一条表示轴(1,1,1)的线。
viz :: WLine axis(Point3f(-1.0f,-1.0f,-1.0f),Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz :: LINE_WIDTH,4.0);
myWindow.showWidget(“Line Widget”,axis);
- 建立方体
viz :: WCube cube_widget(Point3f(0.5,0.5,0.0),Point3f(0.0,0.0,-0.5),true,viz :: Color :: blue());
cube_widget.setRenderingProperty(viz :: LINE_WIDTH,4.0);
myWindow.showWidget(“Cube Widget”,cube_widget);
从rodrigues向量创建旋转矩阵
rot_vec.at<float>(0,0) += CV_PI * 0.01f;
rot_vec.at<float>(0,1) += CV_PI * 0.01f;
rot_vec.at<float>(0,2) += CV_PI * 0.01f;
...
Mat rot_mat;
Rodrigues(rot_vec, rot_mat);
- 使用Affine3f设置立方体的形态。
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose);
- 使用wasStopped和spinOnce动画旋转
while(!myWindow.wasStopped())
{
...
myWindow.spinOnce(1,true);
}
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