第二個demo如下,目標:
- 將小部件添加到可視化窗口
- 使用Affine3設置小部件的姿勢
- 沿軸旋轉和平移窗口小部件
#include <opencv2/viz.hpp>
#include <opencv2/calib3d.hpp>
#include <iostream>
using namespace cv;
using namespace std;
int main()
{
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) += (float)CV_PI * 0.01f;
rot_vec.at<float>(0, 1) += (float)CV_PI * 0.01f;
rot_vec.at<float>(0, 2) += (float)CV_PI * 0.01f;
translation_phase += (float)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;
}
使用CoordinateSystemWidget在窗口中顯示座標軸。
myWindow.showWidget(“ Coordinate Widget”,viz :: WCoordinateSystem());
顯示代表軸(1,1,1)的線,在座標系畫一條線,指定起點和終點,線寬4.0
從rodrigues矢量創建旋轉矩陣
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設置立方體的位置
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose);
然後就是顯示了,是一個立方體旋轉的動畫效果,這時候就要注意while循環中的myWindow.spinOnce(1, true)的妙用了