d8/df0/tutorial_widget_pose.html

#include <opencv2/viz.hpp>

#include <opencv2/geometry.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;


    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);

    cout << "rot_mat = " << rot_mat << endl;

 Affine3f pose(rot_mat, Vec3f(translation, translation, translation));

 Affine3f pose2(pose.matrix);

    cout << "pose = " << pose.matrix << endl;

    cout << "pose = " << pose2.matrix << endl;


 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_mat1;

        Rodrigues(rot_vec, rot_mat1);


 Affine3f pose1(rot_mat1, Vec3f(translation, translation, translation));


        myWindow.setWidgetPose("Cube Widget", pose1);


        myWindow.spinOnce(1, true);

    }


 return 0;

}

cv::Affine3< float >

cv::Mat
Comma-separated Matrix Initializer.
Definition mat.hpp:964

cv::Mat::at
_Tp & at(int i0=0)
Returns a reference to the specified array element.

cv::Point3_
Template class for 3D points specified by its coordinates x, y and z.
Definition types.hpp:255

cv::Vec< float, 3 >

cv::viz::Viz3d
The Viz3d class represents a 3D visualizer window. This class is implicitly shared.
Definition viz3d.hpp:68

cv::viz::WCoordinateSystem
Compound widgets.
Definition widgets.hpp:514

cv::viz::WCube
This 3D Widget defines a cube.
Definition widgets.hpp:373

cv::viz::WLine
Simple widgets.
Definition widgets.hpp:236

geometry.hpp

CV_32F
#define CV_32F
Definition interface.h:59

CV_PI
#define CV_PI
Definition cvdef.h:386

main
int main(int argc, char *argv[])
Definition highgui_qt.cpp:3

cv
Definition core.hpp:107

std
STL namespace.

viz.hpp