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ptcloud: cv::viz3d OpenGL point-cloud/mesh visualization
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kirtijindal14
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#include "opencv2/ptcloud/odometry_frame.hpp"
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#include "opencv2/ptcloud/odometry_settings.hpp"
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#include "opencv2/ptcloud/slam.hpp"
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#include "opencv2/ptcloud/viz3d.hpp"
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/**
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@defgroup ptcloud Point Cloud Processing
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188
modules/ptcloud/include/opencv2/ptcloud/viz3d.hpp
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188
modules/ptcloud/include/opencv2/ptcloud/viz3d.hpp
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#ifndef OPENCV_PTCLOUD_VIZ3D_HPP
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#define OPENCV_PTCLOUD_VIZ3D_HPP
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#include "opencv2/core.hpp"
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namespace cv { namespace viz3d {
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//! Render modes for cv::viz3d::showBox / cv::viz3d::showPlane / cv::viz3d::showSphere
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enum RenderMode
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{
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RENDER_SIMPLE = 0,
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RENDER_SHADING = 1,
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RENDER_WIREFRAME = 2,
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};
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/** @brief Sets the view's perspective on a viz3d window.
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@param win_name Name of the viz3d window.
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@param fov Vertical field of view in radians.
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@param z_near Minimum clip distance.
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@param z_far Maximum clip distance.
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*/
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CV_EXPORTS_W void setPerspective(const String& win_name, float fov, float z_near, float z_far);
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/** @brief Hides or shows the grid on a viz3d window.
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@param win_name Name of the viz3d window.
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@param visible Should the grid be shown?
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*/
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CV_EXPORTS_W void setGridVisible(const String& win_name, bool visible);
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/** @brief Sets the properties of the light used on a viz3d window.
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@param win_name Name of the viz3d window.
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@param direction Direction any point to the sun.
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@param ambient Ambient light color.
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@param diffuse Diffuse light color.
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*/
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CV_EXPORTS_W void setSun(const String& win_name, const Vec3f& direction, const Vec3f& ambient, const Vec3f& diffuse);
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/** @brief Sets the properties of the sky used on a viz3d window.
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@param win_name Name of the viz3d window.
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@param color Sky color.
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*/
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CV_EXPORTS_W void setSky(const String& win_name, const Vec3f& color);
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/** @brief Shows a box object in the specified viz3d window. See cv::viz3d::destroyObject.
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param size Box size.
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@param color Box color.
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@param mode Render mode.
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*/
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CV_EXPORTS_W void showBox(const String& win_name, const String& obj_name, const Vec3f& size, const Vec3f& color, RenderMode mode = RENDER_SIMPLE);
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/** @brief Shows a plane object in the specified viz3d window. See cv::viz3d::destroyObject.
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The place faces the positive Y axis by default.
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param size Plane size.
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@param color Plane color.
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@param mode Render mode.
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*/
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CV_EXPORTS_W void showPlane(const String& win_name, const String& obj_name, const Vec2f& size, const Vec3f& color, RenderMode mode = RENDER_SIMPLE);
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/** @brief Shows a sphere object in the specified viz3d window. See cv::viz3d::destroyObject.
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param radius Sphere radius.
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@param color Sphere color.
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@param mode Render mode.
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@param divs The higher this integer is the more detail (triangles) the sphere has.
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*/
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CV_EXPORTS_W void showSphere(const String& win_name, const String& obj_name, float radius, const Vec3f& color, RenderMode mode = RENDER_SIMPLE, int divs = 3);
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/** @brief Shows a camera trajectory object in the specified viz3d window. See cv::viz3d::destroyObject.
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The camera trajectory data array must be 2D. Each row has a width of 6, where the first
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3 components are the position and the second 3 components are the direction of the camera.
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param trajectory Camera trajectory data.
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@param aspect Aspect ratio of the camera frustum.
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@param scale Scale applied to camera frustums.
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@param frustum_color Color of the frustums.
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@param line_color Color of the line.
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*/
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// Not CV_EXPORTS_W: the auto-bindings generator mishandles the two trailing
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// Vec3f defaults (like the other Vec3f-taking viz3d functions, it stays C++-only).
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CV_EXPORTS void showCameraTrajectory(
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const String& win_name, const String& obj_name, InputArray trajectory,
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float aspect, float scale, Vec3f frustum_color = Vec3f(1.0f, 1.0f, 1.0f),
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Vec3f line_color = Vec3f(0.5f, 0.5f, 0.5f));
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/** @brief Shows a mesh object in the specified viz3d window. See cv::viz3d::destroyObject.
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The vertices array must be 2D. If shading is disabled (the default option), each row has a width of
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3 (xyz), 6 (xyz, rgb) or 9 (xyz, rgb, uvw) where uvw is the normal, so that each row represents a vertex.
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Shading is only enabled when using normals.
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param verts Vertices input array.
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@param indices Indices input array.
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*/
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CV_EXPORTS void showMesh(const String& win_name, const String& obj_name, InputArray verts, InputArray indices);
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/** @overload Shows a mesh object in the specified viz3d window. See cv::viz3d::destroyObject.
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The vertices array must be 2D, where each row has a width of 3 (xyz), 6 (xyz, rgb) or 9 (xyz, rgb, uvw)
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where uvw is the normal, so that each row represents a vertex. Shading is only enabled when using normals.
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Points are grouped in triplets to make triangles (points 1, 2 and 3, points 4, 5 and 6, etc).
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param verts Vertices input array.
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@param indices Indices input array.
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*/
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CV_EXPORTS_AS(showMesh2) void showMesh(const String& win_name, const String& obj_name, InputArray verts);
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/** @brief Shows a point cloud object in the specified viz3d window. See cv::viz3d::destroyObject.
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The points array must be 2D, where each row has either a width of 6 (xyz, rgb), so that
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each row represents a point.
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param points Vertices input array.
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*/
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CV_EXPORTS_W void showPoints(const String& win_name, const String& obj_name, InputArray points);
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/** @brief Shows a colored depth map as a point cloud in the specified viz3d window. See cv::viz3d::destroyObject.
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The colored depth map must be a 2D image with 4 channels (RGBD). The points are created assuming
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that positive depth means positive position in the Z axis.
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param img Input colored depth map.
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@param intrinsics Camera intrinsics matrix.
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@param scale Scale applied to the coordinates of the points.
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*/
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CV_EXPORTS_W void showRGBD(const String& win_name, const String& obj_name, InputArray img, const Matx33f& intrinsics, float scale = 1.0f);
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/** @brief Shows a lines object in the specified viz3d window. See cv::viz3d::destroyObject.
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The points array must be 2D, where each row has either a width of 6 (xyz, rgb), so that
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each row represents a point. Points are grouped in pairs to make lines (points 1 and 2,
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points 3 and 4, etc).
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param points Vertices input array.
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*/
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CV_EXPORTS_W void showLines(const String& win_name, const String& obj_name, InputArray points);
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/** @brief Sets an object's position in the specified viz3d window.
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param position New position.
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*/
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CV_EXPORTS_W void setObjectPosition(const String& win_name, const String& obj_name, const Vec3f& position);
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/** @brief Sets an object's rotation in the specified viz3d window.
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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@param rotation New rotation in euler angles (radians).
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*/
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CV_EXPORTS_W void setObjectRotation(const String& win_name, const String& obj_name, const Vec3f& rotation);
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/** @brief Destroys an object created with cv::viz3d::showMesh or cv::viz3d::showPoints.
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@param win_name Name of the viz3d window.
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@param obj_name Name of the object.
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*/
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CV_EXPORTS_W void destroyObject(const String& win_name, const String& obj_name);
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} // namespace viz3d
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} // namespace cv
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#endif
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