1 /** 2 * @file widget_pose.cpp 3 * @brief Setting pose of a widget 4 * @author Ozan Cagri Tonkal 5 */ 6 7 #include <opencv2/viz.hpp> 8 #include <opencv2/calib3d.hpp> 9 #include <iostream> 10 11 using namespace cv; 12 using namespace std; 13 14 /** 15 * @function help 16 * @brief Display instructions to use this tutorial program 17 */ 18 void help() 19 { 20 cout 21 << "--------------------------------------------------------------------------" << endl 22 << "This program shows how to visualize a cube rotated around (1,1,1) and shifted " 23 << "using Rodrigues vector." << endl 24 << "Usage:" << endl 25 << "./widget_pose" << endl 26 << endl; 27 } 28 29 /** 30 * @function main 31 */ 32 int main() 33 { 34 help(); 35 36 /// Create a window 37 viz::Viz3d myWindow("Coordinate Frame"); 38 39 /// Add coordinate axes 40 myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); 41 42 /// Add line to represent (1,1,1) axis 43 viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f)); 44 axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); 45 myWindow.showWidget("Line Widget", axis); 46 47 /// Construct a cube widget 48 viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue()); 49 cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); 50 myWindow.showWidget("Cube Widget", cube_widget); 51 52 /// Rodrigues vector 53 Mat rot_vec = Mat::zeros(1,3,CV_32F); 54 float translation_phase = 0.0, translation = 0.0; 55 while(!myWindow.wasStopped()) 56 { 57 /* Rotation using rodrigues */ 58 /// Rotate around (1,1,1) 59 rot_vec.at<float>(0,0) += CV_PI * 0.01f; 60 rot_vec.at<float>(0,1) += CV_PI * 0.01f; 61 rot_vec.at<float>(0,2) += CV_PI * 0.01f; 62 63 /// Shift on (1,1,1) 64 translation_phase += CV_PI * 0.01f; 65 translation = sin(translation_phase); 66 67 Mat rot_mat; 68 Rodrigues(rot_vec, rot_mat); 69 70 /// Construct pose 71 Affine3f pose(rot_mat, Vec3f(translation, translation, translation)); 72 73 myWindow.setWidgetPose("Cube Widget", pose); 74 75 myWindow.spinOnce(1, true); 76 } 77 78 return 0; 79 } 80
