3D Visualizer

Modules
	Widget

Classes
class	cv::viz::Camera
	This class wraps intrinsic parameters of a camera. More...
class	cv::viz::Color
	This class a represents BGR color. More...
class	cv::viz::KeyboardEvent
	This class represents a keyboard event. More...
class	cv::viz::Mesh
	This class wraps mesh attributes, and it can load a mesh from a ply file. : More...
class	cv::viz::MouseEvent
	This class represents a mouse event. More...
class	cv::viz::Viz3d
	The Viz3d class represents a 3D visualizer window. This class is implicitly shared. : More...

Functions
void	cv::viz::computeNormals (const Mesh &mesh, OutputArray normals)
	Computing normals for mesh. More...
Viz3d	cv::viz::getWindowByName (const String &window_name)
	Retrieves a window by its name. More...
Viz3d	cv::viz::imshow (const String &window_name, InputArray image, const Size &window_size=Size(-1, -1))
	Displays image in specified window. More...
bool	cv::viz::isNan (float x)
	Checks float/double value for nan. More...
bool	cv::viz::isNan (double x)
	Checks float/double value for nan. More...
template<typename _Tp , int cn>
bool	cv::viz::isNan (const Vec< _Tp, cn > &v)
	Checks float/double value for nan. More...
template<typename _Tp >
bool	cv::viz::isNan (const Point3_< _Tp > &p)
	Checks float/double value for nan. More...
Affine3d	cv::viz::makeCameraPose (const Vec3d &position, const Vec3d &focal_point, const Vec3d &y_dir)
	Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation). More...
Affine3d	cv::viz::makeTransformToGlobal (const Vec3d &axis_x, const Vec3d &axis_y, const Vec3d &axis_z, const Vec3d &origin=Vec3d::all(0))
	Takes coordinate frame data and builds transform to global coordinate frame. More...
Mat	cv::viz::readCloud (const String &file, OutputArray colors=noArray(), OutputArray normals=noArray())
Mesh	cv::viz::readMesh (const String &file)
	Reads mesh. Only ply format is supported now and no texture load support. More...
bool	cv::viz::readPose (const String &file, Affine3d &pose, const String &tag="pose")
	Read/write poses and trajectories. More...
void	cv::viz::readTrajectory (OutputArray traj, const String &files_format="pose%05d.xml", int start=0, int end=INT_MAX, const String &tag="pose")
	takes vector<Affine3<T>> with T = float/dobule and loads poses from sequence of files More...
void	cv::viz::unregisterAllWindows ()
	Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead getting existing from the database. More...
void	cv::viz::writeCloud (const String &file, InputArray cloud, InputArray colors=noArray(), InputArray normals=noArray(), bool binary=false)
	Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly) More...
void	cv::viz::writePose (const String &file, const Affine3d &pose, const String &tag="pose")
void	cv::viz::writeTrajectory (InputArray traj, const String &files_format="pose%05d.xml", int start=0, const String &tag="pose")
	takes vector<Affine3<T>> with T = float/dobule and writes to a sequence of files with given filename format More...

Detailed Description

This section describes 3D visualization window as well as classes and methods that are used to interact with it.

3D visualization window (see Viz3d) is used to display widgets (see Widget), and it provides several methods to interact with scene and widgets.

Function Documentation

computeNormals()

void cv::viz::computeNormals	(	const Mesh &	mesh,
		OutputArray	normals
	)

Computing normals for mesh.

getWindowByName()

Viz3d cv::viz::getWindowByName

(

const String &

window_name

)

Retrieves a window by its name.

Parameters

window_name

Name of the window that is to be retrieved.

This function returns a Viz3d object with the given name.

Note

If the window with that name already exists, that window is returned. Otherwise, new window is created with the given name, and it is returned.

Window names are automatically prefixed by "Viz - " if it is not done by the user.

viz::Viz3d window   = viz::getWindowByName("myWindow");
viz::Viz3d window_2 = viz::getWindowByName("Viz - myWindow");

imshow()

Viz3d cv::viz::imshow	(	const String &	window_name,
		InputArray	image,
		const Size &	window_size = Size(-1, -1)
	)

Displays image in specified window.

isNan() [1/4]

bool cv::viz::isNan ( float  x )

inline

Checks float/double value for nan.

Parameters

x	return true if nan.

isNan() [2/4]

bool cv::viz::isNan ( double  x )

inline

Checks float/double value for nan.

Parameters

x	return true if nan.

isNan() [3/4]

template<typename _Tp , int cn>

bool cv::viz::isNan ( const Vec< _Tp, cn > &  v )

inline

Checks float/double value for nan.

Parameters

v	return true if any of the elements of the vector is nan.

isNan() [4/4]

template<typename _Tp >

bool cv::viz::isNan ( const Point3_< _Tp > &  p )

inline

Checks float/double value for nan.

Parameters

p	return true if any of the elements of the point is nan.

makeCameraPose()

Affine3d cv::viz::makeCameraPose	(	const Vec3d &	position,
		const Vec3d &	focal_point,
		const Vec3d &	y_dir
	)

Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation).

Parameters

position	Position of the camera in global coordinate frame.
focal_point	Focal point of the camera in global coordinate frame.
y_dir	Up vector of the camera in global coordinate frame.

This function returns pose of the camera in global coordinate frame.

makeTransformToGlobal()

Affine3d cv::viz::makeTransformToGlobal	(	const Vec3d &	axis_x,
		const Vec3d &	axis_y,
		const Vec3d &	axis_z,
		const Vec3d &	origin = Vec3d::all(0)
	)

Takes coordinate frame data and builds transform to global coordinate frame.

Parameters

axis_x	X axis vector in global coordinate frame.
axis_y	Y axis vector in global coordinate frame.
axis_z	Z axis vector in global coordinate frame.
origin	Origin of the coordinate frame in global coordinate frame.

This function returns affine transform that describes transformation between global coordinate frame and a given coordinate frame.

readCloud()

Mat cv::viz::readCloud	(	const String &	file,
		OutputArray	colors = noArray(),
		OutputArray	normals = noArray()
	)

readMesh()

Mesh cv::viz::readMesh

(

const String &

file

)

Reads mesh. Only ply format is supported now and no texture load support.

readPose()

bool cv::viz::readPose	(	const String &	file,
		Affine3d &	pose,
		const String &	tag = "pose"
	)

Read/write poses and trajectories.

readTrajectory()

void cv::viz::readTrajectory	(	OutputArray	traj,
		const String &	files_format = "pose%05d.xml",
		int	start = 0,
		int	end = INT_MAX,
		const String &	tag = "pose"
	)

takes vector<Affine3<T>> with T = float/dobule and loads poses from sequence of files

unregisterAllWindows()

void cv::viz::unregisterAllWindows

(

)

Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead getting existing from the database.

writeCloud()

void cv::viz::writeCloud	(	const String &	file,
		InputArray	cloud,
		InputArray	colors = noArray(),
		InputArray	normals = noArray(),
		bool	binary = false
	)

Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly)

writePose()

void cv::viz::writePose	(	const String &	file,
		const Affine3d &	pose,
		const String &	tag = "pose"
	)

writeTrajectory()

void cv::viz::writeTrajectory	(	InputArray	traj,
		const String &	files_format = "pose%05d.xml",
		int	start = 0,
		const String &	tag = "pose"
	)

takes vector<Affine3<T>> with T = float/dobule and writes to a sequence of files with given filename format