The Viz3d class represents a 3D visualizer window. This class is implicitly shared. More...

#include "viz3d.hpp"

Public Types
typedef cv::viz::Color	Color

typedef void(*	KeyboardCallback) (const KeyboardEvent &, void *)

typedef void(*	MouseCallback) (const MouseEvent &, void *)

Public Member Functions
	Viz3d (const String &window_name=String())
	The constructors. More...

	Viz3d (const Viz3d &)

	~Viz3d ()

void	addLight (Vec3d position, Vec3d focalPoint=Vec3d(0, 0, 0), Color color=Color::white(), Color diffuseColor=Color::white(), Color ambientColor=Color::black(), Color specularColor=Color::white())
	Add a light in the scene. More...

void	close ()

void	converTo3DRay (const Point3d &window_coord, Point3d &origin, Vec3d &direction)
	Transforms a point in window coordinate system to a 3D ray in world coordinate system. More...

void	convertToWindowCoordinates (const Point3d &pt, Point3d &window_coord)
	Transforms a point in world coordinate system to window coordinate system. More...

Camera	getCamera () const
	Returns a camera object that contains intrinsic parameters of the current viewer. More...

double	getRenderingProperty (const String &id, int property)
	Returns rendering property of a widget. More...

cv::Mat	getScreenshot () const
	Returns the Mat screenshot of the current scene. More...

Affine3d	getViewerPose () const
	Returns the current pose of the viewer. More...

Widget	getWidget (const String &id) const
	Retrieves a widget from the window. More...

Affine3d	getWidgetPose (const String &id) const
	Returns the current pose of a widget in the window. More...

String	getWindowName () const
	Returns the name of the window which has been set in the constructor. `Viz -` is prepended to the name if necessary. More...

Size	getWindowSize () const
	Returns the current size of the window. More...

Viz3d &	operator= (const Viz3d &)

void	registerKeyboardCallback (KeyboardCallback callback, void *cookie=0)
	Sets keyboard handler. More...

void	registerMouseCallback (MouseCallback callback, void *cookie=0)
	Sets mouse handler. More...

void	removeAllLights ()
	Remove all lights from the current scene. More...

void	removeAllWidgets ()
	Removes all widgets from the window. More...

void	removeWidget (const String &id)
	Removes a widget from the window. More...

void	resetCamera ()
	Resets camera. More...

void	resetCameraViewpoint (const String &id)
	Resets camera viewpoint to a 3D widget in the scene. More...

void	saveScreenshot (const String &file)
	Saves screenshot of the current scene. More...

void	setBackgroundColor (const Color &color=Color::black(), const Color &color2=Color::not_set())
	Sets background color. More...

void	setBackgroundMeshLab ()

void	setBackgroundTexture (InputArray image=noArray())

void	setCamera (const Camera &camera)
	Sets the intrinsic parameters of the viewer using Camera. More...

void	setFullScreen (bool mode=true)
	Sets or unsets full-screen rendering mode. More...

void	setGlobalWarnings (bool enabled=false)

void	setOffScreenRendering ()
	Create a window in memory instead of on the screen. More...

void	setRenderingProperty (const String &id, int property, double value)
	Sets rendering property of a widget. More...

void	setRepresentation (int representation)
	Sets geometry representation of the widgets to surface, wireframe or points. More...

void	setViewerPose (const Affine3d &pose)
	Sets pose of the viewer. More...

void	setWidgetPose (const String &id, const Affine3d &pose)
	Sets pose of a widget in the window. More...

void	setWindowPosition (const Point &window_position)
	Sets the position of the window in the screen. More...

void	setWindowSize (const Size &window_size)
	Sets the size of the window. More...

void	showImage (InputArray image, const Size &window_size=Size(-1, -1))
	Removed all widgets and displays image scaled to whole window area. More...

void	showWidget (const String &id, const Widget &widget, const Affine3d &pose=Affine3d::Identity())
	Shows a widget in the window. More...

void	spin ()
	The window renders and starts the event loop. More...

void	spinOnce (int time=1, bool force_redraw=false)
	Starts the event loop for a given time. More...

void	updateWidgetPose (const String &id, const Affine3d &pose)
	Updates pose of a widget in the window by pre-multiplying its current pose. More...

bool	wasStopped () const
	Returns whether the event loop has been stopped. More...

Friends
class	VizStorage

Detailed Description

The Viz3d class represents a 3D visualizer window. This class is implicitly shared.

Member Typedef Documentation

§ Color

typedef cv::viz::Color cv::viz::Viz3d::Color

§ KeyboardCallback

typedef void(* cv::viz::Viz3d::KeyboardCallback) (const KeyboardEvent &, void *)

§ MouseCallback

typedef void(* cv::viz::Viz3d::MouseCallback) (const MouseEvent &, void *)

Constructor & Destructor Documentation

§ Viz3d() [1/2]

cv::viz::Viz3d::Viz3d ( const String & window_name = String() )

The constructors.

Parameters

window_name Name of the window.

§ Viz3d() [2/2]

cv::viz::Viz3d::Viz3d ( const Viz3d & )

§ ~Viz3d()

cv::viz::Viz3d::~Viz3d ( )

Member Function Documentation

§ addLight()

void cv::viz::Viz3d::addLight	(	Vec3d	position,
		Vec3d	focalPoint = `Vec3d(0, 0, 0)`,
		Color	color = `Color::white()`,
		Color	diffuseColor = `Color::white()`,
		Color	ambientColor = `Color::black()`,
		Color	specularColor = `Color::white()`
	)

Add a light in the scene.

Parameters

position	The position of the light.
focalPoint	The point at which the light is shining
color	The color of the light
diffuseColor	The diffuse color of the light
ambientColor	The ambient color of the light
specularColor	The specular color of the light

§ close()

void cv::viz::Viz3d::close ( )

§ converTo3DRay()

void cv::viz::Viz3d::converTo3DRay	(	const Point3d &	window_coord,
		Point3d &	origin,
		Vec3d &	direction
	)

Transforms a point in window coordinate system to a 3D ray in world coordinate system.

Parameters

window_coord	Point in window coordinate system.
origin	Output origin of the ray.
direction	Output direction of the ray.

§ convertToWindowCoordinates()

void cv::viz::Viz3d::convertToWindowCoordinates	(	const Point3d &	pt,
		Point3d &	window_coord
	)

Transforms a point in world coordinate system to window coordinate system.

Parameters

pt	Point in world coordinate system.
window_coord	Output point in window coordinate system.

§ getCamera()

Camera cv::viz::Viz3d::getCamera ( ) const

Returns a camera object that contains intrinsic parameters of the current viewer.

§ getRenderingProperty()

double cv::viz::Viz3d::getRenderingProperty	(	const String &	id,
		int	property
	)

Returns rendering property of a widget.

Parameters

id	Id of the widget.
property	Property.

Rendering property can be one of the following:

POINT_SIZE
OPACITY
LINE_WIDTH
FONT_SIZE

REPRESENTATION: Expected values are

REPRESENTATION_POINTS
REPRESENTATION_WIREFRAME
REPRESENTATION_SURFACE

IMMEDIATE_RENDERING:

Turn on immediate rendering by setting the value to 1.
Turn off immediate rendering by setting the value to 0.

SHADING: Expected values are

SHADING_FLAT
SHADING_GOURAUD
SHADING_PHONG

§ getScreenshot()

cv::Mat cv::viz::Viz3d::getScreenshot ( ) const

Returns the Mat screenshot of the current scene.

§ getViewerPose()

Affine3d cv::viz::Viz3d::getViewerPose ( ) const

Returns the current pose of the viewer.

§ getWidget()

Widget cv::viz::Viz3d::getWidget ( const String & id ) const

Retrieves a widget from the window.

A widget is implicitly shared; that is, if the returned widget is modified, the changes will be immediately visible in the window.

Parameters

id	The id of the widget that will be returned.

§ getWidgetPose()

Affine3d cv::viz::Viz3d::getWidgetPose ( const String & id ) const

Returns the current pose of a widget in the window.

Parameters

id	The id of the widget whose pose will be returned.

§ getWindowName()

String cv::viz::Viz3d::getWindowName ( ) const

Returns the name of the window which has been set in the constructor. Viz - is prepended to the name if necessary.

§ getWindowSize()

Size cv::viz::Viz3d::getWindowSize ( ) const

Returns the current size of the window.

§ operator=()

Viz3d& cv::viz::Viz3d::operator= ( const Viz3d & )

§ registerKeyboardCallback()

void cv::viz::Viz3d::registerKeyboardCallback	(	KeyboardCallback	callback,
		void *	cookie = `0`
	)

Sets keyboard handler.

Parameters

callback	Keyboard callback (void (KeyboardCallbackFunction(const KeyboardEvent&, void)).
cookie	The optional parameter passed to the callback.

§ registerMouseCallback()

void cv::viz::Viz3d::registerMouseCallback	(	MouseCallback	callback,
		void *	cookie = `0`
	)

Sets mouse handler.

Parameters

callback	Mouse callback (void (MouseCallback)(const MouseEvent&, void)).
cookie	The optional parameter passed to the callback.

§ removeAllLights()

void cv::viz::Viz3d::removeAllLights ( )

Remove all lights from the current scene.

§ removeAllWidgets()

void cv::viz::Viz3d::removeAllWidgets ( )

Removes all widgets from the window.

§ removeWidget()

void cv::viz::Viz3d::removeWidget ( const String & id )

Removes a widget from the window.

Parameters

id	The id of the widget that will be removed.

§ resetCamera()

void cv::viz::Viz3d::resetCamera ( )

Resets camera.

§ resetCameraViewpoint()

void cv::viz::Viz3d::resetCameraViewpoint ( const String & id )

Resets camera viewpoint to a 3D widget in the scene.

Parameters

id	Id of a 3D widget.

§ saveScreenshot()

void cv::viz::Viz3d::saveScreenshot ( const String & file )

Saves screenshot of the current scene.

Parameters

file	Name of the file.

§ setBackgroundColor()

void cv::viz::Viz3d::setBackgroundColor	(	const Color &	color = `Color::black()`,
		const Color &	color2 = `Color::not_set()`
	)

Sets background color.

§ setBackgroundMeshLab()

void cv::viz::Viz3d::setBackgroundMeshLab ( )

§ setBackgroundTexture()

void cv::viz::Viz3d::setBackgroundTexture ( InputArray image = noArray() )

§ setCamera()

void cv::viz::Viz3d::setCamera ( const Camera & camera )

Sets the intrinsic parameters of the viewer using Camera.

Parameters

camera Camera object wrapping intrinsic parameters.

§ setFullScreen()

void cv::viz::Viz3d::setFullScreen ( bool mode = true )

Sets or unsets full-screen rendering mode.

Parameters

mode	If true, window will use full-screen mode.

§ setGlobalWarnings()

void cv::viz::Viz3d::setGlobalWarnings ( bool enabled = false )

§ setOffScreenRendering()

void cv::viz::Viz3d::setOffScreenRendering ( )

Create a window in memory instead of on the screen.

§ setRenderingProperty()

void cv::viz::Viz3d::setRenderingProperty	(	const String &	id,
		int	property,
		double	value
	)

Sets rendering property of a widget.

Parameters

id	Id of the widget.
property	Property that will be modified.
value	The new value of the property.

Rendering property can be one of the following:

POINT_SIZE
OPACITY
LINE_WIDTH
FONT_SIZE

REPRESENTATION: Expected values are

REPRESENTATION_POINTS
REPRESENTATION_WIREFRAME
REPRESENTATION_SURFACE

IMMEDIATE_RENDERING:

Turn on immediate rendering by setting the value to 1.
Turn off immediate rendering by setting the value to 0.

SHADING: Expected values are

SHADING_FLAT
SHADING_GOURAUD
SHADING_PHONG

§ setRepresentation()

void cv::viz::Viz3d::setRepresentation ( int representation )

Sets geometry representation of the widgets to surface, wireframe or points.

Parameters

representation

Geometry representation which can be one of the following:

REPRESENTATION_POINTS
REPRESENTATION_WIREFRAME
REPRESENTATION_SURFACE

§ setViewerPose()

void cv::viz::Viz3d::setViewerPose ( const Affine3d & pose )

Sets pose of the viewer.

Parameters

pose	The new pose of the viewer.

§ setWidgetPose()

void cv::viz::Viz3d::setWidgetPose	(	const String &	id,
		const Affine3d &	pose
	)

Sets pose of a widget in the window.

Parameters

id	The id of the widget whose pose will be set.
pose	The new pose of the widget.

§ setWindowPosition()

void cv::viz::Viz3d::setWindowPosition ( const Point & window_position )

Sets the position of the window in the screen.

Parameters

window_position coordinates of the window

§ setWindowSize()

void cv::viz::Viz3d::setWindowSize ( const Size & window_size )

Sets the size of the window.

Parameters

window_size New size of the window.

§ showImage()

void cv::viz::Viz3d::showImage	(	InputArray	image,
		const Size &	window_size = `Size(-1, -1)`
	)

Removed all widgets and displays image scaled to whole window area.

Parameters

image	Image to be displayed.
window_size	Size of Viz3d window. Default value means no change.

§ showWidget()

void cv::viz::Viz3d::showWidget	(	const String &	id,
		const Widget &	widget,
		const Affine3d &	pose = `Affine3d::Identity()`
	)

Shows a widget in the window.

Parameters

id	A unique id for the widget.
widget	The widget to be displayed in the window.
pose	Pose of the widget.

§ spin()

void cv::viz::Viz3d::spin ( )

The window renders and starts the event loop.

§ spinOnce()

void cv::viz::Viz3d::spinOnce	(	int	time = `1`,
		bool	force_redraw = `false`
	)

Starts the event loop for a given time.

Parameters

time	Amount of time in milliseconds for the event loop to keep running.
force_redraw	If true, window renders.

§ updateWidgetPose()

void cv::viz::Viz3d::updateWidgetPose	(	const String &	id,
		const Affine3d &	pose
	)

Updates pose of a widget in the window by pre-multiplying its current pose.

Parameters

id	The id of the widget whose pose will be updated.
pose	The pose that the current pose of the widget will be pre-multiplied by.

§ wasStopped()

bool cv::viz::Viz3d::wasStopped ( ) const

Returns whether the event loop has been stopped.

Friends And Related Function Documentation

§ VizStorage

friend class VizStorage

friend

The documentation for this class was generated from the following file:

viz/include/opencv2/viz/viz3d.hpp

Public Types

Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

§ Color

§ KeyboardCallback

§ MouseCallback

Constructor & Destructor Documentation

§ Viz3d() [1/2]

§ Viz3d() [2/2]

§ ~Viz3d()

Member Function Documentation

§ addLight()

§ close()

§ converTo3DRay()

§ convertToWindowCoordinates()

§ getCamera()

§ getRenderingProperty()

§ getScreenshot()

§ getViewerPose()

§ getWidget()

§ getWidgetPose()

§ getWindowName()

§ getWindowSize()

§ operator=()

§ registerKeyboardCallback()

§ registerMouseCallback()

§ removeAllLights()

§ removeAllWidgets()

§ removeWidget()

§ resetCamera()

§ resetCameraViewpoint()

§ saveScreenshot()

§ setBackgroundColor()

§ setBackgroundMeshLab()

§ setBackgroundTexture()

§ setCamera()

§ setFullScreen()

§ setGlobalWarnings()

§ setOffScreenRendering()

§ setRenderingProperty()

§ setRepresentation()

§ setViewerPose()

§ setWidgetPose()

§ setWindowPosition()

§ setWindowSize()

§ showImage()

§ showWidget()

§ spin()

§ spinOnce()

§ updateWidgetPose()

§ wasStopped()

Friends And Related Function Documentation

§ VizStorage