3D Visualizer

Modules
	Widget

Classes
class	cv::viz::Camera
	This class wraps intrinsic parameters of a camera. More...
class	cv::viz::Color
	This class represents color in BGR order. 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)
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 information). 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")
void	cv::viz::unregisterAllWindows ()
	Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead of 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")

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

Parameters

mesh	Input mesh.
normals	Normals at very point in the mesh of type CV_64FC3.

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 information).

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.

Returns

An affine transform that describes transformation between global coordinate frame and a given coordinate frame. The returned transforms can transform a point in the given coordinate frame to the global coordinate frame.

readCloud()

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

Parameters

file	Filename with extension. Supported formats: PLY, XYZ, OBJ and STL.
colors	Used by PLY and STL formats only.
normals	Used by PLY, OBJ and STL formats only.

Returns

A mat containing the point coordinates with depth CV_32F or CV_64F and number of channels 3 or 4 with only 1 row.

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.

Parameters

file	Filename of type supported by cv::FileStorage.
pose	Output matrix.
tag	Name of the pose in the file.

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

Parameters

traj	Output array containing a lists of poses. It can be std::vector<cv::Affine3f>, std::vector<cv::Affine3d> cv::Mat
files_format	Format specifier string for constructing filenames. The only placeholder in the string should support int.
start	The initial counter for files_format. It must be greater than or equal to 0.
end	The final counter for files_format.
tag	Name of the matrix in the file.

unregisterAllWindows()

void cv::viz::unregisterAllWindows

(

)

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

Parameters

file	Filename with extension. Supported formats: PLY, XYZ and OBJ.
cloud	Supported depths: CV_32F and CV_64F. Supported channels: 3 and 4.
colors	Used by PLY format only. Supported depth: CV_8U. Supported channels: 1, 3 and 4.
normals	Used by PLY and OBJ format only. Supported depths: CV_32F and CV_64F. Supported channels: 3 and 4.
binary	Used only for PLY format.

writePose()

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

Parameters

file	Filename.
pose	Input matrix.
tag	Name of the pose to be saved into the given file.

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

Parameters

traj	Trajectory containing a list of poses. It can be std::vector<cv::Mat>, each cv::Mat is of type CV_32F16 or CV_64FC16 std::vector<cv::Affine3f>, std::vector<cv::Affine3d> cv::Mat of type CV_32FC16 OR CV_64F16
files_format	Format specifier string for constructing filenames. The only placeholder in the string should support int.
start	The initial counter for files_format.
tag	Name of the matrix in the file.