opencv-viz模块简单示例

https://docs.opencv.org/3.4/d5/dab/tutorial_sfm_trajectory_estimation.html

其它作用：

 0.OpenCV可视化（Viz）——Viz环境的配置

https://blog.csdn.net/qq_29600745/article/details/112507171

1. OpenCV 可视化（Viz）——相机位置

https://blog.csdn.net/qq_29600745/article/details/109654694

2. OpenCV 可视化（Viz）——相机视锥

https://blog.csdn.net/qq_29600745/article/details/109721557

3.3.OpenCV可视化（Viz）——单目相机标定模拟

https://blog.csdn.net/qq_29600745/article/details/109745972

 

1

#include <opencv2/viz.hpp>
#include <iostream>
using namespace cv;
using namespace std;
void help()
{
    cout
    << "--------------------------------------------------------------------------" << endl
    << "This program shows how to launch a 3D visualization window. You can stop event loop to continue executing. "
    << "You can access the same window via its name. You can run event loop for a given period of time. " << endl
    << "Usage:"                                                                     << endl
    << "./launching_viz"                                                            << endl
    << endl;
}
int main()
{
    help();
    viz::Viz3d myWindow("Viz Demo");
    myWindow.spin();
    cout << "First event loop is over" << endl;
    viz::Viz3d sameWindow = viz::get("Viz Demo");
    sameWindow.spin();
    cout << "Second event loop is over" << endl;
    sameWindow.spinOnce(1, true);
    while(!sameWindow.wasStopped())
    {
        sameWindow.spinOnce(1, true);
    }
    cout << "Last event loop is over" << endl;
    return 0;
}

 

2.

#include <opencv2/viz.hpp>
#include <opencv2/calib3d.hpp>
#include <iostream>
using namespace cv;
using namespace std;
void help()
{
    cout
    << "--------------------------------------------------------------------------"   << endl
    << "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
    << "using Rodrigues vector."                                                      << endl
    << "Usage:"                                                                       << endl
    << "./widget_pose"                                                                << endl
    << endl;
}
int main()
{
    help();
    viz::Viz3d myWindow("Coordinate Frame");
    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
    viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
    axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
    myWindow.showWidget("Line Widget", axis);
    viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
    cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
    myWindow.showWidget("Cube Widget", cube_widget);
    Mat rot_vec = Mat::zeros(1,3,CV_32F);
    float translation_phase = 0.0, translation = 0.0;
    while(!myWindow.wasStopped())
    {
        /* Rotation using rodrigues */
        rot_vec.at<float>(0,0) += CV_PI * 0.01f;
        rot_vec.at<float>(0,1) += CV_PI * 0.01f;
        rot_vec.at<float>(0,2) += CV_PI * 0.01f;
        translation_phase += CV_PI * 0.01f;
        translation = sin(translation_phase);
        Mat rot_mat;
        Rodrigues(rot_vec, rot_mat);
        Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
        myWindow.setWidgetPose("Cube Widget", pose);
        myWindow.spinOnce(1, true);
    }
    return 0;
}

https://youtu.be/22HKMN657U0

3.

#include <opencv2/viz.hpp>
#include <iostream>
#include <fstream>
using namespace cv;
using namespace std;
void help()
{
    cout
    << "--------------------------------------------------------------------------"   << endl
    << "This program shows how to use makeTransformToGlobal() to compute required pose,"
    << "how to use makeCameraPose and Viz3d::setViewerPose. You can observe the scene "
    << "from camera point of view (C) or global point of view (G)"                    << endl
    << "Usage:"                                                                       << endl
    << "./transformations [ G | C ]"                                                 << endl
    << endl;
}
Mat cvcloud_load()
{
    Mat cloud(1, 1889, CV_32FC3);
    ifstream ifs("bunny.ply");
    string str;
    for(size_t i = 0; i < 12; ++i)
        getline(ifs, str);
    Point3f* data = cloud.ptr<cv::Point3f>();
    float dummy1, dummy2;
    for(size_t i = 0; i < 1889; ++i)
        ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
    cloud *= 5.0f;
    return cloud;
}
int main(int argn, char **argv)
{
    help();
    if (argn < 2)
    {
        cout << "Missing arguments." << endl;
        return 1;
    }
    bool camera_pov = (argv[1][0] == 'C');
    viz::Viz3d myWindow("Coordinate Frame");
    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
    Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
    Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
    Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
    Mat bunny_cloud = cvcloud_load();
    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
    Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
    Affine3f cloud_pose_global = transform * cloud_pose;
    if (!camera_pov)
    {
        viz::WCameraPosition cpw(0.5); // Coordinate axes
        viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
        myWindow.showWidget("CPW", cpw, cam_pose);
        myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
    }
    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
    if (camera_pov)
        myWindow.setViewerPose(cam_pose);
    myWindow.spin();
    return 0;
}

4.

#include <opencv2/viz.hpp>
#include <opencv2/viz/widget_accessor.hpp>
#include <iostream>
#include <vtkPoints.h>
#include <vtkTriangle.h>
#include <vtkCellArray.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
#include <vtkIdList.h>
#include <vtkActor.h>
#include <vtkProp.h>
using namespace cv;
using namespace std;
void help()
{
    cout
    << "--------------------------------------------------------------------------"   << endl
    << "This program shows how to create a custom widget. You can create your own "
    << "widgets by extending Widget2D/Widget3D, and with the help of WidgetAccessor." << endl
    << "Usage:"                                                                       << endl
    << "./creating_widgets"                                                           << endl
    << endl;
}
class WTriangle : public viz::Widget3D
{
    public:
        WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
};
WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
{
    // Create a triangle
    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
    points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
    points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
    points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
    vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
    triangle->GetPointIds()->SetId(0,0);
    triangle->GetPointIds()->SetId(1,1);
    triangle->GetPointIds()->SetId(2,2);
    vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
    cells->InsertNextCell(triangle);
    // Create a polydata object
    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
    // Add the geometry and topology to the polydata
    polyData->SetPoints(points);
    polyData->SetPolys(cells);
    // Create mapper and actor
    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
#if VTK_MAJOR_VERSION <= 5
    mapper->SetInput(polyData);
#else
    mapper->SetInputData(polyData);
#endif
    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
    actor->SetMapper(mapper);
    // Store this actor in the widget in order that visualizer can access it
    viz::WidgetAccessor::setProp(*this, actor);
    // Set the color of the widget. This has to be called after WidgetAccessor.
    setColor(color);
}
int main()
{
    help();
    viz::Viz3d myWindow("Creating Widgets");
    WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
    myWindow.showWidget("TRIANGLE", tw);
    myWindow.spin();
    return 0;
}

5.

#include <iostream>
#include <opencv2/calib3d.hpp>
#include <opencv2/viz/types.hpp>
#include <opencv2/viz/vizcore.hpp>

using namespace cv;
using namespace std;

int main()
{
// Create a window
viz::Viz3d myWindow("Viz Demo");

// add widget
myWindow.showWidget("world", viz::WCoordinateSystem());

// Draw line
viz::WLine axis(Point3f(0.f, 0.f, 0.f), Point3f(2.f, 2.f, 2.f), viz::Color::yellow());
axis.setRenderingProperty(viz::LINE_WIDTH, 1.0);
myWindow.showWidget("Line Widget", axis);

// Camera coordinate
Vec3f cam_pos(2.0f, 2.0f, 2.0f), cam_focal_point(3.0f, 3.0f, 3.0f), cam_y_dir(-0.f, 0.0f, -1.0f);
Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
// Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f, -1.0f, 0.0f), Vec3f(-1.0f, 0.0f, 0.0f), Vec3f(0.0f, 0.0f, -1.0f), cam_pos);

viz::WCameraPosition cpw(1); // Coordinate axes
viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);

// Start event loop
myWindow.spin();

return 0;
}