Expand description
3D Visualizer
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.
Widget
In this section, the widget framework is explained. Widgets represent 2D or 3D objects, varying from simple ones such as lines to complex ones such as point clouds and meshes.
Widgets are implicitly shared. Therefore, one can add a widget to the scene, and modify the widget without re-adding the widget.
// Create a cloud widget
viz::WCloud cw(cloud, viz::Color::red());
// Display it in a window
myWindow.showWidget("CloudWidget1", cw);
// Modify it, and it will be modified in the window.
cw.setColor(viz::Color::yellow());
Modules
Structs
This class wraps intrinsic parameters of a camera.
This class represents color in BGR order.
This class represents a keyboard event.
This class wraps mesh attributes, and it can load a mesh from a ply file. :
This class represents a mouse event.
The Viz3d class represents a 3D visualizer window. This class is implicitly shared.
This 3D Widget defines an arrow.
This 3D Widget represents camera position in a scene by its axes or viewing frustum. :
This 3D Widget defines a circle.
This 3D Widget defines a point cloud. :
This 3D Widget defines a collection of clouds. :
This 3D Widget represents normals of a point cloud. :
This 3D Widget defines a cone. :
This 3D Widget represents a coordinate system. :
This 3D Widget defines a cube.
This 3D Widget defines a cylinder. :
This 3D Widget defines a grid. :
This 3D Widget represents an image in 3D space. :
This 2D Widget represents an image overlay. :
This 3D Widget defines a finite line.
Constructs a WMesh.
This 3D Widget defines a finite plane.
This 3D Widget defines a poly line. :
This 3D Widget defines a sphere. :
This 2D Widget represents text overlay.
This 3D Widget represents 3D text. The text always faces the camera.
This 3D Widget represents a trajectory. :
This 3D Widget represents a trajectory. :
This 3D Widget represents a trajectory using spheres and lines
This class allows to merge several widgets to single one.
Base class of all widgets. Widget is implicitly shared.
Base class of all 2D widgets.
Base class of all 3D widgets.
Enums
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Widget rendering properties
Constants
Traits
Mutable methods for crate::viz::Camera
Constant methods for crate::viz::Camera
Mutable methods for crate::viz::Color
Constant methods for crate::viz::Color
Mutable methods for crate::viz::KeyboardEvent
Constant methods for crate::viz::KeyboardEvent
Mutable methods for crate::viz::Mesh
Constant methods for crate::viz::Mesh
Mutable methods for crate::viz::MouseEvent
Constant methods for crate::viz::MouseEvent
Mutable methods for crate::viz::Viz3d
Constant methods for crate::viz::Viz3d
Mutable methods for crate::viz::WArrow
Constant methods for crate::viz::WArrow
Mutable methods for crate::viz::WCameraPosition
Constant methods for crate::viz::WCameraPosition
Mutable methods for crate::viz::WCircle
Constant methods for crate::viz::WCircle
Mutable methods for crate::viz::WCloudCollection
Constant methods for crate::viz::WCloudCollection
Mutable methods for crate::viz::WCloudNormals
Constant methods for crate::viz::WCloudNormals
Mutable methods for crate::viz::WCloud
Constant methods for crate::viz::WCloud
Mutable methods for crate::viz::WCone
Constant methods for crate::viz::WCone
Mutable methods for crate::viz::WCoordinateSystem
Constant methods for crate::viz::WCoordinateSystem
Mutable methods for crate::viz::WCube
Constant methods for crate::viz::WCube
Mutable methods for crate::viz::WCylinder
Constant methods for crate::viz::WCylinder
Mutable methods for crate::viz::WGrid
Constant methods for crate::viz::WGrid
Mutable methods for crate::viz::WImage3D
Constant methods for crate::viz::WImage3D
Mutable methods for crate::viz::WImageOverlay
Constant methods for crate::viz::WImageOverlay
Mutable methods for crate::viz::WLine
Constant methods for crate::viz::WLine
Mutable methods for crate::viz::WMesh
Constant methods for crate::viz::WMesh
Mutable methods for crate::viz::WPaintedCloud
Constant methods for crate::viz::WPaintedCloud
Mutable methods for crate::viz::WPlane
Constant methods for crate::viz::WPlane
Mutable methods for crate::viz::WPolyLine
Constant methods for crate::viz::WPolyLine
Mutable methods for crate::viz::WSphere
Constant methods for crate::viz::WSphere
Mutable methods for crate::viz::WText3D
Constant methods for crate::viz::WText3D
Mutable methods for crate::viz::WText
Constant methods for crate::viz::WText
Mutable methods for crate::viz::WTrajectoryFrustums
Constant methods for crate::viz::WTrajectoryFrustums
Mutable methods for crate::viz::WTrajectorySpheres
Constant methods for crate::viz::WTrajectorySpheres
Mutable methods for crate::viz::WTrajectory
Constant methods for crate::viz::WTrajectory
Mutable methods for crate::viz::WWidgetMerger
Constant methods for crate::viz::WWidgetMerger
Mutable methods for crate::viz::Widget2D
Constant methods for crate::viz::Widget2D
Mutable methods for crate::viz::Widget3D
Constant methods for crate::viz::Widget3D
Mutable methods for crate::viz::Widget
Constant methods for crate::viz::Widget
Functions
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Computing normals for mesh
Retrieves a window by its name.
Displays image in specified window
Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more
information).
Takes coordinate frame data and builds transform to global coordinate frame.
Parameters
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Reads mesh. Only ply format is supported now and no texture load support
Parameters
takes vector<Affine3> with T = float/dobule and loads poses from sequence of files
Unregisters all Viz windows from internal database. After it ‘getWindowByName()’ will create new windows instead of getting existing from the database.
Parameters
Parameters
takes vector<Affine3> with T = float/dobule and writes to a sequence of files with given filename format