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§
- Camera
- This class wraps intrinsic parameters of a camera.
- Color
- This class represents color in BGR order.
- Keyboard
Event - This class represents a keyboard event.
- Mesh
- This class wraps mesh attributes, and it can load a mesh from a ply file. :
- Mouse
Event - This class represents a mouse event.
- Viz3d
- The Viz3d class represents a 3D visualizer window. This class is implicitly shared.
- WArrow
- This 3D Widget defines an arrow.
- WCamera
Position - This 3D Widget represents camera position in a scene by its axes or viewing frustum. :
- WCircle
- This 3D Widget defines a circle.
- WCloud
- This 3D Widget defines a point cloud. :
- WCloud
Collection - This 3D Widget defines a collection of clouds. :
- WCloud
Normals - This 3D Widget represents normals of a point cloud. :
- WCone
- This 3D Widget defines a cone. :
- WCoordinate
System - This 3D Widget represents a coordinate system. :
- WCube
- This 3D Widget defines a cube.
- WCylinder
- This 3D Widget defines a cylinder. :
- WGrid
- This 3D Widget defines a grid. :
- WImage3D
- This 3D Widget represents an image in 3D space. :
- WImage
Overlay - This 2D Widget represents an image overlay. :
- WLine
- This 3D Widget defines a finite line.
- WMesh
- Constructs a WMesh.
- WPainted
Cloud - WPlane
- This 3D Widget defines a finite plane.
- WPoly
Line - This 3D Widget defines a poly line. :
- WSphere
- This 3D Widget defines a sphere. :
- WText
- This 2D Widget represents text overlay.
- WText3D
- This 3D Widget represents 3D text. The text always faces the camera.
- WTrajectory
- This 3D Widget represents a trajectory. :
- WTrajectory
Frustums - This 3D Widget represents a trajectory. :
- WTrajectory
Spheres - This 3D Widget represents a trajectory using spheres and lines
- WWidget
Merger - This class allows to merge several widgets to single one.
- Widget
- Base class of all widgets. Widget is implicitly shared.
- Widget2D
- Base class of all 2D widgets.
- Widget3D
- Base class of all 3D widgets.
Enums§
- Keyboard
Event_ Action - Mouse
Event_ Mouse Button - Mouse
Event_ Type - Rendering
Properties - ////////////////////////////////////////////////////////////////////////// Widget rendering properties
- Representation
Values - Shading
Values
Constants§
- AMBIENT
- FONT_
SIZE - IMMEDIATE_
RENDERING - Keyboard
Event_ ALT - Keyboard
Event_ CTRL - Keyboard
Event_ KEY_ DOWN - Keyboard
Event_ KEY_ UP - Keyboard
Event_ NONE - Keyboard
Event_ SHIFT - LIGHTING
- LINE_
WIDTH - Mesh_
LOAD_ AUTO - Mesh_
LOAD_ OBJ - Mesh_
LOAD_ PLY - Mouse
Event_ Left Button - Mouse
Event_ Middle Button - Mouse
Event_ Mouse Button Press - Mouse
Event_ Mouse Button Release - Mouse
Event_ Mouse DblClick - Mouse
Event_ Mouse Move - Mouse
Event_ Mouse Scroll Down - Mouse
Event_ Mouse Scroll Up - Mouse
Event_ NoButton - Mouse
Event_ Right Button - Mouse
Event_ VScroll - OPACITY
- POINT_
SIZE - REPRESENTATION
- REPRESENTATION_
POINTS - REPRESENTATION_
SURFACE - REPRESENTATION_
WIREFRAME - SHADING
- SHADING_
FLAT - SHADING_
GOURAUD - SHADING_
PHONG - WTrajectory_
BOTH - WTrajectory_
FRAMES - WTrajectory_
PATH
Traits§
- Camera
Trait - Mutable methods for crate::viz::Camera
- Camera
Trait Const - Constant methods for crate::viz::Camera
- Color
Trait - Mutable methods for crate::viz::Color
- Color
Trait Const - Constant methods for crate::viz::Color
- Keyboard
Event Trait - Mutable methods for crate::viz::KeyboardEvent
- Keyboard
Event Trait Const - Constant methods for crate::viz::KeyboardEvent
- Mesh
Trait - Mutable methods for crate::viz::Mesh
- Mesh
Trait Const - Constant methods for crate::viz::Mesh
- Mouse
Event Trait - Mutable methods for crate::viz::MouseEvent
- Mouse
Event Trait Const - Constant methods for crate::viz::MouseEvent
- Viz3d
Trait - Mutable methods for crate::viz::Viz3d
- Viz3d
Trait Const - Constant methods for crate::viz::Viz3d
- WArrow
Trait - Mutable methods for crate::viz::WArrow
- WArrow
Trait Const - Constant methods for crate::viz::WArrow
- WCamera
Position Trait - Mutable methods for crate::viz::WCameraPosition
- WCamera
Position Trait Const - Constant methods for crate::viz::WCameraPosition
- WCircle
Trait - Mutable methods for crate::viz::WCircle
- WCircle
Trait Const - Constant methods for crate::viz::WCircle
- WCloud
Collection Trait - Mutable methods for crate::viz::WCloudCollection
- WCloud
Collection Trait Const - Constant methods for crate::viz::WCloudCollection
- WCloud
Normals Trait - Mutable methods for crate::viz::WCloudNormals
- WCloud
Normals Trait Const - Constant methods for crate::viz::WCloudNormals
- WCloud
Trait - Mutable methods for crate::viz::WCloud
- WCloud
Trait Const - Constant methods for crate::viz::WCloud
- WCone
Trait - Mutable methods for crate::viz::WCone
- WCone
Trait Const - Constant methods for crate::viz::WCone
- WCoordinate
System Trait - Mutable methods for crate::viz::WCoordinateSystem
- WCoordinate
System Trait Const - Constant methods for crate::viz::WCoordinateSystem
- WCube
Trait - Mutable methods for crate::viz::WCube
- WCube
Trait Const - Constant methods for crate::viz::WCube
- WCylinder
Trait - Mutable methods for crate::viz::WCylinder
- WCylinder
Trait Const - Constant methods for crate::viz::WCylinder
- WGrid
Trait - Mutable methods for crate::viz::WGrid
- WGrid
Trait Const - Constant methods for crate::viz::WGrid
- WImage3D
Trait - Mutable methods for crate::viz::WImage3D
- WImage3D
Trait Const - Constant methods for crate::viz::WImage3D
- WImage
Overlay Trait - Mutable methods for crate::viz::WImageOverlay
- WImage
Overlay Trait Const - Constant methods for crate::viz::WImageOverlay
- WLine
Trait - Mutable methods for crate::viz::WLine
- WLine
Trait Const - Constant methods for crate::viz::WLine
- WMesh
Trait - Mutable methods for crate::viz::WMesh
- WMesh
Trait Const - Constant methods for crate::viz::WMesh
- WPainted
Cloud Trait - Mutable methods for crate::viz::WPaintedCloud
- WPainted
Cloud Trait Const - Constant methods for crate::viz::WPaintedCloud
- WPlane
Trait - Mutable methods for crate::viz::WPlane
- WPlane
Trait Const - Constant methods for crate::viz::WPlane
- WPoly
Line Trait - Mutable methods for crate::viz::WPolyLine
- WPoly
Line Trait Const - Constant methods for crate::viz::WPolyLine
- WSphere
Trait - Mutable methods for crate::viz::WSphere
- WSphere
Trait Const - Constant methods for crate::viz::WSphere
- WText3D
Trait - Mutable methods for crate::viz::WText3D
- WText3D
Trait Const - Constant methods for crate::viz::WText3D
- WText
Trait - Mutable methods for crate::viz::WText
- WText
Trait Const - Constant methods for crate::viz::WText
- WTrajectory
Frustums Trait - Mutable methods for crate::viz::WTrajectoryFrustums
- WTrajectory
Frustums Trait Const - Constant methods for crate::viz::WTrajectoryFrustums
- WTrajectory
Spheres Trait - Mutable methods for crate::viz::WTrajectorySpheres
- WTrajectory
Spheres Trait Const - Constant methods for crate::viz::WTrajectorySpheres
- WTrajectory
Trait - Mutable methods for crate::viz::WTrajectory
- WTrajectory
Trait Const - Constant methods for crate::viz::WTrajectory
- WWidget
Merger Trait - Mutable methods for crate::viz::WWidgetMerger
- WWidget
Merger Trait Const - Constant methods for crate::viz::WWidgetMerger
- Widget2D
Trait - Mutable methods for crate::viz::Widget2D
- Widget2D
Trait Const - Constant methods for crate::viz::Widget2D
- Widget3D
Trait - Mutable methods for crate::viz::Widget3D
- Widget3D
Trait Const - Constant methods for crate::viz::Widget3D
- Widget
Trait - Mutable methods for crate::viz::Widget
- Widget
Trait Const - Constant methods for crate::viz::Widget
Functions§
- compute_
normals - //////////////////////////////////////////////////////////////////////////////////////////// Computing normals for mesh
- get_
window_ by_ name - Retrieves a window by its name.
- imshow
- Displays image in specified window
- imshow_
def - Displays image in specified window
- make_
camera_ pose - Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more information).
- make_
transform_ to_ global - Takes coordinate frame data and builds transform to global coordinate frame.
- make_
transform_ to_ global_ def - Takes coordinate frame data and builds transform to global coordinate frame.
- read_
cloud - Parameters
- read_
cloud_ def - Parameters
- read_
mesh - //////////////////////////////////////////////////////////////////////////////////////////// Reads mesh. Only ply format is supported now and no texture load support
- read_
pose - Parameters
- read_
pose_ def - Parameters
- read_
trajectory - takes vector<Affine3
> with T = float/double and loads poses from sequence of files - read_
trajectory_ def - takes vector<Affine3
> with T = float/double and loads poses from sequence of files - unregister_
all_ windows - Unregisters all Viz windows from internal database. After it ‘getWindowByName()’ will create new windows instead of getting existing from the database.
- write_
cloud - Parameters
- write_
cloud_ def - Parameters
- write_
pose - Parameters
- write_
pose_ def - Parameters
- write_
trajectory - takes vector<Affine3
> with T = float/double and writes to a sequence of files with given filename format - write_
trajectory_ def - takes vector<Affine3
> with T = float/double and writes to a sequence of files with given filename format