viz: move samples/tutorials to opencv_contrib
This commit is contained in:
Alexander Alekhin
@@ -87,7 +87,3 @@ As always, we would be happy to hear your comments and receive your contribution
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- @subpage tutorial_table_of_content_ios
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Run OpenCV and your vision apps on an iDevice
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- @subpage tutorial_table_of_content_viz
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These tutorials show how to use Viz module effectively.
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@@ -1,55 +0,0 @@
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Creating Widgets {#tutorial_creating_widgets}
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================
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Goal
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----
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In this tutorial you will learn how to
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- Create your own widgets using WidgetAccessor and VTK.
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- Show your widget in the visualization window.
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Code
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----
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You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/creating_widgets.cpp).
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@include samples/cpp/tutorial_code/viz/creating_widgets.cpp
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Explanation
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-----------
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Here is the general structure of the program:
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- Extend Widget3D class to create a new 3D widget.
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@code{.cpp}
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class WTriangle : public viz::Widget3D
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{
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public:
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WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
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};
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@endcode
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- Assign a VTK actor to the widget.
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@code{.cpp}
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// Store this actor in the widget in order that visualizer can access it
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viz::WidgetAccessor::setProp(*this, actor);
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@endcode
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- Set color of the widget.
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@code{.cpp}
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// Set the color of the widget. This has to be called after WidgetAccessor.
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setColor(color);
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@endcode
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- Construct a triangle widget and display it in the window.
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@code{.cpp}
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/// Create a triangle widget
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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());
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/// Show widget in the visualizer window
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myWindow.showWidget("TRIANGLE", tw);
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@endcode
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Results
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-------
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Here is the result of the program.
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Binary file not shown.
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@@ -1,51 +0,0 @@
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Creating a 3D histogram {#tutorial_histo3D}
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================
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Goal
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----
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In this tutorial you will learn how to
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- Create your own callback keyboard function for viz window.
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- Show your 3D histogram in a viz window.
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Code
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----
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You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/histo3D.cpp).
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@include samples/cpp/tutorial_code/viz/histo3D.cpp
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Explanation
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-----------
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Here is the general structure of the program:
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- You can give full path to an image in command line
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@snippet histo3D.cpp command_line_parser
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or without path, a synthetic image is generated with pixel values are a gaussian distribution @ref cv::RNG::fill center(60+/-10,40+/-5,50+/-20) in first quadrant,
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(160+/-20,10+/-5,50+/-10) in second quadrant, (90+/-10,100+/-20,50+/-20) in third quadrant, (100+/-10,10+/-5,150+/-40) in last quadrant.
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@snippet histo3D.cpp synthetic_image
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Image tridimensional histogram is calculated using opencv @ref cv::calcHist and @ref cv::normalize between 0 and 100.
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@snippet histo3D.cpp calchist_for_histo3d
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channel are 2, 1 and 0 to synchronise color with Viz axis color in objetc cv::viz::WCoordinateSystem.
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A slidebar is inserted in image window. Init slidebar value is 90, it means that only histogram cell greater than 9/100000.0 (23 pixels for an 512X512 pixels) will be display.
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@snippet histo3D.cpp slide_bar_for_thresh
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We are ready to open a viz window with a callback function to capture keyboard event in viz window. Using @ref cv::viz::Viz3d::spinOnce enable keyboard event to be capture in @ref cv::imshow window too.
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@snippet histo3D.cpp manage_viz_imshow_window
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The function DrawHistogram3D processes histogram Mat to display it in a Viz window. Number of plan, row and column in [three dimensional Mat](@ref CVMat_Details ) can be found using this code :
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@snippet histo3D.cpp get_cube_size
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To get histogram value at a specific location we use @ref cv::Mat::at(int i0,int i1, int i2) method with three arguments k, i and j where k is plane number, i row number and j column number.
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@snippet histo3D.cpp get_cube_values
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- Callback function
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Principle are as mouse callback function. Key code pressed is in field code of class @ref cv::viz::KeyboardEvent.
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@snippet histo3D.cpp viz_keyboard_callback
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Results
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-------
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Here is the result of the program with no argument and threshold equal to 50.
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@@ -1,64 +0,0 @@
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Launching Viz {#tutorial_launching_viz}
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=============
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Goal
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----
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In this tutorial you will learn how to
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- Open a visualization window.
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- Access a window by its name.
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- Start event loop.
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- Start event loop for a given amount of time.
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Code
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----
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You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/launching_viz.cpp).
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@include samples/cpp/tutorial_code/viz/launching_viz.cpp
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Explanation
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-----------
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Here is the general structure of the program:
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- Create a window.
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@code{.cpp}
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/// Create a window
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viz::Viz3d myWindow("Viz Demo");
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@endcode
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- Start event loop. This event loop will run until user terminates it by pressing **e**, **E**,
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**q**, **Q**.
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@code{.cpp}
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/// Start event loop
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myWindow.spin();
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@endcode
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- Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly
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the same with **myWindow**. If the name does not exist, a new window is created.
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@code{.cpp}
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/// Access window via its name
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viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
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@endcode
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- Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while
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loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping.
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Inside the while loop, user can execute other statements including those which interact with the
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window.
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@code{.cpp}
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/// Event loop is over when pressed q, Q, e, E
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/// Start event loop once for 1 millisecond
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sameWindow.spinOnce(1, true);
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while(!sameWindow.wasStopped())
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{
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/// Interact with window
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/// Event loop for 1 millisecond
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sameWindow.spinOnce(1, true);
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}
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@endcode
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Results
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-------
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Here is the result of the program.
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@@ -1,42 +0,0 @@
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OpenCV Viz {#tutorial_table_of_content_viz}
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==========
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- @subpage tutorial_launching_viz
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*Compatibility:* \> OpenCV 3.0.0
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*Author:* Ozan Tonkal
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You will learn how to launch a viz window.
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- @subpage tutorial_widget_pose
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*Compatibility:* \> OpenCV 3.0.0
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*Author:* Ozan Tonkal
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You will learn how to change pose of a widget.
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- @subpage tutorial_transformations
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*Compatibility:* \> OpenCV 3.0.0
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*Author:* Ozan Tonkal
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You will learn how to transform between global and camera frames.
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- @subpage tutorial_creating_widgets
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*Compatibility:* \> OpenCV 3.0.0
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*Author:* Ozan Tonkal
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You will learn how to create your own widgets.
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- @subpage tutorial_histo3D
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*Compatibility:* \> OpenCV 3.0.0
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*Author:* Laurent Berger
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You will learn how to plot a 3D histogram.
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Transformations {#tutorial_transformations}
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===============
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Goal
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----
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In this tutorial you will learn how to
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- How to use makeTransformToGlobal to compute pose
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- How to use makeCameraPose and Viz3d::setViewerPose
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- How to visualize camera position by axes and by viewing frustum
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Code
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----
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You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/transformations.cpp).
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@include samples/cpp/tutorial_code/viz/transformations.cpp
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Explanation
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-----------
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Here is the general structure of the program:
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- Create a visualization window.
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@code{.cpp}
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/// Create a window
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viz::Viz3d myWindow("Transformations");
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@endcode
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- Get camera pose from camera position, camera focal point and y direction.
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@code{.cpp}
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/// Let's assume camera has the following properties
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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);
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/// We can get the pose of the cam using makeCameraPose
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Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
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@endcode
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- Obtain transform matrix knowing the axes of camera coordinate system.
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@code{.cpp}
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/// We can get the transformation matrix from camera coordinate system to global using
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/// - makeTransformToGlobal. We need the axes of the camera
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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);
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@endcode
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- Create a cloud widget from bunny.ply file
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@code{.cpp}
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/// Create a cloud widget.
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Mat bunny_cloud = cvcloud_load();
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viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
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@endcode
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- Given the pose in camera coordinate system, estimate the global pose.
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@code{.cpp}
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/// Pose of the widget in camera frame
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Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
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/// Pose of the widget in global frame
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Affine3f cloud_pose_global = transform * cloud_pose;
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@endcode
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- If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
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@code{.cpp}
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/// Visualize camera frame
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if (!camera_pov)
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{
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viz::WCameraPosition cpw(0.5); // Coordinate axes
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viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
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myWindow.showWidget("CPW", cpw, cam_pose);
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myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
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}
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@endcode
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- Visualize the cloud widget with the estimated global pose
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@code{.cpp}
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/// Visualize widget
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myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
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@endcode
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- If the view point is set to be camera's, set viewer pose to **cam_pose**.
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@code{.cpp}
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/// Set the viewer pose to that of camera
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if (camera_pov)
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myWindow.setViewerPose(cam_pose);
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@endcode
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Results
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-------
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-# Here is the result from the camera point of view.
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-# Here is the result from global point of view.
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@@ -1,85 +0,0 @@
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Pose of a widget {#tutorial_widget_pose}
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================
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Goal
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----
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In this tutorial you will learn how to
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- Add widgets to the visualization window
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- Use Affine3 to set pose of a widget
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- Rotating and translating a widget along an axis
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Code
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----
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You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/widget_pose.cpp).
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@include samples/cpp/tutorial_code/viz/widget_pose.cpp
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Explanation
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-----------
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Here is the general structure of the program:
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- Create a visualization window.
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@code{.cpp}
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/// Create a window
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viz::Viz3d myWindow("Coordinate Frame");
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@endcode
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- Show coordinate axes in the window using CoordinateSystemWidget.
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@code{.cpp}
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/// Add coordinate axes
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myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
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@endcode
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- Display a line representing the axis (1,1,1).
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@code{.cpp}
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/// Add line to represent (1,1,1) axis
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viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
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axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
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myWindow.showWidget("Line Widget", axis);
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@endcode
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- Construct a cube.
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@code{.cpp}
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/// Construct a cube widget
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viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
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cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
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myWindow.showWidget("Cube Widget", cube_widget);
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@endcode
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- Create rotation matrix from rodrigues vector
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@code{.cpp}
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/// Rotate around (1,1,1)
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rot_vec.at<float>(0,0) += CV_PI * 0.01f;
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rot_vec.at<float>(0,1) += CV_PI * 0.01f;
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rot_vec.at<float>(0,2) += CV_PI * 0.01f;
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...
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Mat rot_mat;
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Rodrigues(rot_vec, rot_mat);
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@endcode
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- Use Affine3f to set pose of the cube.
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@code{.cpp}
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/// Construct pose
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Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
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myWindow.setWidgetPose("Cube Widget", pose);
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@endcode
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- Animate the rotation using wasStopped and spinOnce
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@code{.cpp}
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while(!myWindow.wasStopped())
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{
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...
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myWindow.spinOnce(1, true);
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}
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@endcode
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Results
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-------
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Here is the result of the program.
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\htmlonly
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<div align="center">
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<iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
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</div>
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\endhtmlonly
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