1.Widget：set/getRenderingProperty(key, val)=void fromPlyFile(path)=wgt WidgetAccessor=friend
(1)Widget2D：setColor(color)=void
1)WText：txt(str, pos, size=20, color=Color::white()) set/getText(str)=void
2)WImageOverlay：ima(mat, rect) setImage(mat)=void
(2)Widget3D：applyTransform(affine)=void updatePose(affine) setColor(color)=void set/getPose(affine)=void
1)WLine：line(pt1, pt2, color=Color::white())
2)WCircle：circle(radius, [center, normal,]thickness=0.01, color=Color::white())
3)WPlane：plane([center, normal, newY, ]size=Size2d(1.0, 1.0), color=Color::white())
4)WGrid：grid([center, noraml,newY, ]cells=Vec2i::all(10), cellspacing=Vec2d::all(1.0), color=Color::white())
5)WCube：cube(min=Vec3d::all(-0.5), max=Vec3d::all(0.5), wireframe=true, color=Color::white())
6)WCone：cone(height, radius, resolution=6.0, color=Color::white()) cone(radius, center, tip, resolution=6.0, color=Color::white())
7)WSphere：sphere(center, radius, resolution=10, color=Color::white())
8)WCylinder：cylinder(center1, center2, radius, numsides=30, color=Color::white())
9)WPolyLine：polyline(pts, color=Color::white()/colors)
10)WArrow：arrow(pt1, pt2, thickness=0.03, color=Color::white())
11)WText3D：txt(str, pos, scale=1, faceCamera=true, color=Color::white()) set/getText(str)=void
12)WImage3D：ima(mat, size[, center, normal, newY]) setSize(size)=void setImage(mat)=void
13)WCoordinateSystem：csys(scale=1.0)
14)WCameraPosition：camPos(scale=1.0) camPos(K/fov, [ima, ]scale=1.0, color=Color::white())
15)WTrajectory：traj(affines, mode=PATH/FRAME/BOTH, scale=1.0,color=Color::white())
16)WTrajectorySpheres：traj(affines, lineLen=0.05, radius=0.007, from=Color::red(), to=Color::white())
17)WTrajectoryFrustums：traj(affines, K/fov, scale=1, color=Color::white())
18)WCloud[u1] ：cloud(mat, color=Color::white()) cloud(mat, color/colors, normals)
19)WPaintedCloud：cloud(mat, pt1,pt2[, color1,color2])
20)WCloudNormals：normals(mat, norms, level=64, scale=0.1, color=Color::white())
21)WCloudCollection：collection(mat, color=Color::white()/colors, pos=Affine3d::Identity())
22)WMesh：mesh(mat, polygons, colors=noArray(), normals=noArray())
23)WWidgetMerger：addWidget(wgt,pose=Affine3d::Identity())=void finalize()=void
2.Viz3d：viz(name) VizStorage=friend
(1)部件：set/get/updateWidgetPose[u2] (wgtId, affine)=void show/getWidget(wgtId, wgt, affine=Affine3d::Identity())=void removeWidget(wgtId)=void removeAllWidgets()=void
showImage(ima, size)=void setRepresentation[u3] (val)=void set/getRenderingProperty[u4] (wgtId, key, val)=void
(2)视口[u5] ：set/getViewerPose(affine)=void set/getCamera(cam)=void resetCamera()=void resetCameraViewpoint(wgtId)=void
(3)窗体：getWindowName()=str set/getWindowSize(size)=void setWindowPosition(pos)=void setGlobalWarnings(enabled=false)=void
(4)背景：setBackgroundColor(color1=Color::black(), color2=Color::not_set())=void setBackgroundTexture(ima)=void setBackgroundMeshLab()=void
(5)屏幕：setFullScreen(mode=true)=void getScreenshot()=mat saveScreenshot(path)=void setOffScreenRendering()=void
(6)灯光：addLight(orgPt, focalPt=Vec3d(0,0,0), color=Color::white(), diffuseColor=Color::white(), ambientColor=Color::black(), specularColor=Color::white())=void removeAllLights()=void
(7)事件：spin()=void spinOnce(ms=1, forceRedraw=false)=void wasStopped()=bl close()=void registerMouseCallback(cb, usrdata)=void registerKeyboardCallback(cb, usrdata)=void
(8)坐标变换：convertToWindowCoordinates(worldPt, pixelPt)=void converTo3DRay(pixelPt, origin, direction)=void
3.工具类
(1)Color：color(gray) color(r, g, b) color(scalar) black/gray/white/red/orange/yellow/green/cyan/blue/purple/~()=color
(2)Mesh：load(file, type=LOAD_AUTO/LOAD_PLY/LOAD_OBJ) cloud colors normals polygons tcoords texture
(3)MouseEvent：mouseevent(type, btn, pt, modifers) type[u6] button[u7] pointer modifiers[u8]
(4)KeyboardEvent：keyevent(action, symbol, code, modifiers) action[u9] symbol code modifiers[u10]
(5)Camera：cam(fov/K/P/(fx, fy, cx, cy), size) computeProjectionMatrix(P)=void set/getClip(clip)=void set/getFov(fov)=void set/getWindowSize(size)=void getPrincipalPoint()=pt
4.全局函数
(1)makeTransformToGlobal(axisX, axisY, axisZ, org=Vec3d::all(0))=affine makeCameraPose(orgPt, focalPt, axisY)=affine
(2)isNan(flt/db/vec/point3d)=bl computeNormals(mesh, normals)=void getWindowByName(name)=viz unregisterAllWindows()=void imshow[u11] (viz, ima, size=Size(-1,-1))=void
(3)writePose(path,affine,tag=”pose”)=void writeTrajectory(traj,path,start=0,tag=”pose”)=void writeCloud(path,cloud,colors=noArray(),normals=noArray(),binary=false)=void
(4)readPose(path, affine, tag=”pose”)=void readTrajectory(traj, path, start=0, end=INT_MAX, tag=”pose”)=void readCloud(path, colors=noArray(), noramls=noArray())=mat readMesh(path)=mesh
5.使用说明
(1)Widget赋值方式同Mat：即只复制文件头，数据是共享的，且只有无被引用的地方时才析构
(2)Viz3d回调函数同Gui：即lambda表达式的捕获参数只能为空，访问外部变量的方式是将其定义为静态变量
(3)几何物理量的默认单位：
[u4]POINT_SIZE、OPACITY、LINE_WIDTH、FONT_SIZE、REPRESENTATION、IMMEDIATE_RENDERING、SHADING、AMBIENT、LIGHTING
[u6]MouseMove、MouseButtonPress、MouseButtonRelease、MouseScrollDown、MouseScrollUp、MouseDblClick
[u7]NoButton、LeftButton、RightButton、MiddleButton、VScroll
[u8]NONE、ALT、CTRL、SHIFT
[u9]KEY_UP、KEY_DOWN
[u10]NONE、ALT、CTRL、SHIFT
[u11](1)若viz不存在则新建之且尺寸为size并将ima全窗显示
(2)若viz存在则同showImage功能
6.使用样例
以下提供OpenCV viz模块的使用样例，封装在类AboutOpenCVVIZ，包括testVizViz3d、testVizWidget、testVizGlobal三个样例。
关于AboutOpenCVVIZ::testVizViz3d功能说明
(1)在三维窗Viz3d添加坐标系WCoordinateSystem和一个立方体WCube，并将两者设置为较高透明度，以方便查看相关变换。
(2)为三维窗Viz3d注册鼠标和键盘响应函数，使能实时响应鼠标键盘事件，如按F1执行Viz3d::resetCamera以平移相机到最佳观测位置、按F2执行Viz3d::resetCameraView以旋转相机到最佳观测角度。
(3)在三维窗Viz3d添加文本框WText，用于动态显示鼠标键盘状态、相机内外参、快速捷说明等信息，需要说明的是这里显示的相机外参(即Viz3d::getViewerPose返回位姿)就是相机在世界坐标系下(世界坐标系与Viz3d绑定的)的位姿。
(4)在三维窗Viz3d添加WArrow，用于动态展示相机光心到鼠标点的指向，converTo3DRay的输入是屏幕坐标，输出是光心和光心到鼠标的指向。
关于AboutOpenCVVIZ::testVizWidget功能说明
(1)实现从左到右依次按~、1、2、…、Backspace、F1绘制不同的三维物体，其中坐标系WCoordinateSystem、提示文本WText及平面图WImageOverlay总是显示。
(2)为三维窗Viz3d注册鼠标事件完成的以上功能。
关于AboutOpenCVVIZ::testVizGlobal功能说明
(1)调用readMesh读取三个不同的PLY文件显示在不同的位置。
(2)调用readCloud读取三个不同的PLY文件显示在不同的位置，并调用writeCloud保存为移除mesh信息的PLY文件(即仅点云)。
(3)PLY文件下载：https://files.cnblogs.com/files/dzyBK/OpenCV-Utils%E5%AD%A6%E4%B9%A0%E6%97%A5%E5%BF%97%EF%BC%9Aviz%E6%A8%A1%E5%9D%97%E8%A6%81%E7%82%B9%E6%80%BB%E7%BB%93-data.zip
以下是详细代码，依赖于C++14、OpenCV4.x和Spdlog。
1 #include <opencv2/opencv.hpp> 2 #include <opencv2/core/utils/filesystem.hpp> 3 #include <opencv2/viz.hpp> 4 #include <spdlog/spdlog.h> 5 using namespace std; 6 using namespace cv; 7 8 #ifndef StrPairKey 9 #define StrPairKey(key) make_pair(#key, key) 10 #define StrPairVal(val) make_pair(val, #val) 11 #endif 12 13 #ifndef RAD2DEG 14 #define RAD2DEG (180 * 0.3183098861837906715) 15 #define DEG2RAD (3.14159265358979323846 * 0.0055555555555555556) 16 #endif 17 18 class AboutOpenCVVIZ 19 { 20 public: 21 struct VizMouse 22 { 23 int rowsUser;//GivenByUser 24 int colsUser;//GivenByUser 25 VizMouse(int rows = INT_MAX, int cols = INT_MAX) : rowsUser(rows), colsUser(cols) {} 26 int xMouse;//UpdatedByCbVizMouse 27 int yMouse;//UpdatedByCbVizMouse 28 int type;//UpdatedByCbVizMouse 29 int button;//UpdatedByCbVizMouse 30 int modifiers;//UpdatedByCbVizMouse 31 map<int, string> mouseTypes = 32 { 33 StrPairVal(viz::MouseEvent::MouseMove), 34 StrPairVal(viz::MouseEvent::MouseButtonPress), 35 StrPairVal(viz::MouseEvent::MouseButtonRelease), 36 StrPairVal(viz::MouseEvent::MouseScrollDown), 37 StrPairVal(viz::MouseEvent::MouseScrollUp), 38 StrPairVal(viz::MouseEvent::MouseDblClick) 39 }; 40 map<int, string> mouseButtons = 41 { 42 StrPairVal(viz::MouseEvent::NoButton), 43 StrPairVal(viz::MouseEvent::LeftButton), 44 StrPairVal(viz::MouseEvent::MiddleButton), 45 StrPairVal(viz::MouseEvent::RightButton), 46 StrPairVal(viz::MouseEvent::VScroll) 47 }; 48 map<int, string> mouseModifiers = 49 { 50 StrPairVal(viz::KeyboardEvent::NONE), 51 StrPairVal(viz::KeyboardEvent::ALT), 52 StrPairVal(viz::KeyboardEvent::CTRL), 53 StrPairVal(viz::KeyboardEvent::SHIFT) 54 }; 55 }; 56 struct VizBoard 57 { 58 int code;//UpdatedByCbVizBoard 59 int action;//UpdatedByCbVizBoard 60 int modifiers;//UpdatedByCbVizBoard 61 string symbol;//UpdatedByCbVizBoard 62 map<int, string> boardActions = 63 { 64 StrPairVal(viz::KeyboardEvent::KEY_UP), 65 StrPairVal(viz::KeyboardEvent::KEY_DOWN) 66 }; 67 map<int, string> boardModifiers = 68 { 69 StrPairVal(viz::KeyboardEvent::NONE), 70 StrPairVal(viz::KeyboardEvent::ALT), 71 StrPairVal(viz::KeyboardEvent::CTRL), 72 StrPairVal(viz::KeyboardEvent::SHIFT) 73 }; 74 }; 75 76 static void callbackVizMouse(const viz::MouseEvent& mouseEvent, void* pVizMouse) 77 { //common case. could be replaced by lambda based on actual requirement 78 VizMouse* vizMouse = (VizMouse*)pVizMouse; 79 int x = mouseEvent.pointer.x; 80 int y = mouseEvent.pointer.y; 81 82 if (x >= vizMouse->colsUser * 3) x -= vizMouse->colsUser * 3; 83 else if (x >= vizMouse->colsUser * 2) x -= vizMouse->colsUser * 2; 84 else if (x >= vizMouse->colsUser) x -= vizMouse->colsUser; 85 86 if (y >= vizMouse->rowsUser * 3) y -= vizMouse->rowsUser * 3; 87 else if (y >= vizMouse->rowsUser * 2) y -= vizMouse->rowsUser * 2; 88 else if (y >= vizMouse->rowsUser) y -= vizMouse->rowsUser; 89 90 vizMouse->xMouse = x; 91 vizMouse->yMouse = y; 92 vizMouse->type = mouseEvent.type; 93 vizMouse->button = mouseEvent.button; 94 vizMouse->modifiers = mouseEvent.modifiers; 95 } 96 static void callbackVizBoard(const viz::KeyboardEvent& keyboarEvent, void* pVizBorad) 97 { //common case. could be replaced by lambda based on actual requirement 98 VizBoard* vizBoard = (VizBoard*)pVizBorad; 99 100 vizBoard->code = keyboarEvent.code; 101 vizBoard->action = keyboarEvent.action; 102 vizBoard->modifiers = keyboarEvent.modifiers; 103 vizBoard->symbol = keyboarEvent.symbol; 104 } 105 106 107 public: 108 static void testVizViz3d(int argc = 0, char** argv = 0) 109 { 110 //1.Widgets 111 viz::WCoordinateSystem csys(100); csys.setRenderingProperty(viz::OPACITY, 0.1); 112 viz::WCube cube(Point3d(-50, -50, -50), Point3d(50, 50, 50), false, viz::Color(255, 255, 255)); cube.setRenderingProperty(viz::OPACITY, 0.2); 113 114 //2.Viz3D 115 viz::Viz3d viz3d(__FUNCTION__); 116 VizMouse vizMouse; viz3d.registerMouseCallback(callbackVizMouse, &vizMouse); 117 VizBoard vizBoard; viz3d.registerKeyboardCallback(callbackVizBoard, &vizBoard); 118 viz3d.showWidget("csys", csys); 119 viz3d.showWidget("cube", cube); 120 121 //3.MainLoop: should be distributed to MouseCallback and KeyboardCallback for efficiency. 122 stringstream ss; 123 for (int k = 0; k < 1000; ++k) 124 { 125 //3.1 ForEvent 126 if (vizBoard.symbol == "F1") { viz3d.resetCamera(); vizBoard.symbol.clear(); } 127 if (vizBoard.symbol == "F2") { viz3d.resetCameraViewpoint("cube"); vizBoard.symbol.clear(); } 128 129 //3.2 ForTips 130 ss << endl << "Loop: " << k; 131 ss << endl << "Representations: W, S, P"; 132 ss << endl << "Unknown defaults: R, F, O, 3"; 133 ss << endl << "DIY F1: Viz3d::resetCamera"; 134 ss << endl << "DIY F2: Viz3d::resetCameraViewpoint"; 135 viz3d.showWidget("txt1", viz::WText(ss.str(), Point(viz3d.getWindowSize().width / 3, viz3d.getWindowSize().height / 10 * 9))); cout << endl << ss.str(); ss.str(""); 136 137 //3.3 ForIntuition 138 ss << endl << "mouse.x: " << vizMouse.xMouse; 139 ss << endl << "mouse.y: " << vizMouse.yMouse; 140 ss << endl << "mouse.type: " << vizMouse.mouseTypes[vizMouse.type]; 141 ss << endl << "mouse.button: " << vizMouse.mouseButtons[vizMouse.button]; 142 ss << endl << "mouse.modifiers: " << vizMouse.mouseModifiers[vizMouse.modifiers]; 143 ss << endl; 144 ss << endl << "board.code: " << vizBoard.code; 145 ss << endl << "board.action: " << vizBoard.boardActions[vizBoard.action]; 146 ss << endl << "board.modifiers: " << vizBoard.boardModifiers[vizBoard.modifiers]; 147 ss << endl << "board.symbol: " << vizBoard.symbol; 148 ss << endl; 149 ss << endl << "cam.fxfy: " << viz3d.getCamera().getFocalLength(); 150 ss << endl << "cam.cxcy: " << viz3d.getCamera().getPrincipalPoint(); 151 ss << endl << "cam.size: " << viz3d.getCamera().getWindowSize(); 152 ss << endl << "cam.fov: " << viz3d.getCamera().getFov() * RAD2DEG; 153 ss << endl << "cam.clip: " << viz3d.getCamera().getClip(); 154 ss << endl << "cam.euler: " << cv::RQDecomp3x3(viz3d.getViewerPose().matrix.get_minor<3, 3>(0, 0), Matx33d(), Matx33d()); 155 ss << endl << "cam.trans: " << viz3d.getViewerPose().matrix.col(3).t(); 156 ss << endl; 157 Point3d uvz(vizMouse.xMouse, vizMouse.yMouse, 0), org; Vec3d dir; viz3d.converTo3DRay(uvz, org, dir); 158 ss << endl << "mouse.pt: " << uvz; 159 ss << endl << "3DRay.org: " << org; 160 ss << endl << "3DRay.dir: " << dir; 161 viz3d.showWidget("arrow", viz::WArrow(Point3d(0, 0, 0), Point3d(dir[0] * 100, dir[1] * 100, dir[2] * 100), 0.01)); 162 viz3d.showWidget("txt2", viz::WText(ss.str(), Point(10, 10))); cout << endl << ss.str(); ss.str(""); 163 164 //3.3 ForCalculation 165 ss << endl << "cam.Rt: " << endl << viz3d.getViewerPose().matrix; 166 ss << endl << "cam.Rt.inv: " << endl << viz3d.getViewerPose().matrix.inv(); 167 Matx44d M; viz3d.getCamera().computeProjectionMatrix(M); 168 ss << endl << "cam.computeProjectionMatrix: " << endl << M; 169 viz3d.showWidget("txt3", viz::WText(ss.str(), Point(viz3d.getWindowSize().width / 2 + 10, 10))); cout << endl << ss.str(); ss.str(""); 170 171 //3.4 ShowViz3D 172 viz3d.spinOnce(500); 173 } 174 } 175 176 static void testVizWidget(int argc = 0, char** argv = 0) 177 { 178 //1.Widget2D 179 string naoPath = "./data/nao.jpg"; 180 if (utils::fs::exists(naoPath) == false) { spdlog::critical("{} not exits", naoPath); } 181 Mat_<Vec3b> ima = imread(naoPath, 1); 182 viz::WText txt2d("Press in turn: ~ 1 2 ... Backspace F1 to draw different widgets", Point(400, 10)); 183 viz::WImageOverlay ima2d(imread(naoPath, 1), Rect(10, 10, ima.cols >> 2, ima.rows >> 2)); 184 185 //2.Widget3D 186 viz::WCoordinateSystem csys(100); csys.setRenderingProperty(viz::OPACITY, 0.1); 187 Mat_<Point3f> polyline(10, 1); cv::randu(polyline, -50, 50); 188 Mat_<cv::Affine3f> traj(10, 1); for (int k = 0; k < traj.rows; ++k) traj(k) = cv::Affine3f(Vec3f(Vec3f::randu(-50, 50).val), Vec3f(Vec3f::randu(-50, 50).val)); 189 static map<string, viz::Widget> wgts = 190 { 191 make_pair("txt2d", txt2d), 192 make_pair("ima2d", ima2d), 193 make_pair("csys", csys), 194 make_pair("quoteleft", viz::WLine(Point3d(-50, -50, -50), Point3d(50, 50, 50))), 195 make_pair("1", viz::WCircle(50, Point3d(0, 0, 0), Vec3d(0, 0, 1), 0.1)), 196 make_pair("2", viz::WPlane(Point3d(0, 0, 0), Vec3d(0, 0, 1), Vec3d(0, 1, 0), Size2d(100, 100))), 197 make_pair("3", viz::WCube(Point3d(-50, -50, -50), Point3d(50, 50, 50), false)), 198 make_pair("4", viz::WCone(10, Point3d(0, 0, -50), Point3d(0, 0, 50), 60)), 199 make_pair("5", viz::WSphere(Point3d(0, 0, 0), 50, 100)), 200 make_pair("6", viz::WCylinder(Point3d(0, 0, -50), Point3d(0, 0, 50), 50, 300)), 201 make_pair("7", viz::WPolyLine(polyline)), 202 make_pair("8", viz::WArrow(Point3d(-50, -50, -50), Point3d(50, 50, 50))), 203 make_pair("9", viz::WText3D("viz::WText3D", Point3d(0, 0, 0), 10)), 204 make_pair("0", viz::WImage3D(ima, ima.size() / 4, Vec3d(0,0, 0), Vec3d(0, 0, 1), Vec3d(0, 1, 0))), 205 make_pair("minus", viz::WCameraPosition(Vec2d(0.8, 0.6), 10)), 206 make_pair("equal", viz::WTrajectory(traj, viz::WTrajectory::BOTH, 10)), 207 make_pair("BackSpace", viz::WTrajectorySpheres(traj, 100, 1)), 208 make_pair("F1", viz::WTrajectoryFrustums(traj, Vec2d(0.8, 0.6), 10)) 209 }; 210 for (map<string, viz::Widget>::iterator it = wgts.begin(); it != wgts.end(); ++it) 211 { 212 if (it->first == "txt2d" || it->first == "ima2d" || it->first == "csys") continue; 213 wgts[it->first].setRenderingProperty(viz::OPACITY, 0.5); 214 } 215 216 //3.Viz3D 217 static viz::Viz3d viz3d(__FUNCTION__); 218 viz3d.showWidget("txt2d", wgts["txt2d"]); 219 viz3d.showWidget("ima2d", wgts["ima2d"]); 220 viz3d.showWidget("csys", wgts["csys"]); 221 VizMouse vizMouse; viz3d.registerMouseCallback(callbackVizMouse, &vizMouse); 222 VizBoard vizBoard; viz3d.registerKeyboardCallback([](const viz::KeyboardEvent& keyboarEvent, void* pVizBorad)->void 223 { 224 if (keyboarEvent.action != viz::KeyboardEvent::KEY_DOWN) return; 225 viz3d.removeAllWidgets(); 226 viz3d.showWidget("txt2d", wgts["txt2d"]); 227 viz3d.showWidget("ima2d", wgts["ima2d"]); 228 viz3d.showWidget("csys", wgts["csys"]); 229 if (wgts.find(keyboarEvent.symbol) != wgts.end()) viz3d.showWidget(keyboarEvent.symbol, wgts[keyboarEvent.symbol]); 230 }, 0); 231 viz3d.spin(); 232 } 233 234 static void testVizMesh(int argc = 0, char** argv = 0) 235 { 236 //1.CheckPaths 237 string plypath0 = "./data/xyz.ply"; 238 string plypath1 = "./data/xyz+norm.ply"; 239 string plypath2 = "./data/xyz+norm+color.ply"; 240 if (utils::fs::exists(plypath0) == false) { spdlog::critical("{} not exits", plypath0); return; } 241 if (utils::fs::exists(plypath1) == false) { spdlog::critical("{} not exits", plypath1); return; } 242 if (utils::fs::exists(plypath2) == false) { spdlog::critical("{} not exits", plypath2); return; } 243 244 //2.ReadMeshs 245 viz::Mesh m0 = viz::readMesh(plypath0); 246 viz::Mesh m1 = viz::readMesh(plypath1); 247 viz::Mesh m2 = viz::readMesh(plypath2); 248 viz::WMesh mesh0(m0); 249 viz::WMesh mesh1(m1); 250 viz::WMesh mesh2(m2); 251 252 //3.ReadClouds 253 Mat_<Vec3b> rgb0, rgb1, rgb2; 254 Mat_<Vec3f> norm0, norm1, norm2; 255 Mat_<Vec3f> xyz0 = viz::readCloud(plypath0, rgb0, norm0); 256 Mat_<Vec3f> xyz1 = viz::readCloud(plypath1, rgb1, norm1); 257 Mat_<Vec3f> xyz2 = viz::readCloud(plypath2, rgb2, norm2); 258 viz::WCloud cloud0(xyz0, viz::Color(0, 0, 255), norm0); 259 viz::WCloud cloud1(xyz1, viz::Color(0, 255, 0), norm1); 260 viz::WCloud cloud2(xyz2, rgb2, norm2); 261 viz::writeCloud(plypath0 + "_rewritten.ply", xyz0, rgb0, norm0); 262 viz::writeCloud(plypath1 + "_rewritten.ply", xyz1, rgb1, norm1); 263 viz::writeCloud(plypath2 + "_rewritten.ply", xyz2, rgb2, norm2); 264 265 //4.CreateViz3D 266 viz::Viz3d viz; 267 viz::WCoordinateSystem csys(100); csys.setRenderingProperty(viz::OPACITY, 0.1); 268 viz::WText txt2d(" Press q to exit and show pointcloud", Point(10, 10)); 269 viz.showWidget("sys", csys); viz.showWidget("txt2d", txt2d); 270 271 //5.ShowMeshs 272 viz.showWidget("mesh0", mesh0, cv::Affine3d(Vec3d(0, 0, 0), Vec3d(100, 0, 0))); 273 viz.showWidget("mesh1", mesh1, cv::Affine3d(Vec3d(0, 0, 0), Vec3d(0, 100, 550))); 274 viz.showWidget("mesh2", mesh2, cv::Affine3d(Vec3d(0, 0, 0), Vec3d(0, 0, 100))); 275 viz.spin(); 276 277 //6.ShowClouds 278 viz.removeWidget("mesh0"); viz.removeWidget("mesh1"); viz.removeWidget("mesh2"); 279 viz.showWidget("cloud0", cloud0, cv::Affine3d(Vec3d(0, 0, 0), Vec3d(100, 0, 0))); 280 viz.showWidget("cloud1", cloud1, cv::Affine3d(Vec3d(0, 0, 0), Vec3d(0, 100, 550))); 281 viz.showWidget("cloud2", cloud2, cv::Affine3d(Vec3d(0, 0, 0), Vec3d(0, 0, 100))); 282 viz.spin(); 283 } 284 }; 285 286 int main(int argc, char** argv) 287 { 288 int which = 0; 289 Mat_<Vec3b> ima(480, 640, Vec3b(48, 48, 48)); 290 cv::putText(ima, "Pressing 1 starts testVizViz3d", Point(200, 200), FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1); 291 cv::putText(ima, "Pressing 2 starts testVizWidget", Point(200, 220), FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1); 292 cv::putText(ima, "Pressing 3 starts testVizMesh", Point(200, 240), FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1); 293 cv::namedWindow(__FUNCTION__); 294 while(1) 295 { 296 cv::imshow(__FUNCTION__, ima); 297 which = cv::waitKey(30); 298 if (which == '1' || which == '2' || which == '3') break; 299 } 300 cv::destroyWindow(__FUNCTION__); 301 if (which == '1') AboutOpenCVVIZ::testVizViz3d(argc, argv); 302 else if (which == '2') AboutOpenCVVIZ::testVizWidget(argc, argv); 303 else if (which == '3') AboutOpenCVVIZ::testVizMesh(argc, argv); 304 return 0; 305 }