opencv-viz模块《1》

截至目前为止，在下使用opencv4年有余，曾在读研期间写了一个viz模块显示slam的3D轨迹教学，

链接：https://www.cnblogs.com/winslam/p/9244598.html 

前几天在度娘搜索opencv viz居然发现有个老哥的blog引用了我的blog，

链接：https://blog.csdn.net/wq1psa78/article/details/103773469

初看代码，感觉很熟悉，翻到最底下，居然还附上了我博客链接，这年头。。。这样有素质的人不多了。

   中文博客里面有关opencv viz模块的详细教程几乎没有。我这里给出一个详细教程。

opencv viz模块其实依赖VTK。

 

  点云库也可以显示以上控件（点、线、面、球、箭头、2D文本、3D文本、点云等等，其余的请参考相关手册，查看构造函数）

#include <iostream>
#include <opencv2/viz.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/calib3d.hpp>

using namespace std;
using namespace cv;

int main()
{
    // window
    viz::Viz3d window("window");
    window.showWidget("Coordinate", viz::WCoordinateSystem());
    window.setBackgroundColor(viz::Color(186, 36, 1));

    // plane
    viz::WPlane plane(Size2d(2, 2), viz::Color(13, 255, 39));
    plane.setRenderingProperty(viz::LINE_WIDTH, 5);
    plane.setPose(Affine3f());
    window.showWidget("plane", plane);

    // line
    viz::WLine line(Point3d(0.0, 0.0, 0.0), Point3d(10.0, 10.0, 10.0), viz::Color::yellow());
    line.setRenderingProperty(viz::LINE_WIDTH, 2);
    //line.setPose(Affine3f());
    window.showWidget("line", line);

    // WSphere
    viz::WSphere sphere(Point3d(1, 4, 3), 2, 1, viz::Color::blue());
    sphere.setRenderingProperty(viz::LINE_WIDTH, 1);
    window.showWidget("sphere", sphere);

    // WArrow
    viz::WArrow warrow(Point3d(1, 1, 1), Point3d(-2, 8, -2), 0.03, viz::Color::red());
    warrow.setRenderingProperty(viz::LINE_WIDTH, 2);
    window.showWidget("warrow", warrow);

    // WCircle
    viz::WCircle wcricle(3.0, 0.02, viz::Color::navy());
    wcricle.setRenderingProperty(viz::LINE_WIDTH, 2);
    window.showWidget("wcricle", wcricle);
    
    // WPolyLine (将点集自动转为一根线显示,适合SLAM显示轨迹)
    vector<Point3d> points3d;
    for (int i = 0; i < 5; i++)
    {
        points3d.push_back(Point3d(i, i*i, 2 * i));
    }

    viz::WPolyLine wpolyLine(points3d, viz::Color::rose());
    wpolyLine.setRenderingProperty(viz::LINE_WIDTH, 2);
    window.showWidget("wpolyLine", wpolyLine);
    
    // WPaintedCloud 
    vector<Point3d> pointCloud;
    // 创建点云
    pointCloud.resize(points3d.size());
    for (size_t i = 0; i < points3d.size(); i++)
    {
        pointCloud[i] = points3d[i] * 3;
    }
    viz::WPaintedCloud wpaintedCloud(pointCloud);
    wpaintedCloud.setRenderingProperty(viz::POINT_SIZE, 4);
    window.showWidget("wpaintedCloud", wpaintedCloud);

    // WGrid
    viz::WGrid wgrid(Vec2i::all(10), Vec2d::all(1.0), viz::Color::white());
    window.showWidget("wgrid", wgrid);

    // WCube
    viz::WCube wcube(Vec3d::all(-5), Vec3d::all(5), true, viz::Color::cherry());
    wcube.setRenderingProperty(viz::LINE_WIDTH, 3);
    window.showWidget("wcube", wcube);

    // WText(2D)
    viz::WText wtext("OpenCV", Point2i(100, 100), 20, viz::Color::green());
    window.showWidget("wtext", wtext);

    // WText3D
    viz::WText3D wtext3d("OpenCV", Point3d(6, 5, 5), 4.1, true, viz::Color::white());
    window.showWidget("wtext3d", wtext3d);

    // WTrajectory
    // Displays a poly line that represents the path. 先要将点进行拟合？？
    /*viz::WTrajectory wtrajectory(points3d, viz::WTrajectory::PATH, 1.0, viz::Color::green());
    wtrajectory.setRenderingProperty(viz::LINE_WIDTH, 3); 
    window.showWidget("wtrajectory", wtrajectory);*/
    
    Mat rvec = Mat::zeros(1, 3, CV_32F);
    while (!window.wasStopped())
    {
        rvec.at<float>(0, 0) = 0.f;
        rvec.at<float>(0, 1) += CV_PI * 0.01f;
        rvec.at<float>(0, 2) = 0.f;
        Mat rmat;
        Rodrigues(rvec, rmat);
        Affine3f pose(rmat, Vec3f(0, 0, 0));

        window.setWidgetPose("plane", pose);

        window.showWidget("line", line);

        window.showWidget("sphere", sphere);

        window.showWidget("warrow", warrow);

        window.showWidget("wcricle", wcricle);

        window.showWidget("wpolyLine", wpolyLine);

        window.showWidget("wpaintedCloud", wpaintedCloud);

        //window.showWidget("wtrajectory", wtrajectory);

        window.showWidget("wgrid", wgrid);

        window.showWidget("wcube", wcube);

        window.showWidget("wtext", wtext);

        window.showWidget("wtext3d", wtext3d);

        window.spinOnce(1, true);
    }
    
    window.removeAllWidgets();
    return 1;
}