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）

  1 #include <iostream>
  2 #include <opencv2/viz.hpp>
  3 #include <opencv2/highgui.hpp>
  4 #include <opencv2/calib3d.hpp>
  5 
  6 using namespace std;
  7 using namespace cv;
  8 
  9 int main()
 10 {
 11     // window
 12     viz::Viz3d window("window");
 13     window.showWidget("Coordinate", viz::WCoordinateSystem());
 14     window.setBackgroundColor(viz::Color(186, 36, 1));
 15 
 16     // plane
 17     viz::WPlane plane(Size2d(2, 2), viz::Color(13, 255, 39));
 18     plane.setRenderingProperty(viz::LINE_WIDTH, 5);
 19     plane.setPose(Affine3f());
 20     window.showWidget("plane", plane);
 21 
 22     // line
 23     viz::WLine line(Point3d(0.0, 0.0, 0.0), Point3d(10.0, 10.0, 10.0), viz::Color::yellow());
 24     line.setRenderingProperty(viz::LINE_WIDTH, 2);
 25     //line.setPose(Affine3f());
 26     window.showWidget("line", line);
 27 
 28     // WSphere
 29     viz::WSphere sphere(Point3d(1, 4, 3), 2, 1, viz::Color::blue());
 30     sphere.setRenderingProperty(viz::LINE_WIDTH, 1);
 31     window.showWidget("sphere", sphere);
 32 
 33     // WArrow
 34     viz::WArrow warrow(Point3d(1, 1, 1), Point3d(-2, 8, -2), 0.03, viz::Color::red());
 35     warrow.setRenderingProperty(viz::LINE_WIDTH, 2);
 36     window.showWidget("warrow", warrow);
 37 
 38     // WCircle
 39     viz::WCircle wcricle(3.0, 0.02, viz::Color::navy());
 40     wcricle.setRenderingProperty(viz::LINE_WIDTH, 2);
 41     window.showWidget("wcricle", wcricle);
 42     
 43     // WPolyLine (将点集自动转为一根线显示,适合SLAM显示轨迹)
 44     vector<Point3d> points3d;
 45     for (int i = 0; i < 5; i++)
 46     {
 47         points3d.push_back(Point3d(i, i*i, 2 * i));
 48     }
 49 
 50     viz::WPolyLine wpolyLine(points3d, viz::Color::rose());
 51     wpolyLine.setRenderingProperty(viz::LINE_WIDTH, 2);
 52     window.showWidget("wpolyLine", wpolyLine);
 53     
 54     // WPaintedCloud 
 55     vector<Point3d> pointCloud;
 56     // 创建点云
 57     pointCloud.resize(points3d.size());
 58     for (size_t i = 0; i < points3d.size(); i++)
 59     {
 60         pointCloud[i] = points3d[i] * 3;
 61     }
 62     viz::WPaintedCloud wpaintedCloud(pointCloud);
 63     wpaintedCloud.setRenderingProperty(viz::POINT_SIZE, 4);
 64     window.showWidget("wpaintedCloud", wpaintedCloud);
 65 
 66     // WGrid
 67     viz::WGrid wgrid(Vec2i::all(10), Vec2d::all(1.0), viz::Color::white());
 68     window.showWidget("wgrid", wgrid);
 69 
 70     // WCube
 71     viz::WCube wcube(Vec3d::all(-5), Vec3d::all(5), true, viz::Color::cherry());
 72     wcube.setRenderingProperty(viz::LINE_WIDTH, 3);
 73     window.showWidget("wcube", wcube);
 74 
 75     // WText(2D)
 76     viz::WText wtext("OpenCV", Point2i(100, 100), 20, viz::Color::green());
 77     window.showWidget("wtext", wtext);
 78 
 79     // WText3D
 80     viz::WText3D wtext3d("OpenCV", Point3d(6, 5, 5), 4.1, true, viz::Color::white());
 81     window.showWidget("wtext3d", wtext3d);
 82 
 83     // WTrajectory
 84     // Displays a poly line that represents the path. 先要将点进行拟合？？
 85     /*viz::WTrajectory wtrajectory(points3d, viz::WTrajectory::PATH, 1.0, viz::Color::green());
 86     wtrajectory.setRenderingProperty(viz::LINE_WIDTH, 3); 
 87     window.showWidget("wtrajectory", wtrajectory);*/
 88     
 89     Mat rvec = Mat::zeros(1, 3, CV_32F);
 90     while (!window.wasStopped())
 91     {
 92         rvec.at<float>(0, 0) = 0.f;
 93         rvec.at<float>(0, 1) += CV_PI * 0.01f;
 94         rvec.at<float>(0, 2) = 0.f;
 95         Mat rmat;
 96         Rodrigues(rvec, rmat);
 97         Affine3f pose(rmat, Vec3f(0, 0, 0));
 98 
 99         window.setWidgetPose("plane", pose);
100 
101         window.showWidget("line", line);
102 
103         window.showWidget("sphere", sphere);
104 
105         window.showWidget("warrow", warrow);
106 
107         window.showWidget("wcricle", wcricle);
108 
109         window.showWidget("wpolyLine", wpolyLine);
110 
111         window.showWidget("wpaintedCloud", wpaintedCloud);
112 
113         //window.showWidget("wtrajectory", wtrajectory);
114 
115         window.showWidget("wgrid", wgrid);
116 
117         window.showWidget("wcube", wcube);
118 
119         window.showWidget("wtext", wtext);
120 
121         window.showWidget("wtext3d", wtext3d);
122 
123         window.spinOnce(1, true);
124     }
125     
126     window.removeAllWidgets();
127     return 1;
128 }