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python binding for viz #2882
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3777c0f
python binding for viz
LaurentBerger 9ba03b6
oops
LaurentBerger d3cf545
bug
LaurentBerger d10b638
comment but( this is not solved https://github.com/opencv/opencv_cont…
LaurentBerger f760047
review 2
LaurentBerger 0cec78e
oversight
LaurentBerger 5e5a2d4
oversight oops
LaurentBerger 8bf772c
viz: move out Py* classes from public C++ headers
alalek c6fdc38
viz: recover PyColor
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,114 @@ | ||
| #ifndef OPENCV_PYTHON_VIZ_IMPL_HPP | ||
| #define OPENCV_PYTHON_VIZ_IMPL_HPP | ||
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| #include "python_viz.hpp" | ||
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| namespace cv { namespace viz { | ||
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| PyAffine3d makeTransformToGlobalPy(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin) | ||
| { | ||
| return makeTransformToGlobal(axis_x, axis_y, axis_z, origin); | ||
| } | ||
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| PyAffine3d makeCameraPosePy(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir) | ||
| { | ||
| return makeCameraPose(position, focal_point, y_dir); | ||
| } | ||
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| #define WRAP_SHOW_WIDGET_1 return Viz3d::showWidget(id, *widget.widget.get()) | ||
| #define WRAP_SHOW_WIDGET_2 return Viz3d::showWidget(id, *widget.widget.get(), pose) | ||
| inline void PyViz3d::showWidget(const String &id, PyWLine &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWLine &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWSphere &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWSphere &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCameraPosition &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCameraPosition &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWArrow &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWArrow &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCircle &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCircle &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWPlane &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWPlane &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCone &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCone &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCube &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCube &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCylinder &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCylinder &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCoordinateSystem &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWPaintedCloud &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWPaintedCloud &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCloudCollection &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCloudCollection &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWGrid &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWGrid &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, const cv::Ptr<WMesh> &widget) { return Viz3d::showWidget(id, *widget.get()); } | ||
| inline void PyViz3d::showWidget(const String &id, const cv::Ptr<WMesh> &widget, PyAffine3d &pose) { return Viz3d::showWidget(id, *widget.get(), pose); } | ||
| inline void PyViz3d::showWidget(const String &id, PyWPolyLine &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWPolyLine &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCloud &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCloud &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWImage3D &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWImage3D &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWImageOverlay &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWImageOverlay &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWText &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWText &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWText3D &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWText3D &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCloudNormals &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWCloudNormals &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWTrajectory &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWTrajectory &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWTrajectorySpheres &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWTrajectorySpheres &widget) { WRAP_SHOW_WIDGET_1; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWTrajectoryFrustums &widget, PyAffine3d &pose) { WRAP_SHOW_WIDGET_2; } | ||
| inline void PyViz3d::showWidget(const String &id, PyWTrajectoryFrustums &widget) { WRAP_SHOW_WIDGET_1; } | ||
| #undef WRAP_SHOW_WIDGET_1 | ||
| #undef WRAP_SHOW_WIDGET_2 | ||
|
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| PyWGrid::PyWGrid(InputArray cells, InputArray cells_spacing, const Color &color) | ||
| { | ||
| if (cells.kind() == _InputArray::MAT && cells_spacing.kind() == _InputArray::MAT) | ||
| { | ||
| Mat k = cells.getMat(); | ||
| Mat l = cells_spacing.getMat(); | ||
| if (k.total() == 2 && l.total() == 2 ) | ||
| { | ||
| CV_Assert(k.type() == CV_64FC1 && k.type() == CV_64FC1); | ||
| Vec2i c1(k.at<double>(0), k.at<double>(1)); | ||
| Vec2d c2(l.at<double>(0), l.at<double>(1)); | ||
| widget = cv::makePtr<WGrid>(c1, c2, color); | ||
| } | ||
| else | ||
| CV_Error(cv::Error::StsVecLengthErr, "unknown size"); | ||
| } | ||
| else | ||
| CV_Error(cv::Error::StsUnsupportedFormat, "unknown type"); | ||
| } | ||
|
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| PyWTrajectoryFrustums::PyWTrajectoryFrustums(InputArray path, InputArray K, double scale, const Color &color) | ||
| { | ||
| if (K.kind() == _InputArray::MAT) | ||
| { | ||
| Mat k = K.getMat(); | ||
| if (k.rows == 3 && k.cols == 3) | ||
| { | ||
| Matx33d x = k; | ||
| widget = cv::makePtr<WTrajectoryFrustums>(path, x, scale, color); | ||
|
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| } | ||
| else if (k.total() == 2) | ||
| widget = cv::makePtr<WTrajectoryFrustums>(path, Vec2d(k.at<double>(0), k.at<double>(1)), 1.0, color); | ||
| else | ||
| CV_Error(cv::Error::StsVecLengthErr, "unknown size"); | ||
| } | ||
| else | ||
| CV_Error(cv::Error::StsVecLengthErr, "unknown size"); | ||
| } | ||
|
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|
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| }} // namespace | ||
| #endif // OPENCV_PYTHON_VIZ_IMPL_HPP |
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/cc @mshabunin Perhaps we need some
CV_WRAP_WITHOUT_BASEmarker for bindings.