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- import numpy as np
- import cv2 as cv
- my_window = cv.viz_Viz3d("Coordinate Frame")
- axe = cv.viz_WCoordinateSystem()
- axis = cv.viz_WLine((-1.0,-1.0,-1.0), (1.0,1.0,1.0), cv.viz_Color().green())
- axis.setRenderingProperty(cv.viz.LINE_WIDTH, 4.0);
- my_window.showWidget("axe",axis)
- plan = cv.viz_WPlane((-1.0,-1.0,-1.0), (1.0,.0,.0), (-.0,.0,-1.0))
- #my_window.showWidget("plan", plan)
- cube = cv.viz_WCube((0.5,0.5,0.0), (0.0,0.0,-0.5), True, cv.viz_Color().blue())
- my_window.showWidget("Cube Widget",cube)
- pi = np.arccos(-1)
- print("First event loop is over")
- my_window.spin()
- print("Second event loop is over")
- my_window.spinOnce(1, True)
- translation_phase = 0.0
- translation = 0.0
- rot_mat = np.zeros(shape=(3, 3), dtype=np.float32)
- rot_vec = np.zeros(shape=(1,3),dtype=np.float32)
- while not my_window.wasStopped():
- rot_vec[0, 0] += np.pi * 0.01
- rot_vec[0, 1] += np.pi * 0.01
- rot_vec[0, 2] += np.pi * 0.01
- translation_phase += pi * 0.01
- translation = np.sin(translation_phase)
- pose = cv.viz_Affine3d(rot_vec, (translation, translation, translation))
- my_window.setWidgetPose("Cube Widget",pose)
- my_window.spinOnce(1, True);
- print("Last event loop is over")
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