--- /dev/null
+#include "test_precomp.hpp"
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function cvcloud_load
+ * @brief load bunny.ply
+ */
+Mat cvcloud_load()
+{
+ Mat cloud(1, 20000, CV_32FC3);
+ ifstream ifs("d:/cloud_dragon.ply");
+
+ string str;
+ for(size_t i = 0; i < 12; ++i)
+ getline(ifs, str);
+
+ Point3f* data = cloud.ptr<cv::Point3f>();
+ //float dummy1, dummy2;
+ for(size_t i = 0; i < 20000; ++i)
+ ifs >> data[i].x >> data[i].y >> data[i].z;// >> dummy1 >> dummy2;
+
+ //cloud *= 5.0f;
+ return cloud;
+}
+
+/**
+ * @function main
+ */
+void tutorial3(bool camera_pov)
+{
+ /// Create a window
+ viz::Viz3d myWindow("Coordinate Frame");
+
+ /// Add coordinate axes
+ myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+ /// Let's assume camera has the following properties
+ Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
+
+ /// We can get the pose of the cam using makeCameraPose
+ Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+
+ /// We can get the transformation matrix from camera coordinate system to global using
+ /// - makeTransformToGlobal. We need the axes of the camera
+ Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
+
+ /// Create a cloud widget.
+ Mat bunny_cloud = cvcloud_load();
+ viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+
+ /// Pose of the widget in camera frame
+ Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
+ /// Pose of the widget in global frame
+ Affine3f cloud_pose_global = transform * cloud_pose;
+
+ /// Visualize camera frame
+ if (!camera_pov)
+ {
+ viz::WCameraPosition cpw(0.5); // Coordinate axes
+ viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
+ myWindow.showWidget("CPW", cpw, cam_pose);
+ myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+ }
+
+ /// Visualize widget
+ myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+ /// Set the viewer pose to that of camera
+ if (camera_pov)
+ myWindow.setViewerPose(cam_pose);
+
+ /// Start event loop.
+ myWindow.spin();
+}
+
+TEST(Viz_viz3d, tutorial3_global_view)
+{
+ tutorial3(false);
+}
+
+TEST(Viz_viz3d, tutorial3_camera_view)
+{
+ tutorial3(true);
+}
//
//M*/
#include "test_precomp.hpp"
-#include <opencv2/viz.hpp>
-#include <opencv2/highgui.hpp>
-#include <string>
+
using namespace cv;
-cv::Mat cvcloud_load()
+static cv::Mat cvcloud_load()
{
cv::Mat cloud(1, 20000, CV_32FC3);
std::ifstream ifs("/Users/nerei/cloud_dragon.ply");
}
}
-TEST(Viz_viz3d, accuracy)
+TEST(Viz_viz3d, develop)
{
cv::viz::Viz3d viz("abc");
angle += 10;
viz.spinOnce(42, true);
}
+
+ volatile void* a = (void*)&cvcloud_load; (void)a; //fixing warnings
}