From 512afe2a90607e90976adc143504bb3003d9002e Mon Sep 17 00:00:00 2001 From: Anatoly Baksheev Date: Sat, 13 Jul 2013 18:23:46 +0400 Subject: [PATCH] beatification of test_viz --- modules/viz/test/test_viz3d.cpp | 164 ++++++++++++++++++---------------------- 1 file changed, 75 insertions(+), 89 deletions(-) diff --git a/modules/viz/test/test_viz3d.cpp b/modules/viz/test/test_viz3d.cpp index 884b0b5..a1b99fa 100644 --- a/modules/viz/test/test_viz3d.cpp +++ b/modules/viz/test/test_viz3d.cpp @@ -48,6 +48,7 @@ #include #include +using namespace cv; cv::Mat cvcloud_load() { @@ -67,102 +68,86 @@ cv::Mat cvcloud_load() TEST(Viz_viz3d, accuracy) { - temp_viz::Viz3d v("abc"); - //v.spin(); - - v.setBackgroundColor(); - cv::Mat cloud = cvcloud_load(); - cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0)); + cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0)); + //cv::viz::Mesh3d::Ptr mesh = cv::viz::Mesh3d::mesh_load("d:/horse.ply"); + + const Vec4d data[] = { Vec4d(0.0, 0.0, 0.0, 0.0), Vec4d(1.0, 1.0, 1.0, 1.0), cv::Vec4d(0.0, 2.0, 0.0, 0.0), cv::Vec4d(3.0, 4.0, 1.0, 1.0) }; + cv::Mat points(1, sizeof(data)/sizeof(data[0]), CV_64FC4, (void*)data); + points = points.reshape(4, 2); + + cv::viz::Viz3d viz("abc"); + viz.setBackgroundColor(); - float angle_x = 0.0f; - float angle_y = 0.0f; - float angle_z = 0.0f; - float pos_x = 0.0f; - float pos_y = 0.0f; - float pos_z = 0.0f; - temp_viz::Mesh3d::Ptr mesh = temp_viz::Mesh3d::mesh_load("d:/horse.ply"); - v.addPolygonMesh(*mesh, "pq"); - - int col_blue = 0; - int col_green = 0; - int col_red = 0; - - temp_viz::LineWidget lw(cv::Point3f(0.0,0.0,0.0), cv::Point3f(4.0,4.0,4.0), temp_viz::Color(0,255,0)); - temp_viz::PlaneWidget pw(cv::Vec4f(0.0,1.0,2.0,3.0), 50.0); - temp_viz::SphereWidget sw(cv::Point3f(0,0,0), 0.5); - temp_viz::ArrowWidget aw(cv::Point3f(0,0,0), cv::Point3f(1,1,1), temp_viz::Color(255,0,0)); - temp_viz::CircleWidget cw(cv::Point3f(0,0,0), 0.5, 0.01, temp_viz::Color(0,255,0)); - temp_viz::CylinderWidget cyw(cv::Point3f(0,0,0), cv::Point3f(-1,-1,-1), 0.5, 30, temp_viz::Color(0,255,0)); - temp_viz::CubeWidget cuw(cv::Point3f(-2,-2,-2), cv::Point3f(-1,-1,-1)); - temp_viz::CoordinateSystemWidget csw; - temp_viz::TextWidget tw("TEST", cv::Point2i(100,100), 20); - temp_viz::CloudWidget pcw(cloud, colors); - temp_viz::CloudWidget pcw2(cloud, temp_viz::Color(0,255,255)); + Vec3f angle = Vec3f::all(0); + Vec3f pos = Vec3f::all(0); + + //viz.addPolygonMesh(*mesh, "pq"); + + viz::Color color = viz::Color::black(); + + viz::LineWidget lw(Point3f(0, 0, 0), Point3f(4.f, 4.f,4.f), viz::Color::green()); + viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0), 5.0); + viz::SphereWidget sw(Point3f(0, 0, 0), 0.5); + viz::ArrowWidget aw(Point3f(0, 0, 0), Point3f(1, 1, 1), viz::Color::red()); + viz::CircleWidget cw(Point3f(0, 0, 0), 0.5, 0.01, viz::Color::green()); + viz::CylinderWidget cyw(Point3f(0, 0, 0), Point3f(-1, -1, -1), 0.5, 30, viz::Color::green()); + viz::CubeWidget cuw(Point3f(-2, -2, -2), Point3f(-1, -1, -1)); + viz::CoordinateSystemWidget csw; + viz::TextWidget tw("TEST", Point(100, 100), 20); + viz::CloudWidget pcw(cloud, colors); + viz::CloudWidget pcw2(cloud, viz::Color::magenta()); -// v.showWidget("line", lw); -// v.showWidget("plane", pw); - v.showWidget("sphere", sw); - v.spin(); - //v.showWidget("arrow", aw); - //v.showWidget("circle", cw); - //v.showWidget("cylinder", cyw); - //v.showWidget("cube", cuw); - //v.showWidget("coordinateSystem", csw); - //v.showWidget("coordinateSystem2", temp_viz::CoordinateSystemWidget(2.0), cv::Affine3f(0, 0, 0, cv::Vec3f(2, 0, 0))); - //v.showWidget("text",tw); - //v.showWidget("pcw",pcw); - //v.showWidget("pcw2",pcw2); + viz.showWidget("line", lw); + viz.showWidget("plane", pw); + viz.showWidget("sphere", sw); + viz.showWidget("arrow", aw); + viz.showWidget("circle", cw); + viz.showWidget("cylinder", cyw); + viz.showWidget("cube", cuw); + viz.showWidget("coordinateSystem", csw); + viz.showWidget("coordinateSystem2", viz::CoordinateSystemWidget(2.0), Affine3f().translate(Vec3f(2, 0, 0))); + viz.showWidget("text",tw); + viz.showWidget("pcw",pcw); + viz.showWidget("pcw2",pcw2); -// temp_viz::LineWidget lw2 = lw; +// viz::LineWidget lw2 = lw; // v.showPointCloud("cld",cloud, colors); - cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0)); - // v.addPointCloudNormals(cloud, normals, 100, 0.02, "n"); - //temp_viz::CloudNormalsWidget cnw(cloud, normals); + //viz::CloudNormalsWidget cnw(cloud, normals); //v.showWidget("n", cnw); - - - -// lw = v.getWidget("n").cast(); -// pw = v.getWidget("n").cast(); - cv::Mat points(1, 4, CV_64FC4); +// lw = v.getWidget("n").cast(); +// pw = v.getWidget("n").cast(); - cv::Vec4d* data = points.ptr(); - data[0] = cv::Vec4d(0.0,0.0,0.0,0.0); - data[1] = cv::Vec4d(1.0,1.0,1.0,1.0); - data[2] = cv::Vec4d(0.0,2.0,0.0,0.0); - data[3] = cv::Vec4d(3.0,4.0,1.0,1.0); - points = points.reshape(0, 2); - temp_viz::PolyLineWidget plw(points, temp_viz::Color::green()); - v.showWidget("polyline",plw); -// lw = v.getWidget("polyline").cast(); + viz::PolyLineWidget plw(points, viz::Color::green()); + viz.showWidget("polyline", plw); +// lw = v.getWidget("polyline").cast(); - v.spin(); + viz.spin(); - //temp_viz::GridWidget gw(temp_viz::Vec2i(100,100), temp_viz::Vec2d(1,1)); + //viz::GridWidget gw(viz::Vec2i(100,100), viz::Vec2d(1,1)); //v.showWidget("grid", gw); - lw = v.getWidget("grid").cast(); + lw = viz.getWidget("grid").cast(); - //temp_viz::Text3DWidget t3w("OpenCV", cv::Point3f(0.0, 2.0, 0.0), 1.0, temp_viz::Color(255,255,0)); + //viz::Text3DWidget t3w("OpenCV", cv::Point3f(0.0, 2.0, 0.0), 1.0, viz::Color(255,255,0)); //v.showWidget("txt3d", t3w); // float grid_x_angle = 0.0; - while(!v.wasStopped()) + while(!viz.wasStopped()) { // Creating new point cloud with id cloud1 - cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z)); - cv::Affine3f cloudPosition2(angle_x, angle_y, angle_z, cv::Vec3f(pos_x+0.2, pos_y+0.2, pos_z+0.2)); + cv::Affine3f cloudPosition(angle, pos); + cv::Affine3f cloudPosition2(angle, pos + Vec3f(0.2f, 0.2f, 0.2f)); - lw.setColor(temp_viz::Color(col_blue, col_green, col_red)); + lw.setColor(color); // lw.setLineWidth(pos_x * 10); - //plw.setColor(temp_viz::Color(col_blue, col_green, col_red)); + //plw.setColor(viz::Color(col_blue, col_green, col_red)); sw.setPose(cloudPosition); // pw.setPose(cloudPosition); @@ -178,34 +163,35 @@ TEST(Viz_viz3d, accuracy) // v.setWidgetPose("n",cloudPosition); // v.setWidgetPose("pcw2", cloudPosition); - //cnw.setColor(temp_viz::Color(col_blue, col_green, col_red)); - //pcw2.setColor(temp_viz::Color(col_blue, col_green, col_red)); + //cnw.setColor(viz::Color(col_blue, col_green, col_red)); + //pcw2.setColor(viz::Color(col_blue, col_green, col_red)); - //gw.updatePose(temp_viz::Affine3f(0.0, 0.1, 0.0, cv::Vec3f(0.0,0.0,0.0))); + //gw.updatePose(viz::Affine3f(0.0, 0.1, 0.0, cv::Vec3f(0.0,0.0,0.0))); - angle_x += 0.1f; - angle_y -= 0.1f; - angle_z += 0.1f; - pos_x = std::sin(angle_x); - pos_y = std::sin(angle_y); - pos_z = std::sin(angle_z); - col_blue = int(angle_x * 10) % 256; - col_green = int(angle_x * 20) % 256; - col_red = int(angle_x * 30) % 256; - - v.spinOnce(1, true); + angle[0] += 0.1f; + angle[1] -= 0.1f; + angle[2] += 0.1f; + pos[0] = std::sin(angle[0]); + pos[1] = std::sin(angle[1]); + pos[2] = std::sin(angle[2]); + + color[0] = int(angle[0] * 10) % 256; + color[1] = int(angle[0] * 20) % 256; + color[2] = int(angle[0] * 30) % 256; + + viz.spinOnce(1, true); } // // -// temp_viz::ModelCoefficients mc; +// viz::ModelCoefficients mc; // mc.values.resize(4); // mc.values[0] = mc.values[1] = mc.values[2] = mc.values[3] = 1; // v.addPlane(mc); // // -// temp_viz::Mesh3d::Ptr mesh = temp_viz::mesh_load("horse.ply"); +// viz::Mesh3d::Ptr mesh = viz::mesh_load("horse.ply"); // v.addPolygonMesh(*mesh, "pq"); // // v.spinOnce(1000, true); @@ -229,7 +215,7 @@ TEST(Viz_viz3d, accuracy) // // colors.setTo(cv::Scalar(255, 0, 0)); // -// v.addSphere(cv::Point3f(0, 0, 0), 0.3, temp_viz::Color::blue()); +// v.addSphere(cv::Point3f(0, 0, 0), 0.3, viz::Color::blue()); // // cv::Mat cvpoly(1, 5, CV_32FC3); // cv::Point3f* pdata = cvpoly.ptr(); @@ -238,7 +224,7 @@ TEST(Viz_viz3d, accuracy) // pdata[2] = cv::Point3f(3, 1, 2); // pdata[3] = cv::Point3f(0, 2, 4); // pdata[4] = cv::Point3f(7, 2, 3); -// v.addPolygon(cvpoly, temp_viz::Color::white()); +// v.addPolygon(cvpoly, viz::Color::white()); // // // Updating cloud1 // v.showPointCloud("cloud1", cloud, colors); -- 2.7.4