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@ -41,141 +41,30 @@ |
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//M*/
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#include "test_precomp.hpp" |
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using namespace cv; |
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static cv::Mat cvcloud_load() |
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{ |
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cv::Mat cloud(1, 20000, CV_32FC3); |
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std::ifstream ifs("/Users/nerei/cloud_dragon.ply"); |
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std::ifstream ifs("d:/cloud_dragon.ply"); |
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std::string str; |
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for(size_t i = 0; i < 11; ++i) |
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std::getline(ifs, str); |
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cv::Point3f* data = cloud.ptr<cv::Point3f>(); |
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for(size_t i = 0; i < 20000; ++i) |
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for(size_t i = 0; i < cloud.total(); ++i) |
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ifs >> data[i].x >> data[i].y >> data[i].z; |
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return cloud; |
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} |
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bool constant_cam = true; |
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cv::viz::Widget cam_1, cam_coordinates; |
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void keyboard_callback(const viz::KeyboardEvent & event, void * cookie) |
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{ |
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if (event.keyDown()) |
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{ |
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if (event.getKeySym() == "space") |
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{ |
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viz::Viz3d &viz = *((viz::Viz3d *) cookie); |
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constant_cam = !constant_cam; |
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if (constant_cam) |
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{ |
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viz.showWidget("cam_1", cam_1); |
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viz.showWidget("cam_coordinate", cam_coordinates); |
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viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28)); |
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viz.resetCamera(); |
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} |
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else |
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{ |
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viz.showWidget("cam_text", viz::WText("Cam View", Point2i(5,5), 28)); |
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viz.removeWidget("cam_1"); |
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viz.removeWidget("cam_coordinate"); |
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} |
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} |
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} |
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} |
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TEST(Viz_viz3d, develop) |
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{ |
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cv::Mat cloud = cvcloud_load(); |
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cv::viz::Viz3d viz("abc"); |
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cv::viz::Mesh3d bunny_mesh = cv::viz::Mesh3d::loadMesh("bunny.ply"); |
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cv::viz::WMesh bunny_widget(bunny_mesh); |
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bunny_widget.setColor(cv::viz::Color::cyan()); |
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cam_1 = cv::viz::WCameraPosition(cv::Vec2f(0.6f, 0.4f), 0.2, cv::viz::Color::green()); |
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cam_coordinates = cv::viz::WCameraPosition(0.2); |
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viz.showWidget("bunny", bunny_widget); |
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viz.showWidget("cam_1", cam_1, viz::makeCameraPose(Point3f(1.f,0.f,0.f), Point3f(0.f,0.f,0.f), Point3f(0.f,1.f,0.f))); |
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viz.showWidget("cam_coordinate", cam_coordinates, viz::makeCameraPose(Point3f(1.f,0.f,0.f), Point3f(0.f,0.f,0.f), Point3f(0.f,1.f,0.f))); |
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std::vector<Affine3f> cam_path; |
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for (int i = 0, j = 0; i <= 360; ++i, j+=5) |
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{ |
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cam_path.push_back(viz::makeCameraPose(Vec3d(0.5*cos(i*CV_PI/180.0), 0.5*sin(j*CV_PI/180.0), 0.5*sin(i*CV_PI/180.0)), Vec3f(0.f, 0.f, 0.f), Vec3f(0.f, 1.f, 0.f))); |
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} |
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int path_counter = 0; |
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int cam_path_size = cam_path.size(); |
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// OTHER WIDGETS
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cv::Mat img = imread("opencv.png"); |
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int downSample = 4; |
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int row_max = img.rows/downSample; |
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int col_max = img.cols/downSample; |
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cv::Mat *clouds = new cv::Mat[img.cols/downSample]; |
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cv::Mat *colors = new cv::Mat[img.cols/downSample]; |
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for (int col = 0; col < col_max; ++col) |
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{ |
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clouds[col] = Mat::zeros(img.rows/downSample, 1, CV_32FC3); |
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colors[col] = Mat::zeros(img.rows/downSample, 1, CV_8UC3); |
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for (int row = 0; row < row_max; ++row) |
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{ |
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clouds[col].at<Vec3f>(row) = Vec3f(downSample * float(col) / img.cols, 1.f-(downSample * float(row) / img.rows), 0.f); |
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colors[col].at<Vec3b>(row) = img.at<Vec3b>(row*downSample,col*downSample); |
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} |
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} |
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for (int col = 0; col < col_max; ++col) |
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{ |
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std::stringstream strstrm; |
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strstrm << "cloud_" << col; |
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viz.showWidget(strstrm.str(), viz::WCloud(clouds[col], colors[col])); |
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viz.getWidget(strstrm.str()).setRenderingProperty(viz::POINT_SIZE, 3.0); |
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viz.getWidget(strstrm.str()).setRenderingProperty(viz::OPACITY, 0.45); |
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} |
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viz.showWidget("trajectory", viz::WTrajectory(cam_path, viz::WTrajectory::DISPLAY_PATH, viz::Color::yellow())); |
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viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28)); |
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viz.registerKeyboardCallback(keyboard_callback, (void *) &viz); |
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int angle = 0; |
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while(!viz.wasStopped()) |
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{ |
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if (path_counter == cam_path_size) |
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{ |
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path_counter = 0; |
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} |
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if (!constant_cam) |
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{ |
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viz.setViewerPose(cam_path[path_counter]); |
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} |
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if (angle == 360) angle = 0; |
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cam_1.cast<viz::WCameraPosition>().setPose(cam_path[path_counter]); |
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cam_coordinates.cast<viz::WCameraPosition>().setPose(cam_path[path_counter++]); |
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for (int i = 0; i < col_max; ++i) |
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{ |
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std::stringstream strstrm; |
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strstrm << "cloud_" << i; |
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viz.setWidgetPose(strstrm.str(), Affine3f().translate(Vec3f(-0.5f, 0.f, (float)(-0.7 + 0.2*sin((angle+i*10)*CV_PI / 180.0))))); |
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} |
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angle += 10; |
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viz.spinOnce(42, true); |
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} |
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volatile void* a = (void*)&cvcloud_load; (void)a; //fixing warnings
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cv::viz::WCloud c(cloud, cv::Mat(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0))); |
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//cv::viz::WCloud c(cloud, cv::viz::Color::bluberry());
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viz.showWidget("c", c); |
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viz.spin(); |
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} |
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Anatoly Baksheev
11 years ago