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#include "test_precomp.hpp"

using namespace cv;

TEST(Viz_viz3d, develop)
{
    std::cout << std::string(cvtest::TS::ptr()->get_data_path()) + "dragon.ply" << std::endl;

    cv::Mat cloud = cv::viz::readCloud(String(cvtest::TS::ptr()->get_data_path()) + "dragon.ply");


//    for(size_t i = 0; i < cloud.total(); ++i)
//    {
//        if (i % 15 == 0)
//            continue;
//        const static float qnan = std::numeric_limits<float>::quiet_NaN();
//        cloud.at<Vec3f>(i) = Vec3f(qnan, qnan, qnan);
//    }

    cv::viz::Viz3d viz("abc");
    viz.setBackgroundColor(cv::viz::Color::mlab());
    viz.showWidget("coo", cv::viz::WCoordinateSystem(0.1));

    cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));

    //viz.showWidget("h", cv::viz::Widget::fromPlyFile("d:/horse-red.ply"));
    //viz.showWidget("a", cv::viz::WArrow(cv::Point3f(0,0,0), cv::Point3f(1,1,1)));

    std::vector<cv::Affine3d> gt, es;
    cv::viz::readTrajectory(gt, "d:/Datasets/trajs/gt%05d.xml");
    cv::viz::readTrajectory(es, "d:/Datasets/trajs/es%05d.xml");

    viz.showWidget("gt", viz::WTrajectory(gt, viz::WTrajectory::PATH, 1.f, viz::Color::blue()), gt[0].inv());
    viz.showWidget("tr", viz::WTrajectory(es, viz::WTrajectory::PATH, 1.f, viz::Color::red()), gt[0].inv());

    cv::RNG rng;
    rng.fill(colors, cv::RNG::UNIFORM, 0, 255);
    //viz.showWidget("c", cv::viz::WCloud(cloud, colors));
    //viz.showWidget("c", cv::viz::WCloud(cloud, cv::viz::Color::bluberry()));

    //viz.showWidget("l", cv::viz::WLine(Point3f(0,0,0), Point3f(1,1,1)));
    //viz.showWidget("s", cv::viz::WSphere(Point3f(0,0,0), 1));
    //viz.showWidget("d", cv::viz::WCircle(Point3f(0,0,0), 1));
    viz.spin();
}