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#include "test_precomp.hpp"

using namespace cv;

TEST(Viz_viz3d, develop)
{
    cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path());

    //cv::viz::Mesh3d mesh = cv::viz::Mesh3d::load(get_dragon_ply_file_path());

    //theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255);

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


//    double c = cos(CV_PI/6);
//    std::vector<Vec3d> pts;
//    pts.push_back(Vec3d(0, 0.0, -1.0));
//    pts.push_back(Vec3d(1,   c, -0.5));
//    pts.push_back(Vec3d(2,   c,  0.5));
//    pts.push_back(Vec3d(3, 0.0,  1.0));
//    pts.push_back(Vec3d(4,  -c,  0.5));
//    pts.push_back(Vec3d(5,  -c, -0.5));

//    viz.showWidget("pl", cv::viz::WPolyLine(Mat(pts), cv::viz::Color::green()));

    //viz.showWidget("pl", cv::viz::WPolyLine(cloud.colRange(0, 100), cv::viz::Color::green()));
    //viz.spin();

    //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");
    gt.resize(20);

    Affine3d inv = gt[0].inv();
    for(size_t i = 0; i < gt.size(); ++i)
        gt[i] = inv * gt[i];

    //viz.showWidget("gt", viz::WTrajectory(gt, viz::WTrajectory::PATH, 1.f, viz::Color::blue()), gt[0].inv());
    viz.showWidget("gt", viz::WTrajectory(gt, viz::WTrajectory::BOTH, 0.01f, viz::Color::blue()));

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

    //theRNG().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();
}