/*M/////////////////////////////////////////////////////////////////////////////////////// // // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. // // By downloading, copying, installing or using the software you agree to this license. // If you do not agree to this license, do not download, install, // copy or use the software. // // // License Agreement // For Open Source Computer Vision Library // // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. // Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved. // Third party copyrights are property of their respective owners. // // Redistribution and use in source and binary forms, with or without modification, // are permitted provided that the following conditions are met: // // * Redistribution's of source code must retain the above copyright notice, // this list of conditions and the following disclaimer. // // * Redistribution's in binary form must reproduce the above copyright notice, // this list of conditions and the following disclaimer in the documentation // and / or other materials provided with the distribution. // // * The name of the copyright holders may not be used to endorse or promote products // derived from this software without specific prior written permission. // // This software is provided by the copyright holders and contributors "as is" and // any express or implied warranties, including, but not limited to, the implied // warranties of merchantability and fitness for a particular purpose are disclaimed. // In no event shall the Intel Corporation or contributors be liable for any direct, // indirect, incidental, special, exemplary, or consequential damages // (including, but not limited to, procurement of substitute goods or services; // loss of use, data, or profits; or business interruption) however caused // and on any theory of liability, whether in contract, strict liability, // or tort (including negligence or otherwise) arising in any way out of // the use of this software, even if advised of the possibility of such damage. // //M*/ #include "test_precomp.hpp" #include #include #include #include #include #include cv::Mat cvcloud_load() { cv::Mat cloud(1, 20000, CV_32FC3); std::ifstream ifs("d:/cloud_dragon.ply"); std::string str; for(size_t i = 0; i < 11; ++i) std::getline(ifs, str); cv::Point3f* data = cloud.ptr(); for(size_t i = 0; i < 20000; ++i) ifs >> data[i].x >> data[i].y >> data[i].z; return cloud; } 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)); 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)); // 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); // temp_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); //v.showWidget("n", cnw); // lw = v.getWidget("n").cast(); // pw = v.getWidget("n").cast(); cv::Mat points(1, 4, CV_64FC4); 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(); v.spin(); //temp_viz::GridWidget gw(temp_viz::Vec2i(100,100), temp_viz::Vec2d(1,1)); //v.showWidget("grid", gw); lw = v.getWidget("grid").cast(); //temp_viz::Text3DWidget t3w("OpenCV", cv::Point3f(0.0, 2.0, 0.0), 1.0, temp_viz::Color(255,255,0)); //v.showWidget("txt3d", t3w); // float grid_x_angle = 0.0; while(!v.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)); lw.setColor(temp_viz::Color(col_blue, col_green, col_red)); // lw.setLineWidth(pos_x * 10); //plw.setColor(temp_viz::Color(col_blue, col_green, col_red)); sw.setPose(cloudPosition); // pw.setPose(cloudPosition); aw.setPose(cloudPosition); cw.setPose(cloudPosition); cyw.setPose(cloudPosition); // lw.setPose(cloudPosition); cuw.setPose(cloudPosition); // cnw.setPose(cloudPosition); // v.showWidget("pcw",pcw, cloudPosition); // v.showWidget("pcw2",pcw2, cloudPosition2); // v.showWidget("plane", pw, cloudPosition); // 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)); //gw.updatePose(temp_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); } // // // temp_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"); // v.addPolygonMesh(*mesh, "pq"); // // v.spinOnce(1000, true); // // v.removeCoordinateSystem(); // // for(int i = 0; i < mesh->cloud.cols; ++i) // mesh->cloud.ptr()[i] += cv::Point3f(1, 1, 1); // // v.updatePolygonMesh(*mesh, "pq"); // // // for(int i = 0; i < mesh->cloud.cols; ++i) // mesh->cloud.ptr()[i] -= cv::Point3f(2, 2, 2); // v.addPolylineFromPolygonMesh(*mesh); // // // v.addText("===Abd sadfljsadlk", 100, 100, cv::Scalar(255, 0, 0), 15); // for(int i = 0; i < cloud.cols; ++i) // cloud.ptr()[i].x *=2; // // colors.setTo(cv::Scalar(255, 0, 0)); // // v.addSphere(cv::Point3f(0, 0, 0), 0.3, temp_viz::Color::blue()); // // cv::Mat cvpoly(1, 5, CV_32FC3); // cv::Point3f* pdata = cvpoly.ptr(); // pdata[0] = cv::Point3f(0, 0, 0); // pdata[1] = cv::Point3f(0, 1, 1); // 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()); // // // Updating cloud1 // v.showPointCloud("cloud1", cloud, colors); // v.spin(); }