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Open Source Computer Vision Library
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407 lines
16 KiB
407 lines
16 KiB
/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
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// Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and / or other materials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#include "test_precomp.hpp" |
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using namespace cv; |
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using namespace cv::viz; |
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TEST(Viz, show_cloud_bluberry) |
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{ |
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Mat dragon_cloud = readCloud(get_dragon_ply_file_path()); |
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); |
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Viz3d viz("show_cloud_bluberry"); |
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viz.showWidget("coosys", WCoordinateSystem()); |
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viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose); |
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viz.showWidget("text2d", WText("Bluberry cloud", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_cloud_random_color) |
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{ |
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Mat dragon_cloud = readCloud(get_dragon_ply_file_path()); |
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Mat colors(dragon_cloud.size(), CV_8UC3); |
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theRNG().fill(colors, RNG::UNIFORM, 0, 255); |
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); |
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Viz3d viz("show_cloud_random_color"); |
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viz.setBackgroundMeshLab(); |
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viz.showWidget("coosys", WCoordinateSystem()); |
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viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose); |
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viz.showWidget("text2d", WText("Random color cloud", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_cloud_masked) |
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{ |
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Mat dragon_cloud = readCloud(get_dragon_ply_file_path()); |
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Vec3f qnan = Vec3f::all(std::numeric_limits<float>::quiet_NaN()); |
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for(size_t i = 0; i < dragon_cloud.total(); ++i) |
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if (i % 15 != 0) |
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dragon_cloud.at<Vec3f>(i) = qnan; |
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); |
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Viz3d viz("show_cloud_masked"); |
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viz.showWidget("coosys", WCoordinateSystem()); |
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viz.showWidget("dragon", WCloud(dragon_cloud), pose); |
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viz.showWidget("text2d", WText("Nan masked cloud", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_cloud_collection) |
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{ |
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Mat cloud = readCloud(get_dragon_ply_file_path()); |
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WCloudCollection ccol; |
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ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(CV_PI/2, 0, 0))); |
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ccol.addCloud(cloud, Color::blue(), Affine3d().translate(Vec3d(1, 0, 0))); |
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ccol.addCloud(cloud, Color::red(), Affine3d().translate(Vec3d(2, 0, 0))); |
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Viz3d viz("show_cloud_collection"); |
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viz.setBackgroundColor(Color::mlab()); |
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viz.showWidget("coosys", WCoordinateSystem()); |
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viz.showWidget("ccol", ccol); |
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viz.showWidget("text2d", WText("Cloud collection", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_painted_clouds) |
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{ |
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Mat cloud = readCloud(get_dragon_ply_file_path()); |
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Viz3d viz("show_painted_clouds"); |
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viz.setBackgroundMeshLab(); |
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viz.showWidget("coosys", WCoordinateSystem()); |
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viz.showWidget("cloud1", WPaintedCloud(cloud), Affine3d(Vec3d(0.0, -CV_PI/2, 0.0), Vec3d(-1.5, 0.0, 0.0))); |
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viz.showWidget("cloud2", WPaintedCloud(cloud, Vec3d(0.0, -0.75, -1.0), Vec3d(0.0, 0.75, 0.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(1.5, 0.0, 0.0))); |
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viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red())); |
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viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry())); |
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viz.showWidget("text2d", WText("Painted clouds", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_mesh) |
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{ |
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Mesh mesh = Mesh::load(get_dragon_ply_file_path()); |
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); |
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Viz3d viz("show_mesh"); |
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viz.showWidget("coosys", WCoordinateSystem()); |
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viz.showWidget("mesh", WMesh(mesh), pose); |
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viz.showWidget("text2d", WText("Just mesh", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_mesh_random_colors) |
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{ |
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Mesh mesh = Mesh::load(get_dragon_ply_file_path()); |
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theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255); |
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); |
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Viz3d viz("show_mesh_random_color"); |
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viz.showWidget("coosys", WCoordinateSystem()); |
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viz.showWidget("mesh", WMesh(mesh), pose); |
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viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG); |
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viz.showWidget("text2d", WText("Random color mesh", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_textured_mesh) |
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{ |
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png")); |
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std::vector<Vec3d> points; |
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std::vector<Vec2d> tcoords; |
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std::vector<int> polygons; |
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for(size_t i = 0; i < 64; ++i) |
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{ |
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double angle = CV_PI/2 * i/64.0; |
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points.push_back(Vec3d(0.00, cos(angle), sin(angle))*0.75); |
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points.push_back(Vec3d(1.57, cos(angle), sin(angle))*0.75); |
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tcoords.push_back(Vec2d(0.0, i/64.0)); |
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tcoords.push_back(Vec2d(1.0, i/64.0)); |
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} |
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for(size_t i = 0; i < points.size()/2-1; ++i) |
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{ |
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int polys[] = {3, 2*i, 2*i+1, 2*i+2, 3, 2*i+1, 2*i+2, 2*i+3}; |
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polygons.insert(polygons.end(), polys, polys + sizeof(polys)/sizeof(polys[0])); |
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} |
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cv::viz::Mesh mesh; |
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mesh.cloud = Mat(points, true).reshape(3, 1); |
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mesh.tcoords = Mat(tcoords, true).reshape(2, 1); |
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mesh.polygons = Mat(polygons, true).reshape(1, 1); |
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mesh.texture = lena; |
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Viz3d viz("show_textured_mesh"); |
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viz.setBackgroundMeshLab(); |
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viz.showWidget("coosys", WCoordinateSystem()); |
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viz.showWidget("mesh", WMesh(mesh)); |
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viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG); |
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viz.showWidget("text2d", WText("Textured mesh", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_polyline) |
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{ |
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Mat polyline(1, 32, CV_64FC3); |
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for(size_t i = 0; i < polyline.total(); ++i) |
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polyline.at<Vec3d>(i) = Vec3d(i/16.0, cos(i * CV_PI/6), sin(i * CV_PI/6)); |
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Viz3d viz("show_polyline"); |
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viz.showWidget("polyline", WPolyLine(Mat(polyline), Color::apricot())); |
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viz.showWidget("coosys", WCoordinateSystem()); |
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viz.showWidget("text2d", WText("Polyline", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_sampled_normals) |
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{ |
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Mesh mesh = Mesh::load(get_dragon_ply_file_path()); |
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computeNormals(mesh, mesh.normals); |
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0)); |
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Viz3d viz("show_sampled_normals"); |
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viz.showWidget("mesh", WMesh(mesh), pose); |
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viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose); |
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viz.setRenderingProperty("normals", LINE_WIDTH, 2.0); |
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viz.showWidget("text2d", WText("Cloud or mesh normals", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_trajectories) |
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{ |
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std::vector<Affine3d> path = generate_test_trajectory<double>(), sub0, sub1, sub2, sub3, sub4, sub5; |
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Mat(path).rowRange(0, path.size()/10+1).copyTo(sub0); |
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Mat(path).rowRange(path.size()/10, path.size()/5+1).copyTo(sub1); |
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Mat(path).rowRange(path.size()/5, 11*path.size()/12).copyTo(sub2); |
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Mat(path).rowRange(11*path.size()/12, path.size()).copyTo(sub3); |
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Mat(path).rowRange(3*path.size()/4, 33*path.size()/40).copyTo(sub4); |
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Mat(path).rowRange(33*path.size()/40, 9*path.size()/10).copyTo(sub5); |
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Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0); |
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Viz3d viz("show_trajectories"); |
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viz.showWidget("coos", WCoordinateSystem()); |
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viz.showWidget("sub0", WTrajectorySpheres(sub0, 0.25, 0.07)); |
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viz.showWidget("sub1", WTrajectory(sub1, WTrajectory::PATH, 0.2, Color::brown())); |
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viz.showWidget("sub2", WTrajectory(sub2, WTrajectory::FRAMES, 0.2)); |
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viz.showWidget("sub3", WTrajectory(sub3, WTrajectory::BOTH, 0.2, Color::green())); |
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viz.showWidget("sub4", WTrajectoryFrustums(sub4, K, 0.3, Color::yellow())); |
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viz.showWidget("sub5", WTrajectoryFrustums(sub5, Vec2d(0.78, 0.78), 0.15)); |
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viz.showWidget("text2d", WText("Different kinds of supported trajectories", Point(20, 20), 20, Color::green())); |
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int i = 0; |
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while(!viz.wasStopped()) |
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{ |
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double a = --i % 360; |
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Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180)); |
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viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0))); |
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viz.spinOnce(20, true); |
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} |
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viz.resetCamera(); |
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viz.spin(); |
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} |
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TEST(Viz, show_trajectory_reposition) |
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{ |
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std::vector<Affine3f> path = generate_test_trajectory<float>(); |
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Viz3d viz("show_trajectory_reposition_to_origin"); |
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viz.showWidget("coos", WCoordinateSystem()); |
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viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv()); |
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viz.showWidget("text2d", WText("Trajectory resposition to origin", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_camera_positions) |
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{ |
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Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0); |
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png")); |
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Mat gray = make_gray(lena); |
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Affine3d poses[2]; |
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for(int i = 0; i < 2; ++i) |
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{ |
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Vec3d pose = 5 * Vec3d(sin(3.14 + 2.7 + i*60 * CV_PI/180), 0.4 - i*0.3, cos(3.14 + 2.7 + i*60 * CV_PI/180)); |
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poses[i] = makeCameraPose(pose, Vec3d(0.0, 0.0, 0.0), Vec3d(0.0, -0.1, 0.0)); |
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} |
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Viz3d viz("show_camera_positions"); |
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viz.showWidget("sphe", WSphere(Point3d(0,0,0), 1.0, 10, Color::orange_red())); |
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viz.showWidget("coos", WCoordinateSystem(1.5)); |
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viz.showWidget("pos1", WCameraPosition(0.75), poses[0]); |
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viz.showWidget("pos2", WCameraPosition(Vec2d(0.78, 0.78), lena, 2.2, Color::green()), poses[0]); |
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viz.showWidget("pos3", WCameraPosition(0.75), poses[1]); |
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viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]); |
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viz.showWidget("text2d", WText("Camera positions with images", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_overlay_image) |
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{ |
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png")); |
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Mat gray = make_gray(lena); |
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Size2d half_lsize = Size2d(lena.cols, lena.rows) * 0.5; |
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Viz3d viz("show_overlay_image"); |
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viz.setBackgroundMeshLab(); |
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Size vsz = viz.getWindowSize(); |
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viz.showWidget("coos", WCoordinateSystem()); |
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viz.showWidget("cube", WCube()); |
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viz.showWidget("img1", WImageOverlay(lena, Rect(Point(10, 10), half_lsize))); |
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viz.showWidget("img2", WImageOverlay(gray, Rect(Point(vsz.width-10-lena.cols/2, 10), half_lsize))); |
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viz.showWidget("img3", WImageOverlay(gray, Rect(Point(10, vsz.height-10-lena.rows/2), half_lsize))); |
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viz.showWidget("img5", WImageOverlay(lena, Rect(Point(vsz.width-10-lena.cols/2, vsz.height-10-lena.rows/2), half_lsize))); |
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viz.showWidget("text2d", WText("Overlay images", Point(20, 20), 20, Color::green())); |
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int i = 0; |
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while(!viz.wasStopped()) |
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{ |
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double a = ++i % 360; |
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Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180)); |
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viz.setViewerPose(makeCameraPose(pose * 3, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0))); |
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viz.getWidget("img1").cast<WImageOverlay>().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0)); |
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viz.spinOnce(1, true); |
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} |
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viz.showWidget("text2d", WText("Overlay images (stopped)", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_image_method) |
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{ |
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png")); |
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Viz3d viz("show_image_method"); |
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viz.showImage(lena); |
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viz.spinOnce(1500, true); |
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viz.showImage(lena, lena.size()); |
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viz.spinOnce(1500, true); |
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cv::viz::imshow("show_image_method", make_gray(lena)).spin(); |
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} |
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TEST(Viz, show_image_3d) |
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{ |
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png")); |
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Mat gray = make_gray(lena); |
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Viz3d viz("show_image_3d"); |
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viz.setBackgroundMeshLab(); |
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viz.showWidget("coos", WCoordinateSystem()); |
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viz.showWidget("cube", WCube()); |
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viz.showWidget("arr0", WArrow(Vec3d(0.5, 0.0, 0.0), Vec3d(1.5, 0.0, 0.0), 0.009, Color::raspberry())); |
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viz.showWidget("img0", WImage3D(lena, Size2d(1.0, 1.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(.5, 0.0, 0.0))); |
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viz.showWidget("arr1", WArrow(Vec3d(-0.5, -0.5, 0.0), Vec3d(0.2, 0.2, 0.0), 0.009, Color::raspberry())); |
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viz.showWidget("img1", WImage3D(gray, Size2d(1.0, 1.0), Vec3d(-0.5, -0.5, 0.0), Vec3d(1.0, 1.0, 0.0), Vec3d(0.0, 1.0, 0.0))); |
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viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry())); |
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viz.showWidget("text2d", WText("Images in 3D", Point(20, 20), 20, Color::green())); |
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int i = 0; |
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while(!viz.wasStopped()) |
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{ |
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viz.getWidget("img0").cast<WImage3D>().setImage(lena * pow(sin(i++*7.5*CV_PI/180) * 0.5 + 0.5, 1.0)); |
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viz.spinOnce(1, true); |
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} |
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viz.showWidget("text2d", WText("Images in 3D (stopped)", Point(20, 20), 20, Color::green())); |
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viz.spin(); |
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} |
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TEST(Viz, show_simple_widgets) |
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{ |
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Viz3d viz("show_simple_widgets"); |
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viz.setBackgroundMeshLab(); |
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viz.showWidget("coos", WCoordinateSystem()); |
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viz.showWidget("cube", WCube()); |
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viz.showWidget("cub0", WCube(Vec3d::all(-1.0), Vec3d::all(-0.5), false, Color::indigo())); |
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viz.showWidget("arro", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry())); |
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viz.showWidget("cir1", WCircle(0.5, 0.01, Color::bluberry())); |
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viz.showWidget("cir2", WCircle(0.5, Point3d(0.5, 0.0, 0.0), Vec3d(1.0, 0.0, 0.0), 0.01, Color::apricot())); |
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viz.showWidget("cyl0", WCylinder(Vec3d(-0.5, 0.5, -0.5), Vec3d(0.5, 0.5, -0.5), 0.125, 30, Color::brown())); |
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viz.showWidget("con0", WCone(0.25, 0.125, 6, Color::azure())); |
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viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise())); |
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viz.showWidget("text2d", WText("Different simple widgets", Point(20, 20), 20, Color::green())); |
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viz.showWidget("text3d", WText3D("Simple 3D text", Point3d( 0.5, 0.5, 0.5), 0.125, false, Color::green())); |
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viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75))); |
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viz.showWidget("plane2", WPlane(Vec3d(0.5, -0.5, -0.5), Vec3d(0.0, 1.0, 1.0), Vec3d(1.0, 1.0, 0.0), Size2d(1.0, 0.5), Color::gold())); |
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viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0))); |
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viz.spin(); |
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viz.getWidget("text2d").cast<WText>().setText("Different simple widgets (updated)"); |
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viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D"); |
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viz.spin(); |
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} |
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TEST(Viz, show_follower) |
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{ |
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Viz3d viz("show_follower"); |
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|
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viz.showWidget("coos", WCoordinateSystem()); |
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viz.showWidget("cube", WCube()); |
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viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true, Color::green())); |
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viz.showWidget("text2d", WText("Follower: text always facing camera", Point(20, 20), 20, Color::green())); |
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viz.setBackgroundMeshLab(); |
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viz.spin(); |
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viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D"); |
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viz.spin(); |
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}
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