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Open Source Computer Vision Library
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64 lines
2.1 KiB
64 lines
2.1 KiB
// This file is part of OpenCV project. |
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// It is subject to the license terms in the LICENSE file found in the top-level directory |
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// of this distribution and at http://opencv.org/license.html. |
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#include "test_precomp.hpp" |
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namespace opencv_test { namespace { |
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/** |
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* @function main |
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*/ |
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static void tutorial3(bool camera_pov) |
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{ |
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/// Create a window |
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viz::Viz3d myWindow("Coordinate Frame"); |
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/// Add coordinate axes |
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myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); |
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/// Let's assume camera has the following properties |
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Point3d cam_origin(3.0, 3.0, 3.0), cam_focal_point(3.0, 3.0, 2.0), cam_y_dir(-1.0, 0.0, 0.0); |
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/// We can get the pose of the cam using makeCameraPose |
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Affine3d camera_pose = viz::makeCameraPose(cam_origin, cam_focal_point, cam_y_dir); |
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/// We can get the transformation matrix from camera coordinate system to global using |
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/// - makeTransformToGlobal. We need the axes of the camera |
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Affine3d transform = viz::makeTransformToGlobal(Vec3d(0.0, -1.0, 0.0), Vec3d(-1.0, 0.0, 0.0), Vec3d(0.0, 0.0, -1.0), cam_origin); |
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/// Create a cloud widget. |
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Mat dragon_cloud = viz::readCloud(get_dragon_ply_file_path()); |
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viz::WCloud cloud_widget(dragon_cloud, viz::Color::green()); |
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/// Pose of the widget in camera frame |
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Affine3d cloud_pose = Affine3d().rotate(Vec3d(0.0, CV_PI/2, 0.0)).rotate(Vec3d(0.0, 0.0, CV_PI)).translate(Vec3d(0.0, 0.0, 3.0)); |
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/// Pose of the widget in global frame |
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Affine3d cloud_pose_global = transform * cloud_pose; |
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/// Visualize camera frame |
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myWindow.showWidget("CPW_FRUSTUM", viz::WCameraPosition(Vec2f(0.889484f, 0.523599f)), camera_pose); |
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if (!camera_pov) |
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myWindow.showWidget("CPW", viz::WCameraPosition(0.5), camera_pose); |
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/// Visualize widget |
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myWindow.showWidget("bunny", cloud_widget, cloud_pose_global); |
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/// Set the viewer pose to that of camera |
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if (camera_pov) |
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myWindow.setViewerPose(camera_pose); |
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/// Start event loop. |
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myWindow.spin(); |
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} |
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TEST(Viz, tutorial3_global_view) |
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{ |
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tutorial3(false); |
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} |
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TEST(Viz, tutorial3_camera_view) |
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{ |
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tutorial3(true); |
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} |
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}} // namespace
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