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transformations tutorial rst

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This commit is contained in:
Ozan Tonkal
2013-09-07 18:23:26 +02:00
parent 5307339f85
commit 2969ec0274
6 changed files with 5986 additions and 6 deletions
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5752
samples/cpp/tutorial_code/viz/bunny.ply Normal file
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38
samples/cpp/tutorial_code/viz/transformations.cpp
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@@ -6,6 +6,7 @@
#include <opencv2/viz.hpp>
#include <iostream>
#include <fstream>
using namespace cv;
using namespace std;
@@ -22,10 +23,32 @@ void help()
<< "how to use makeCameraPose and Viz3d::setViewerPose. You can observe the scene "
<< "from camera point of view (C) or global point of view (G)" << endl
<< "Usage:" << endl
<< "./coordinate_frame [ G | C ]" << endl
<< "./transformations [ G | C ]" << endl
<< endl;
}
/**
* @function cvcloud_load
* @brief load bunny.ply
*/
Mat cvcloud_load()
{
Mat cloud(1, 1889, CV_32FC3);
ifstream ifs("bunny.ply");
string str;
for(size_t i = 0; i < 12; ++i)
getline(ifs, str);
Point3f* data = cloud.ptr<cv::Point3f>();
float dummy1, dummy2;
for(size_t i = 0; i < 1889; ++i)
ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
cloud *= 5.0f;
return cloud;
}
/**
* @function main
*/
@@ -48,20 +71,23 @@ int main(int argn, char **argv)
myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget());
/// Let's assume camera has the following properties
Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f, 3.0f, 2.0f), cam_y_dir(-1.0,0.0,0.0);
Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
/// We can get the pose of the cam using makeCameraPose
Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
/// We can get the transformation matrix from camera coordinate system to global using
/// - makeTransformToGlobal. We need the axes of the camera
Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
/// Create a cloud widget.
viz::SphereWidget sphere_widget(Point3f(0.0,0.0,0.0), 0.5, 10, viz::Color::red());
Mat bunny_cloud = cvcloud_load();
viz::CloudWidget cloud_widget(bunny_cloud, viz::Color::green());
/// Pose of the widget in camera frame
Affine3f sphere_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
/// Pose of the widget in global frame
Affine3f sphere_pose_global = transform * sphere_pose;
Affine3f cloud_pose_global = transform * cloud_pose;
/// Visualize camera frame
if (!camera_pov)
@@ -73,7 +99,7 @@ int main(int argn, char **argv)
}
/// Visualize widget
myWindow.showWidget("sphere", sphere_widget, sphere_pose_global);
myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
/// Set the viewer pose to that of camera
if (camera_pov)