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reading/writing clouds functionality

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This commit is contained in:
Anatoly Baksheev
2013-12-13 19:20:20 +04:00
parent 80ab6e889f
commit 84d6fe397d
13 changed files with 578 additions and 373 deletions
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24
modules/viz/test/test_tutorial3.cpp
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@@ -3,28 +3,6 @@
using namespace cv;
using namespace std;
/**
* @function cvcloud_load
* @brief load bunny.ply
*/
Mat cvcloud_load()
{
Mat cloud(1, 20000, CV_32FC3);
ifstream ifs("d:/cloud_dragon.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 < 20000; ++i)
ifs >> data[i].x >> data[i].y >> data[i].z;// >> dummy1 >> dummy2;
//cloud *= 5.0f;
return cloud;
}
/**
* @function main
*/
@@ -47,7 +25,7 @@ void tutorial3(bool camera_pov)
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.
Mat bunny_cloud = cvcloud_load();
Mat bunny_cloud = viz::readCloud("d:/cloud_dragon.ply");
viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
/// Pose of the widget in camera frame