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shorten Trajectory widget implementation

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This commit is contained in:
ozantonkal
2013-07-22 15:03:28 +02:00
parent 5af739dfc1
commit c0f44ca421
3 changed files with 98 additions and 77 deletions
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39
modules/viz/test/test_viz3d.cpp
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@@ -89,7 +89,9 @@ TEST(Viz_viz3d, accuracy)
viz::Color color = viz::Color::black();
viz::LineWidget lw(Point3f(0, 0, 0), Point3f(4.f, 4.f,4.f), viz::Color::green());
viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0), 5.0);
viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0));
viz::PlaneWidget pw2(Vec4f(0.0,1.0,2.0,3.0), 2.0, viz::Color::red());
viz::PlaneWidget pw3(Vec4f(0.0,1.0,2.0,3.0), 3.0, viz::Color::blue());
viz::SphereWidget sw(Point3f(0, 0, 0), 0.2);
viz::ArrowWidget aw(Point3f(0, 0, 0), Point3f(1, 1, 1), 0.01, viz::Color::red());
viz::CircleWidget cw(Point3f(0, 0, 0), 0.5, 0.01, viz::Color::green());
@@ -101,8 +103,10 @@ TEST(Viz_viz3d, accuracy)
viz::CloudWidget pcw2(cloud, viz::Color::magenta());
// viz.showWidget("line", lw);
// viz.showWidget("plane", pw);
viz.showWidget("sphere", sw);
viz.showWidget("plane", pw);
viz.showWidget("plane2", pw2);
viz.showWidget("plane3", pw3);
// viz.showWidget("sphere", sw);
// viz.showWidget("arrow", aw);
// viz.showWidget("circle", cw);
// viz.showWidget("cylinder", cyw);
@@ -145,16 +149,33 @@ TEST(Viz_viz3d, accuracy)
viz::CameraPositionWidget cpw(Vec3f(0.5, 0.5, 3.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,-1.0,0.0), 0.5);
viz::CameraPositionWidget cpw2(0.5);
viz::CameraPositionWidget frustum(K, 2.0, viz::Color::green());
// viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
viz::CameraPositionWidget frustum3(Vec2f(CV_PI, CV_PI/2), 4.0);
viz::Text3DWidget t3w1("Camera1", Point3f(0.4, 0.6, 3.0), 0.1);
viz::Text3DWidget t3w2("Camera2", Point3f(0,0,0), 0.1);
viz.showWidget("CameraPositionWidget", cpw);
viz.showWidget("CameraPositionWidget2", cpw2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
viz.showWidget("camera_label", t3w1);
viz.showWidget("camera_label2", t3w2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
viz.showWidget("frustrum", frustum, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
viz.showWidget("frustrum2", frustum2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("CameraPositionWidget", cpw);
// viz.showWidget("CameraPositionWidget2", cpw2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("camera_label", t3w1);
// viz.showWidget("camera_label2", t3w2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustrum", frustum, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustrum2", frustum2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
// viz.showWidget("frustum3", frustum3, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
std::vector<Affine3f> trajectory;
trajectory.push_back(Affine3f().translate(Vec3f(0.5,0.5,0.5)));
trajectory.push_back(Affine3f().translate(Vec3f(1.0,0.0,0.0)));
trajectory.push_back(Affine3f().translate(Vec3f(2.0,0.5,0.0)));
trajectory.push_back(Affine3f(0.5, 0.0, 0.0, Vec3f(1.0,0.0,1.0)));
//
viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory, viz::Color(0,255,255), true, 0.5));
viz.showWidget("trajectory2", viz::TrajectoryWidget(trajectory, K, 1.0, viz::Color(255,0,255)));
// viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory/*, viz::Color::yellow()*/));
// viz.showWidget("CameraPositionWidget2", cpw2);
// viz.showWidget("CameraPositionWidget3", cpw3);