generic-library/opencv
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rename widgets from *Widgets to W*

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This commit is contained in:
Ozan Tonkal
2013-09-15 16:26:53 +02:00
parent f570b3e18d
commit c31fb8ffff
11 changed files with 545 additions and 656 deletions
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309
modules/viz/test/test_viz3d.cpp
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@@ -41,15 +41,9 @@
//M*/
#include "test_precomp.hpp"
#include <opencv2/viz.hpp>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/calib3d.hpp>
#include <fstream>
#include <string>
#include <opencv2/viz.hpp>
using namespace cv;
cv::Mat cvcloud_load()
@@ -68,226 +62,121 @@ cv::Mat cvcloud_load()
return cloud;
}
bool constant_cam = true;
cv::viz::Widget cam_1, cam_coordinates;
void keyboard_callback(const viz::KeyboardEvent & event, void * cookie)
{
if (event.keyDown())
{
if (event.getKeySym() == "space")
{
viz::Viz3d &viz = *((viz::Viz3d *) cookie);
constant_cam = !constant_cam;
if (constant_cam)
{
viz.showWidget("cam_1", cam_1);
viz.showWidget("cam_coordinate", cam_coordinates);
viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28));
viz.resetCamera();
}
else
{
viz.showWidget("cam_text", viz::WText("Cam View", Point2i(5,5), 28));
viz.removeWidget("cam_1");
viz.removeWidget("cam_coordinate");
}
}
}
}
TEST(Viz_viz3d, accuracy)
{
cv::Mat cloud = cvcloud_load();
cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));
cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0));
//cv::viz::Mesh3d::Ptr mesh = cv::viz::Mesh3d::mesh_load("/Users/nerei/horse.ply");
const Vec4d data[] = { Vec4d(0.0, 0.0, 0.0, 0.0), Vec4d(1.0, 1.0, 1.0, 1.0), cv::Vec4d(0.0, 2.0, 0.0, 0.0), cv::Vec4d(3.0, 4.0, 1.0, 1.0) };
cv::Mat points(1, sizeof(data)/sizeof(data[0]), CV_64FC4, (void*)data);
points = points.reshape(4, 2);
cv::viz::Viz3d viz("abc");
viz.setBackgroundColor();
Vec3f angle = Vec3f::all(0);
Vec3f pos = Vec3f::all(0);
//viz.addPolygonMesh(*mesh, "pq");
cv::viz::Mesh3d bunny_mesh = cv::viz::Mesh3d::loadMesh("bunny.ply");
cv::viz::WMesh bunny_widget(bunny_mesh);
bunny_widget.setColor(cv::viz::Color::cyan());
viz::Color color = viz::Color::black();
cam_1 = cv::viz::WCameraPosition(cv::Vec2f(0.6, 0.4), 0.2, cv::viz::Color::green());
cam_coordinates = cv::viz::WCameraPosition(0.2);
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));
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());
viz::CylinderWidget cyw(Point3f(0, 0, 0), Point3f(-1, -1, -1), 0.5, 30, viz::Color::green());
viz::CubeWidget cuw(Point3f(-2, -2, -2), Point3f(-1, -1, -1));
viz::CoordinateSystemWidget csw;
viz::TextWidget tw("TEST", Point(100, 100), 20);
viz::CloudWidget pcw(cloud, colors);
// pcw.setRenderingProperty(VIZ_LINE_WIDTH));
viz::CloudWidget pcw2(cloud, viz::Color::magenta());
// viz.showWidget("line", lw);
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);
// viz.showWidget("cube", cuw);
viz.showWidget("coordinateSystem", csw);
// viz.showWidget("coordinateSystem2", viz::CoordinateSystemWidget(2.0), Affine3f().translate(Vec3f(2, 0, 0)));
// viz.showWidget("text",tw);
// viz.showWidget("pcw",pcw);
// viz.showWidget("pcw2",pcw2);
// viz::LineWidget lw2 = lw;
// v.showPointCloud("cld",cloud, colors);
viz.showWidget("bunny", bunny_widget);
viz.showWidget("cam_1", cam_1, viz::makeCameraPose(Point3f(1.0,0.0,0.0), Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
viz.showWidget("cam_coordinate", cam_coordinates, viz::makeCameraPose(Point3f(1.0,0.0,0.0), Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
// v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
//viz::CloudNormalsWidget cnw(cloud, normals);
//v.showWidget("n", cnw);
std::vector<Affine3f> cam_path;
// lw = v.getWidget("n").cast<viz::LineWidget>();
// pw = v.getWidget("n").cast<viz::PlaneWidget>();
viz::PolyLineWidget plw(points, viz::Color::green());
// viz.showWidget("polyline", plw);
// lw = v.getWidget("polyline").cast<viz::LineWidget>();
viz::Mesh3d mesh = cv::viz::Mesh3d::loadMesh("/Users/nerei/horse.ply");
// viz::MeshWidget mw(mesh);
// viz.showWidget("mesh", mw);
Mat img = imread("opencv.png");
// resize(img, img, Size(50,50));
// viz.showWidget("img", viz::ImageOverlayWidget(img, Point2i(50,50)));
Matx33f K(657, 0, 320,
0, 657, 240,
0, 0, 1);
//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("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)));
// cv::Rodrigues2(Vec3f(), Mat());
// viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory/*, viz::Color::yellow()*/));
// viz.showWidget("CameraPositionWidget2", cpw2);
// viz.showWidget("CameraPositionWidget3", cpw3);
viz.spin();
for (int i = 0, j = 0; i <= 360; ++i, j+=5)
{
cam_path.push_back(viz::makeCameraPose(Point3f(0.5*cos(double(i)*CV_PI/180.0), 0.5*sin(double(j)*CV_PI/180.0), 0.5*sin(double(i)*CV_PI/180.0)),
Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
}
int path_counter = 0;
int cam_path_size = cam_path.size();
//viz::GridWidget gw(viz::Vec2i(100,100), viz::Vec2d(1,1));
//v.showWidget("grid", gw);
// lw = viz.getWidget("grid").cast<cv::viz::LineWidget>();
// OTHER WIDGETS
cv::Mat img = imread("opencv.png");
//viz::Text3DWidget t3w("OpenCV", cv::Point3f(0.0, 2.0, 0.0), 1.0, viz::Color(255,255,0));
//v.showWidget("txt3d", t3w);
int downSample = 4;
int row_max = img.rows/downSample;
int col_max = img.cols/downSample;
cv::Mat clouds[img.cols/downSample];
cv::Mat colors[img.cols/downSample];
for (int col = 0; col < col_max; ++col)
{
clouds[col] = Mat::zeros(img.rows/downSample, 1, CV_32FC3);
colors[col] = Mat::zeros(img.rows/downSample, 1, CV_8UC3);
for (int row = 0; row < row_max; ++row)
{
clouds[col].at<Vec3f>(row) = Vec3f(downSample * float(col) / img.cols, 1.0-(downSample * float(row) / img.rows), 0.0);
colors[col].at<Vec3b>(row) = img.at<Vec3b>(row*downSample,col*downSample);
}
}
for (int col = 0; col < col_max; ++col)
{
std::stringstream strstrm;
strstrm << "cloud_" << col;
viz.showWidget(strstrm.str(), viz::WCloud(clouds[col], colors[col]));
viz.getWidget(strstrm.str()).setRenderingProperty(viz::POINT_SIZE, 3.0);
viz.getWidget(strstrm.str()).setRenderingProperty(viz::OPACITY, 0.45);
}
viz.showWidget("trajectory", viz::WTrajectory(cam_path, viz::WTrajectory::DISPLAY_PATH, viz::Color::yellow()));
viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28));
viz.registerKeyboardCallback(keyboard_callback, (void *) &viz);
// float grid_x_angle = 0.0;
int angle = 0;
while(!viz.wasStopped())
{
// Creating new point cloud with id cloud1
cv::Affine3f cloudPosition(angle, pos);
cv::Affine3f cloudPosition2(angle, pos + Vec3f(0.2f, 0.2f, 0.2f));
if (path_counter == cam_path_size)
{
path_counter = 0;
}
lw.setColor(color);
// lw.setLineWidth(pos_x * 10);
if (!constant_cam)
{
viz.setViewerPose(cam_path[path_counter]);
}
//plw.setColor(viz::Color(col_blue, col_green, col_red));
// sw.setPose(cloudPosition);
// pw.setPose(cloudPosition);
aw.setPose(cloudPosition);
cw.setPose(cloudPosition);
cyw.setPose(cloudPosition);
frustum.setPose(cloudPosition);
// lw.setPose(cloudPosition);
// cpw.updatePose(Affine3f(0.1,0.0,0.0, cv::Vec3f(0.0,0.0,0.0)));
// cpw.setPose(cloudPosition);
// cnw.setPose(cloudPosition);
// v.showWidget("pcw",pcw, cloudPosition);
// v.showWidget("pcw2",pcw2, cloudPosition2);
// v.showWidget("plane", pw, cloudPosition);
// v.setWidgetPose("n",cloudPosition);
// v.setWidgetPose("pcw2", cloudPosition);
//cnw.setColor(viz::Color(col_blue, col_green, col_red));
//pcw2.setColor(viz::Color(col_blue, col_green, col_red));
//gw.updatePose(viz::Affine3f(0.0, 0.1, 0.0, cv::Vec3f(0.0,0.0,0.0)));
angle[0] += 0.1f;
angle[1] -= 0.1f;
angle[2] += 0.1f;
pos[0] = std::sin(angle[0]);
pos[1] = std::sin(angle[1]);
pos[2] = std::sin(angle[2]);
if (angle == 360) angle = 0;
color[0] = int(angle[0] * 10) % 256;
color[1] = int(angle[0] * 20) % 256;
color[2] = int(angle[0] * 30) % 256;
viz.spinOnce(1, true);
cam_1.cast<viz::WCameraPosition>().setPose(cam_path[path_counter]);
cam_coordinates.cast<viz::WCameraPosition>().setPose(cam_path[path_counter++]);
for (int i = 0; i < col_max; ++i)
{
std::stringstream strstrm;
strstrm << "cloud_" << i;
viz.setWidgetPose(strstrm.str(), Affine3f().translate(Vec3f(-0.5,0.0, -0.7 + 0.2*sin((angle+i*10)*CV_PI / 180.0))));
}
angle += 10;
viz.spinOnce(42, true);
}
//
//
// viz::ModelCoefficients mc;
// mc.values.resize(4);
// mc.values[0] = mc.values[1] = mc.values[2] = mc.values[3] = 1;
// v.addPlane(mc);
//
//
// viz::Mesh3d::Ptr mesh = viz::mesh_load("horse.ply");
// v.addPolygonMesh(*mesh, "pq");
//
// v.spinOnce(1000, true);
//
// v.removeCoordinateSystem();
//
// for(int i = 0; i < mesh->cloud.cols; ++i)
// mesh->cloud.ptr<cv::Point3f>()[i] += cv::Point3f(1, 1, 1);
//
// v.updatePolygonMesh(*mesh, "pq");
//
//
// for(int i = 0; i < mesh->cloud.cols; ++i)
// mesh->cloud.ptr<cv::Point3f>()[i] -= cv::Point3f(2, 2, 2);
// v.addPolylineFromPolygonMesh(*mesh);
//
//
// v.addText("===Abd sadfljsadlk", 100, 100, cv::Scalar(255, 0, 0), 15);
// for(int i = 0; i < cloud.cols; ++i)
// cloud.ptr<cv::Point3f>()[i].x *=2;
//
// colors.setTo(cv::Scalar(255, 0, 0));
//
// v.addSphere(cv::Point3f(0, 0, 0), 0.3, viz::Color::blue());
//
// cv::Mat cvpoly(1, 5, CV_32FC3);
// cv::Point3f* pdata = cvpoly.ptr<cv::Point3f>();
// pdata[0] = cv::Point3f(0, 0, 0);
// pdata[1] = cv::Point3f(0, 1, 1);
// pdata[2] = cv::Point3f(3, 1, 2);
// pdata[3] = cv::Point3f(0, 2, 4);
// pdata[4] = cv::Point3f(7, 2, 3);
// v.addPolygon(cvpoly, viz::Color::white());
//
// // Updating cloud1
// v.showPointCloud("cloud1", cloud, colors);
// v.spin();
}