added Viz::tutorial2 test

modules/viz/test/test_tutorial2.cpp

@@ -0,0 +1,54 @@
+#include "test_precomp.hpp"
+
+using namespace cv;
+using namespace std;
+
+void tutorial2()
+{
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+    /// Add line to represent (1,1,1) axis
+    viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
+    axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Line Widget", axis);
+
+    /// Construct a cube widget
+    viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+    cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+
+    /// Display widget (update if already displayed)
+    myWindow.showWidget("Cube Widget", cube_widget);
+
+    /// Rodrigues vector
+    Mat rot_vec = Mat::zeros(1,3,CV_32F);
+    float translation_phase = 0.0, translation = 0.0;
+    while(!myWindow.wasStopped())
+    {
+        /* Rotation using rodrigues */
+        /// Rotate around (1,1,1)
+        rot_vec.at<float>(0,0) += CV_PI * 0.01f;
+        rot_vec.at<float>(0,1) += CV_PI * 0.01f;
+        rot_vec.at<float>(0,2) += CV_PI * 0.01f;
+
+        /// Shift on (1,1,1)
+        translation_phase += CV_PI * 0.01f;
+        translation = sin(translation_phase);
+
+        /// Construct pose
+        Affine3f pose(rot_vec, Vec3f(translation, translation, translation));
+
+        myWindow.setWidgetPose("Cube Widget", pose);
+
+        myWindow.spinOnce(1, true);
+    }
+}
+
+
+TEST(Viz_viz3d, DISABLED_tutorial2_pose_of_widget)
+{
+    tutorial2();
+}