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more tests

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This commit is contained in:
Anatoly Baksheev
2014-01-01 17:55:18 +04:00
parent e7791e1590
commit f610c295f2
8 changed files with 143 additions and 29 deletions
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16
modules/viz/test/test_tutorial3.cpp
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@@ -15,21 +15,21 @@ void tutorial3(bool camera_pov)
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// 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(-1.0f,0.0f,0.0f);
Point3f cam_pos(3.f, 3.f, 3.f), cam_focal_point(3.f, 3.f, 2.f), cam_y_dir(-1.f, 0.f, 0.f);
/// 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);
Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.f, -1.f, 0.f), Vec3f(-1.f, 0.f, 0.f), Vec3f(0.f, 0.f, -1.f), cam_pos);
/// Create a cloud widget.
Mat bunny_cloud = viz::readCloud("d:/cloud_dragon.ply");
viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
Mat dragon_cloud = viz::readCloud(get_dragon_ply_file_path());
viz::WCloud cloud_widget(dragon_cloud, viz::Color::green());
/// Pose of the widget in camera frame
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.f, 0.f, 3.f));
/// Pose of the widget in global frame
Affine3f cloud_pose_global = transform * cloud_pose;
@@ -37,7 +37,7 @@ void tutorial3(bool camera_pov)
if (!camera_pov)
{
viz::WCameraPosition cpw(0.5); // Coordinate axes
viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
viz::WCameraPosition cpw_frustum(Vec2f(0.889484f, 0.523599f)); // Camera frustum
myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
}
@@ -53,12 +53,12 @@ void tutorial3(bool camera_pov)
myWindow.spin();
}
TEST(Viz_viz3d, DISABLED_tutorial3_global_view)
TEST(Viz, DISABLED_tutorial3_global_view)
{
tutorial3(false);
}
TEST(Viz_viz3d, DISABLED_tutorial3_camera_view)
TEST(Viz, DISABLED_tutorial3_camera_view)
{
tutorial3(true);
}