more tests

modules/viz/include/opencv2/viz/widgets.hpp

@@ -234,9 +234,9 @@ namespace cv
         {
         public:
             //! Creates grid at the origin
-            WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
+            WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color &color = Color::white());
             //! Creates grid based on the plane equation
-            WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
+            WGrid(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2f &spacing, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WCameraPosition : public Widget3D

modules/viz/src/clouds.cpp

@@ -63,12 +63,6 @@ cv::viz::WCloud::WCloud(InputArray _cloud, InputArray _colors)
     Mat cloud = _cloud.getMat();
     Mat colors = _colors.getMat();
 
-    if (cloud.isContinuous() && colors.isContinuous())
-    {
-        cloud = cloud.reshape(cloud.channels(), 1);
-        colors = colors.reshape(colors.channels(), 1);
-    }
-
     vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
     cloud_source->SetColorCloud(cloud, colors);
 
@@ -268,12 +262,6 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors,
     CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
     CV_Assert(colors.depth() == CV_8U && cloud.size() == colors.size());
 
-    if (cloud.isContinuous() && colors.isContinuous())
-    {
-        cloud = cloud.reshape(cloud.channels(), 1);
-        colors = colors.reshape(colors.channels(), 1);
-    }
-
     vtkIdType nr_points;
     vtkSmartPointer<vtkPolyData> polydata =  CloudCollectionUtils::create(cloud, nr_points);
 

modules/viz/src/shapes.cpp

@@ -474,7 +474,7 @@ namespace cv { namespace viz { namespace
 {
     struct GridUtils
     {
-        static vtkSmartPointer<vtkPolyData> createGrid(const Vec2i &dimensions, const Vec2d &spacing)
+        static vtkSmartPointer<vtkPolyData> createGrid(const Vec2i &dimensions, const Vec2f &spacing)
         {
             // Create the grid using image data
             vtkSmartPointer<vtkImageData> grid = vtkSmartPointer<vtkImageData>::New();
@@ -500,7 +500,7 @@ namespace cv { namespace viz { namespace
     };
 }}}
 
-cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
+cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2f &spacing, const Color &color)
 {
     vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
 
@@ -518,7 +518,7 @@ cv::viz::WGrid::WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color
     setColor(color);
 }
 
-cv::viz::WGrid::WGrid(const Vec4f &coefs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color)
+cv::viz::WGrid::WGrid(const Vec4f &coefs, const Vec2i &dimensions, const Vec2f &spacing, const Color &color)
 {
     vtkSmartPointer<vtkPolyData> grid = GridUtils::createGrid(dimensions, spacing);
 
@@ -1224,11 +1224,11 @@ cv::viz::WTrajectory::WTrajectory(const std::vector<Affine3f> &path, int display
         vtkIdType nr_points = path.size();
 
         vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
-        vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
-        vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New();
-
         points->SetDataTypeToFloat();
         points->SetNumberOfPoints(nr_points);
+
+        vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+        vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New();
         polyLine->GetPointIds()->SetNumberOfIds(nr_points);
 
         Vec3f *data_beg = vtkpoints_data<float>(points);

modules/viz/test/test_precomp.cpp

@@ -1 +1,24 @@
 #include "test_precomp.hpp"
+
+cv::String cv::Path::combine(const String& item1, const String& item2)
+{
+    if (item1.empty())
+        return item2;
+
+    if (item2.empty())
+        return item1;
+
+    char last = item1[item1.size()-1];
+
+    bool need_append = last != '/' && last != '\\';
+    return item1 + (need_append ? "/" : "") + item2;
+}
+
+cv::String cv::Path::combine(const String& item1, const String& item2, const String& item3)
+{ return combine(combine(item1, item2), item3); }
+
+cv::String cv::Path::change_extension(const String& file, const String& ext)
+{
+    String::size_type pos = file.find_last_of('.');
+    return pos == String::npos ? file : file.substr(0, pos+1) + ext;
+}

modules/viz/test/test_precomp.hpp

@@ -63,5 +63,21 @@
 #include <iostream>
 #include <fstream>
 #include <string>
+#include <limits>
+
+namespace cv
+{
+    struct Path
+    {
+        static String combine(const String& item1, const String& item2);
+        static String combine(const String& item1, const String& item2, const String& item3);
+        static String change_extension(const String& file, const String& ext);
+    };
+
+    inline cv::String get_dragon_ply_file_path()
+    {
+        return Path::combine(cvtest::TS::ptr()->get_data_path(), "dragon.ply");
+    }
+}
 
 #endif

modules/viz/test/test_tutorial2.cpp

@@ -48,7 +48,7 @@ void tutorial2()
 }
 
 
-TEST(Viz_viz3d, DISABLED_tutorial2_pose_of_widget)
+TEST(Viz, DISABLED_tutorial2_pose_of_widget)
 {
     tutorial2();
 }

modules/viz/test/test_tutorial3.cpp

@@ -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");
+    Mat dragon_cloud = viz::readCloud(get_dragon_ply_file_path());
-    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+    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);
 }

modules/viz/test/tests_simple.cpp

@@ -0,0 +1,87 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+ //
+ //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+ //
+ //  By downloading, copying, installing or using the software you agree to this license.
+ //  If you do not agree to this license, do not download, install,
+ //  copy or use the software.
+ //
+ //
+ //                           License Agreement
+ //                For Open Source Computer Vision Library
+ //
+ // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+ // Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved.
+ // Third party copyrights are property of their respective owners.
+ //
+ // Redistribution and use in source and binary forms, with or without modification,
+ // are permitted provided that the following conditions are met:
+ //
+ //   * Redistribution's of source code must retain the above copyright notice,
+ //     this list of conditions and the following disclaimer.
+ //
+ //   * Redistribution's in binary form must reproduce the above copyright notice,
+ //     this list of conditions and the following disclaimer in the documentation
+ //     and / or other materials provided with the distribution.
+ //
+ //   * The name of the copyright holders may not be used to endorse or promote products
+ //     derived from this software without specific prior written permission.
+ //
+ // This software is provided by the copyright holders and contributors "as is" and
+ // any express or implied warranties, including, but not limited to, the implied
+ // warranties of merchantability and fitness for a particular purpose are disclaimed.
+ // In no event shall the Intel Corporation or contributors be liable for any direct,
+ // indirect, incidental, special, exemplary, or consequential damages
+ // (including, but not limited to, procurement of substitute goods or services;
+ // loss of use, data, or profits; or business interruption) however caused
+ // and on any theory of liability, whether in contract, strict liability,
+ // or tort (including negligence or otherwise) arising in any way out of
+ // the use of this software, even if advised of the possibility of such damage.
+ //
+ //M*/
+
+#include "test_precomp.hpp"
+
+using namespace cv;
+using namespace cv::viz;
+
+TEST(Viz, DISABLED_show_cloud_bluberry)
+{
+    Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
+
+    Viz3d viz("show_cloud_bluberry");
+    viz.setBackgroundColor();
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()));
+    viz.spin();
+}
+
+TEST(Viz, DISABLED_show_cloud_random_color)
+{
+    Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
+
+    Mat colors(dragon_cloud.size(), CV_8UC3);
+    theRNG().fill(colors, RNG::UNIFORM, 0, 255);
+
+    Viz3d viz("show_cloud_random_color");
+    viz.setBackgroundColor();
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("dragon", WCloud(dragon_cloud, colors));
+    viz.spin();
+}
+
+TEST(Viz, DISABLED_show_cloud_masked)
+{
+    Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
+
+    Vec3f qnan = Vec3f::all(std::numeric_limits<float>::quiet_NaN());
+    for(size_t i = 0; i < dragon_cloud.total(); ++i)
+        if (i % 15 != 0)
+            dragon_cloud.at<Vec3f>(i) = qnan;
+
+    Viz3d viz("show_cloud_masked");
+    viz.setBackgroundColor();
+    viz.showWidget("coosys", WCoordinateSystem());
+    viz.showWidget("dragon", WCloud(dragon_cloud));
+    viz.spin();
+}