55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
#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(-1.0, -1.0, -1.0), Point3d(1.0, 1.0, 1.0));
|
|
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
|
|
myWindow.showWidget("Line Widget", axis);
|
|
|
|
/// Construct a cube widget
|
|
viz::WCube cube_widget(Point3d(0.5, 0.5, 0.0), Point3d(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
|
|
Vec3d rot_vec = Vec3d::all(0);
|
|
double translation_phase = 0.0, translation = 0.0;
|
|
while(!myWindow.wasStopped())
|
|
{
|
|
/* Rotation using rodrigues */
|
|
/// Rotate around (1,1,1)
|
|
rot_vec[0] += CV_PI * 0.01;
|
|
rot_vec[1] += CV_PI * 0.01;
|
|
rot_vec[2] += CV_PI * 0.01;
|
|
|
|
/// Shift on (1,1,1)
|
|
translation_phase += CV_PI * 0.01;
|
|
translation = sin(translation_phase);
|
|
|
|
/// Construct pose
|
|
Affine3d pose(rot_vec, Vec3d(translation, translation, translation));
|
|
|
|
myWindow.setWidgetPose("Cube Widget", pose);
|
|
|
|
myWindow.spinOnce(1, true);
|
|
}
|
|
}
|
|
|
|
|
|
TEST(Viz, DISABLED_tutorial2_pose_of_widget)
|
|
{
|
|
tutorial2();
|
|
}
|