167 lines
5.6 KiB
C++
167 lines
5.6 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and / or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp"
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#include <opencv2/viz.hpp>
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#include <opencv2/core.hpp>
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#include <opencv2/imgproc.hpp>
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#include <fstream>
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#include <string>
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#include <opencv2/viz/types.hpp>
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#include <opencv2/viz/mesh_load.hpp>
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cv::Mat cvcloud_load()
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{
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cv::Mat cloud(1, 20000, CV_32FC3);
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std::ifstream ifs("d:/cloud_dragon.ply");
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std::string str;
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for(size_t i = 0; i < 11; ++i)
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std::getline(ifs, str);
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cv::Point3f* data = cloud.ptr<cv::Point3f>();
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for(size_t i = 0; i < 20000; ++i)
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ifs >> data[i].x >> data[i].y >> data[i].z;
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return cloud;
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}
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TEST(Viz_viz3d, accuracy)
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{
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temp_viz::Viz3d v("abc");
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//v.spin();
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v.setBackgroundColor();
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v.addCoordinateSystem(1.0, cv::Affine3f::Identity());
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cv::Mat cloud = cvcloud_load();
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cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));
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float angle_x = 0.0f;
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float angle_y = 0.0f;
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float angle_z = 0.0f;
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float pos_x = 0.0f;
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float pos_y = 0.0f;
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float pos_z = 0.0f;
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// temp_viz::Mesh3d::Ptr mesh = temp_viz::mesh_load("d:/horse.ply");
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// v.addPolygonMesh(*mesh, "pq");
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int col_blue = 0;
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int col_green = 0;
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int col_red = 0;
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while(!v.wasStopped())
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{
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// Creating new point cloud with id cloud1
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cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
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v.showPointCloud("cloud1", cloud, temp_viz::Color(col_blue, col_green, col_red), cloudPosition);
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v.showLine("line1", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
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angle_x += 0.1f;
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angle_y -= 0.1f;
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angle_z += 0.1f;
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pos_x = std::sin(angle_x);
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pos_y = std::sin(angle_x);
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pos_z = std::sin(angle_x);
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col_blue = int(angle_x * 10) % 256;
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col_green = int(angle_x * 20) % 256;
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col_red = int(angle_x * 30) % 256;
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v.spinOnce(1, true);
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}
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// cv::Mat normals(cloud.size(), CV_32FC3, cv::Scalar(0, 10, 0));
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//
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// v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
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//
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//
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// temp_viz::ModelCoefficients mc;
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// mc.values.resize(4);
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// mc.values[0] = mc.values[1] = mc.values[2] = mc.values[3] = 1;
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// v.addPlane(mc);
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//
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//
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// temp_viz::Mesh3d::Ptr mesh = temp_viz::mesh_load("horse.ply");
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// v.addPolygonMesh(*mesh, "pq");
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//
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// v.spinOnce(1000, true);
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//
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// v.removeCoordinateSystem();
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//
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// for(int i = 0; i < mesh->cloud.cols; ++i)
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// mesh->cloud.ptr<cv::Point3f>()[i] += cv::Point3f(1, 1, 1);
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//
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// v.updatePolygonMesh(*mesh, "pq");
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//
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//
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// for(int i = 0; i < mesh->cloud.cols; ++i)
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// mesh->cloud.ptr<cv::Point3f>()[i] -= cv::Point3f(2, 2, 2);
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// v.addPolylineFromPolygonMesh(*mesh);
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//
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//
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// v.addText("===Abd sadfljsadlk", 100, 100, cv::Scalar(255, 0, 0), 15);
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// for(int i = 0; i < cloud.cols; ++i)
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// cloud.ptr<cv::Point3f>()[i].x *=2;
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//
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// colors.setTo(cv::Scalar(255, 0, 0));
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//
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// v.addSphere(cv::Point3f(0, 0, 0), 0.3, temp_viz::Color::blue());
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//
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// cv::Mat cvpoly(1, 5, CV_32FC3);
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// cv::Point3f* pdata = cvpoly.ptr<cv::Point3f>();
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// pdata[0] = cv::Point3f(0, 0, 0);
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// pdata[1] = cv::Point3f(0, 1, 1);
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// pdata[2] = cv::Point3f(3, 1, 2);
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// pdata[3] = cv::Point3f(0, 2, 4);
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// pdata[4] = cv::Point3f(7, 2, 3);
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// v.addPolygon(cvpoly, temp_viz::Color::white());
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//
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// // Updating cloud1
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// v.showPointCloud("cloud1", cloud, colors);
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// v.spin();
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}
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