added viz tutorial 3 test

modules/viz/test/test_precomp.hpp

@@ -60,6 +60,8 @@
 #include "opencv2/ts.hpp"
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/viz.hpp>
 
 #include <iostream>
 #include <fstream>

modules/viz/test/test_tutorial3.cpp

@@ -0,0 +1,86 @@
+#include "test_precomp.hpp"
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function cvcloud_load
+ * @brief load bunny.ply
+ */
+Mat cvcloud_load()
+{
+    Mat cloud(1, 20000, CV_32FC3);
+    ifstream ifs("d:/cloud_dragon.ply");
+
+    string str;
+    for(size_t i = 0; i < 12; ++i)
+        getline(ifs, str);
+
+    Point3f* data = cloud.ptr<cv::Point3f>();
+    //float dummy1, dummy2;
+    for(size_t i = 0; i < 20000; ++i)
+        ifs >> data[i].x >> data[i].y >> data[i].z;// >> dummy1 >> dummy2;
+
+    //cloud *= 5.0f;
+    return cloud;
+}
+
+/**
+ * @function main
+ */
+void tutorial3(bool camera_pov)
+{
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+    /// Add coordinate axes
+    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);
+
+    /// 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);
+
+    /// Create a cloud widget.
+    Mat bunny_cloud = cvcloud_load();
+    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+
+    /// Pose of the widget in camera frame
+    Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
+    /// Pose of the widget in global frame
+    Affine3f cloud_pose_global = transform * cloud_pose;
+
+    /// Visualize camera frame
+    if (!camera_pov)
+    {
+        viz::WCameraPosition cpw(0.5); // Coordinate axes
+        viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
+        myWindow.showWidget("CPW", cpw, cam_pose);
+        myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+    }
+
+    /// Visualize widget
+    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+    /// Set the viewer pose to that of camera
+    if (camera_pov)
+        myWindow.setViewerPose(cam_pose);
+
+    /// Start event loop.
+    myWindow.spin();
+}
+
+TEST(Viz_viz3d, tutorial3_global_view)
+{
+    tutorial3(false);
+}
+
+TEST(Viz_viz3d, tutorial3_camera_view)
+{
+    tutorial3(true);
+}

modules/viz/test/test_viz3d.cpp

@@ -40,13 +40,11 @@
  //
  //M*/
 #include "test_precomp.hpp"
-#include <opencv2/viz.hpp>
-#include <opencv2/highgui.hpp>
-#include <string>
+
 
 using namespace cv;
 
-cv::Mat cvcloud_load()
+static cv::Mat cvcloud_load()
 {
     cv::Mat cloud(1, 20000, CV_32FC3);
         std::ifstream ifs("/Users/nerei/cloud_dragon.ply");
@@ -90,7 +88,7 @@ void keyboard_callback(const viz::KeyboardEvent & event, void * cookie)
     }
 }
 
-TEST(Viz_viz3d, accuracy)
+TEST(Viz_viz3d, develop)
 {
     cv::viz::Viz3d viz("abc");
 
@@ -178,4 +176,6 @@ TEST(Viz_viz3d, accuracy)
         angle += 10;
         viz.spinOnce(42, true);
     }
+
+    volatile void* a = (void*)&cvcloud_load; (void)a; //fixing warnings
 }