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183 lines
6.7 KiB
C++
183 lines
6.7 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/highgui.hpp>
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#include <string>
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using namespace cv;
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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("/Users/nerei/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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bool constant_cam = true;
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cv::viz::Widget cam_1, cam_coordinates;
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void keyboard_callback(const viz::KeyboardEvent & event, void * cookie)
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{
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if (event.keyDown())
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{
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if (event.getKeySym() == "space")
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{
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viz::Viz3d &viz = *((viz::Viz3d *) cookie);
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constant_cam = !constant_cam;
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if (constant_cam)
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{
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viz.showWidget("cam_1", cam_1);
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viz.showWidget("cam_coordinate", cam_coordinates);
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viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28));
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viz.resetCamera();
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}
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else
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{
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viz.showWidget("cam_text", viz::WText("Cam View", Point2i(5,5), 28));
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viz.removeWidget("cam_1");
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viz.removeWidget("cam_coordinate");
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}
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}
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}
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}
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TEST(Viz_viz3d, accuracy)
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{
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cv::viz::Viz3d viz("abc");
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cv::viz::Mesh3d bunny_mesh = cv::viz::Mesh3d::loadMesh("bunny.ply");
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cv::viz::WMesh bunny_widget(bunny_mesh);
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bunny_widget.setColor(cv::viz::Color::cyan());
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cam_1 = cv::viz::WCameraPosition(cv::Vec2f(0.6, 0.4), 0.2, cv::viz::Color::green());
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cam_coordinates = cv::viz::WCameraPosition(0.2);
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viz.showWidget("bunny", bunny_widget);
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viz.showWidget("cam_1", cam_1, viz::makeCameraPose(Point3f(1.0,0.0,0.0), Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
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viz.showWidget("cam_coordinate", cam_coordinates, viz::makeCameraPose(Point3f(1.0,0.0,0.0), Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
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std::vector<Affine3f> cam_path;
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for (int i = 0, j = 0; i <= 360; ++i, j+=5)
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{
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cam_path.push_back(viz::makeCameraPose(Point3f(0.5*cos(double(i)*CV_PI/180.0), 0.5*sin(double(j)*CV_PI/180.0), 0.5*sin(double(i)*CV_PI/180.0)),
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Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
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}
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int path_counter = 0;
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int cam_path_size = cam_path.size();
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// OTHER WIDGETS
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cv::Mat img = imread("opencv.png");
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int downSample = 4;
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int row_max = img.rows/downSample;
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int col_max = img.cols/downSample;
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cv::Mat *clouds = new cv::Mat[img.cols/downSample];
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cv::Mat *colors = new cv::Mat[img.cols/downSample];
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for (int col = 0; col < col_max; ++col)
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{
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clouds[col] = Mat::zeros(img.rows/downSample, 1, CV_32FC3);
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colors[col] = Mat::zeros(img.rows/downSample, 1, CV_8UC3);
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for (int row = 0; row < row_max; ++row)
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{
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clouds[col].at<Vec3f>(row) = Vec3f(downSample * float(col) / img.cols, 1.0-(downSample * float(row) / img.rows), 0.0);
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colors[col].at<Vec3b>(row) = img.at<Vec3b>(row*downSample,col*downSample);
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}
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}
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for (int col = 0; col < col_max; ++col)
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{
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std::stringstream strstrm;
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strstrm << "cloud_" << col;
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viz.showWidget(strstrm.str(), viz::WCloud(clouds[col], colors[col]));
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viz.getWidget(strstrm.str()).setRenderingProperty(viz::POINT_SIZE, 3.0);
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viz.getWidget(strstrm.str()).setRenderingProperty(viz::OPACITY, 0.45);
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}
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viz.showWidget("trajectory", viz::WTrajectory(cam_path, viz::WTrajectory::DISPLAY_PATH, viz::Color::yellow()));
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viz.showWidget("cam_text", viz::WText("Global View", Point2i(5,5), 28));
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viz.registerKeyboardCallback(keyboard_callback, (void *) &viz);
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int angle = 0;
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while(!viz.wasStopped())
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{
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if (path_counter == cam_path_size)
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{
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path_counter = 0;
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}
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if (!constant_cam)
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{
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viz.setViewerPose(cam_path[path_counter]);
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}
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if (angle == 360) angle = 0;
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cam_1.cast<viz::WCameraPosition>().setPose(cam_path[path_counter]);
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cam_coordinates.cast<viz::WCameraPosition>().setPose(cam_path[path_counter++]);
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for (int i = 0; i < col_max; ++i)
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{
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std::stringstream strstrm;
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strstrm << "cloud_" << i;
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viz.setWidgetPose(strstrm.str(), Affine3f().translate(Vec3f(-0.5,0.0, -0.7 + 0.2*sin((angle+i*10)*CV_PI / 180.0))));
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}
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angle += 10;
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viz.spinOnce(42, true);
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}
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}
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