mirror of
https://github.com/opencv/opencv.git
synced 2024-11-29 13:47:32 +08:00
87 lines
2.4 KiB
C++
87 lines
2.4 KiB
C++
#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, DISABLED_tutorial3_global_view)
|
|
{
|
|
tutorial3(false);
|
|
}
|
|
|
|
TEST(Viz_viz3d, DISABLED_tutorial3_camera_view)
|
|
{
|
|
tutorial3(true);
|
|
}
|