mirror of
https://github.com/opencv/opencv.git
synced 2024-12-11 14:39:11 +08:00
134 lines
4.4 KiB
C++
134 lines
4.4 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
|
//
|
|
// By downloading, copying, installing or using the software you agree to this license.
|
|
// If you do not agree to this license, do not download, install,
|
|
// copy or use the software.
|
|
//
|
|
//
|
|
// License Agreement
|
|
// For Open Source Computer Vision Library
|
|
//
|
|
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
|
// Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved.
|
|
// Third party copyrights are property of their respective owners.
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without modification,
|
|
// are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistribution's of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
//
|
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and / or other materials provided with the distribution.
|
|
//
|
|
// * The name of the copyright holders may not be used to endorse or promote products
|
|
// derived from this software without specific prior written permission.
|
|
//
|
|
// This software is provided by the copyright holders and contributors "as is" and
|
|
// any express or implied warranties, including, but not limited to, the implied
|
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
|
// indirect, incidental, special, exemplary, or consequential damages
|
|
// (including, but not limited to, procurement of substitute goods or services;
|
|
// loss of use, data, or profits; or business interruption) however caused
|
|
// and on any theory of liability, whether in contract, strict liability,
|
|
// or tort (including negligence or otherwise) arising in any way out of
|
|
// the use of this software, even if advised of the possibility of such damage.
|
|
//
|
|
//M*/
|
|
#include "test_precomp.hpp"
|
|
#include <opencv2/viz.hpp>
|
|
#include <opencv2/core.hpp>
|
|
#include <opencv2/imgproc.hpp>
|
|
|
|
#include <fstream>
|
|
#include <string>
|
|
|
|
#include <opencv2/viz/types.hpp>
|
|
#include <opencv2/viz/mesh_load.hpp>
|
|
|
|
|
|
cv::Mat cvcloud_load()
|
|
{
|
|
cv::Mat cloud(1, 20000, CV_32FC3);
|
|
std::ifstream ifs("d:/cloud_dragon.ply");
|
|
|
|
std::string str;
|
|
for(size_t i = 0; i < 11; ++i)
|
|
std::getline(ifs, str);
|
|
|
|
cv::Point3f* data = cloud.ptr<cv::Point3f>();
|
|
for(size_t i = 0; i < 20000; ++i)
|
|
ifs >> data[i].x >> data[i].y >> data[i].z;
|
|
|
|
return cloud;
|
|
}
|
|
|
|
TEST(Viz_viz3d, accuracy)
|
|
{
|
|
temp_viz::Viz3d v("abc");
|
|
//v.spin();
|
|
|
|
v.setBackgroundColor();
|
|
|
|
v.addCoordinateSystem(1.0, cv::Affine3f::Identity());
|
|
|
|
cv::Mat cloud = cvcloud_load();
|
|
|
|
|
|
cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));
|
|
v.addPointCloud(cloud, colors);
|
|
cv::Mat normals(cloud.size(), CV_32FC3, cv::Scalar(0, 10, 0));
|
|
|
|
v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
|
|
|
|
|
|
temp_viz::ModelCoefficients mc;
|
|
mc.values.resize(4);
|
|
mc.values[0] = mc.values[1] = mc.values[2] = mc.values[3] = 1;
|
|
v.addPlane(mc);
|
|
|
|
|
|
temp_viz::Mesh3d::Ptr mesh = temp_viz::mesh_load("d:/horse.ply");
|
|
v.addPolygonMesh(*mesh, "pq");
|
|
|
|
v.spinOnce(1000, true);
|
|
|
|
v.removeCoordinateSystem();
|
|
|
|
for(int i = 0; i < mesh->cloud.cols; ++i)
|
|
mesh->cloud.ptr<cv::Point3f>()[i] += cv::Point3f(1, 1, 1);
|
|
|
|
v.updatePolygonMesh(*mesh, "pq");
|
|
|
|
|
|
for(int i = 0; i < mesh->cloud.cols; ++i)
|
|
mesh->cloud.ptr<cv::Point3f>()[i] -= cv::Point3f(2, 2, 2);
|
|
v.addPolylineFromPolygonMesh(*mesh);
|
|
|
|
|
|
v.addText("===Abd sadfljsadlk", 100, 100, cv::Scalar(255, 0, 0), 15);
|
|
for(int i = 0; i < cloud.cols; ++i)
|
|
cloud.ptr<cv::Point3f>()[i].x *=2;
|
|
|
|
colors.setTo(cv::Scalar(255, 0, 0));
|
|
|
|
v.addSphere(cv::Point3f(0, 0, 0), 0.3, temp_viz::Color::blue());
|
|
|
|
cv::Mat cvpoly(1, 5, CV_32FC3);
|
|
cv::Point3f* pdata = cvpoly.ptr<cv::Point3f>();
|
|
pdata[0] = cv::Point3f(0, 0, 0);
|
|
pdata[1] = cv::Point3f(0, 1, 1);
|
|
pdata[2] = cv::Point3f(3, 1, 2);
|
|
pdata[3] = cv::Point3f(0, 2, 4);
|
|
pdata[4] = cv::Point3f(7, 2, 3);
|
|
v.addPolygon(cvpoly, temp_viz::Color::white());
|
|
|
|
v.updatePointCloud(cloud, colors);
|
|
v.spin();
|
|
}
|
|
|