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61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
#include "test_precomp.hpp"
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using namespace cv;
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using namespace std;
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/**
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* @function main
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*/
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void tutorial3(bool camera_pov)
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{
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/// Create a window
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viz::Viz3d myWindow("Coordinate Frame");
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/// Add coordinate axes
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myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
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/// Let's assume camera has the following properties
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Point3d cam_origin(3.0, 3.0, 3.0), cam_focal_point(3.0, 3.0, 2.0), cam_y_dir(-1.0, 0.0, 0.0);
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/// We can get the pose of the cam using makeCameraPose
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Affine3d camera_pose = viz::makeCameraPose(cam_origin, cam_focal_point, cam_y_dir);
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/// We can get the transformation matrix from camera coordinate system to global using
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/// - makeTransformToGlobal. We need the axes of the camera
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Affine3d transform = viz::makeTransformToGlobal(Vec3d(0.0, -1.0, 0.0), Vec3d(-1.0, 0.0, 0.0), Vec3d(0.0, 0.0, -1.0), cam_origin);
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/// Create a cloud widget.
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Mat dragon_cloud = viz::readCloud(get_dragon_ply_file_path());
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viz::WCloud cloud_widget(dragon_cloud, viz::Color::green());
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/// Pose of the widget in camera frame
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Affine3d cloud_pose = Affine3d().rotate(Vec3d(0.0, CV_PI/2, 0.0)).rotate(Vec3d(0.0, 0.0, CV_PI)).translate(Vec3d(0.0, 0.0, 3.0));
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/// Pose of the widget in global frame
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Affine3d cloud_pose_global = transform * cloud_pose;
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/// Visualize camera frame
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myWindow.showWidget("CPW_FRUSTUM", viz::WCameraPosition(Vec2f(0.889484f, 0.523599f)), camera_pose);
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if (!camera_pov)
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myWindow.showWidget("CPW", viz::WCameraPosition(0.5), camera_pose);
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/// Visualize widget
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myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
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/// Set the viewer pose to that of camera
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if (camera_pov)
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myWindow.setViewerPose(camera_pose);
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/// Start event loop.
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myWindow.spin();
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}
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TEST(Viz, tutorial3_global_view)
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{
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tutorial3(false);
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}
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TEST(Viz, tutorial3_camera_view)
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{
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tutorial3(true);
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}
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