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294 lines
11 KiB
C++
294 lines
11 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/core.hpp>
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#include <opencv2/imgproc.hpp>
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#include <opencv2/highgui.hpp>
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#include <opencv2/calib3d.hpp>
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#include <fstream>
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#include <string>
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#include <opencv2/viz.hpp>
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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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TEST(Viz_viz3d, accuracy)
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{
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cv::Mat cloud = cvcloud_load();
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cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));
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cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0));
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//cv::viz::Mesh3d::Ptr mesh = cv::viz::Mesh3d::mesh_load("/Users/nerei/horse.ply");
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const Vec4d data[] = { Vec4d(0.0, 0.0, 0.0, 0.0), Vec4d(1.0, 1.0, 1.0, 1.0), cv::Vec4d(0.0, 2.0, 0.0, 0.0), cv::Vec4d(3.0, 4.0, 1.0, 1.0) };
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cv::Mat points(1, sizeof(data)/sizeof(data[0]), CV_64FC4, (void*)data);
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points = points.reshape(4, 2);
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cv::viz::Viz3d viz("abc");
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viz.setBackgroundColor();
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Vec3f angle = Vec3f::all(0);
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Vec3f pos = Vec3f::all(0);
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//viz.addPolygonMesh(*mesh, "pq");
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viz::Color color = viz::Color::black();
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viz::LineWidget lw(Point3f(0, 0, 0), Point3f(4.f, 4.f,4.f), viz::Color::green());
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viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0));
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viz::PlaneWidget pw2(Vec4f(0.0,1.0,2.0,3.0), 2.0, viz::Color::red());
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viz::PlaneWidget pw3(Vec4f(0.0,1.0,2.0,3.0), 3.0, viz::Color::blue());
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viz::SphereWidget sw(Point3f(0, 0, 0), 0.2);
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viz::ArrowWidget aw(Point3f(0, 0, 0), Point3f(1, 1, 1), 0.01, viz::Color::red());
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viz::CircleWidget cw(Point3f(0, 0, 0), 0.5, 0.01, viz::Color::green());
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viz::CylinderWidget cyw(Point3f(0, 0, 0), Point3f(-1, -1, -1), 0.5, 30, viz::Color::green());
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viz::CubeWidget cuw(Point3f(-2, -2, -2), Point3f(-1, -1, -1));
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viz::CoordinateSystemWidget csw;
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viz::TextWidget tw("TEST", Point(100, 100), 20);
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viz::CloudWidget pcw(cloud, colors);
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// pcw.setRenderingProperty(VIZ_LINE_WIDTH));
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viz::CloudWidget pcw2(cloud, viz::Color::magenta());
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// viz.showWidget("line", lw);
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viz.showWidget("plane", pw);
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viz.showWidget("plane2", pw2);
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viz.showWidget("plane3", pw3);
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// viz.showWidget("sphere", sw);
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// viz.showWidget("arrow", aw);
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// viz.showWidget("circle", cw);
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// viz.showWidget("cylinder", cyw);
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// viz.showWidget("cube", cuw);
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viz.showWidget("coordinateSystem", csw);
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// viz.showWidget("coordinateSystem2", viz::CoordinateSystemWidget(2.0), Affine3f().translate(Vec3f(2, 0, 0)));
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// viz.showWidget("text",tw);
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// viz.showWidget("pcw",pcw);
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// viz.showWidget("pcw2",pcw2);
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// viz::LineWidget lw2 = lw;
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// v.showPointCloud("cld",cloud, colors);
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// v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
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//viz::CloudNormalsWidget cnw(cloud, normals);
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//v.showWidget("n", cnw);
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// lw = v.getWidget("n").cast<viz::LineWidget>();
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// pw = v.getWidget("n").cast<viz::PlaneWidget>();
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viz::PolyLineWidget plw(points, viz::Color::green());
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// viz.showWidget("polyline", plw);
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// lw = v.getWidget("polyline").cast<viz::LineWidget>();
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viz::Mesh3d mesh = cv::viz::Mesh3d::loadMesh("/Users/nerei/horse.ply");
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// viz::MeshWidget mw(mesh);
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// viz.showWidget("mesh", mw);
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Mat img = imread("opencv.png");
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// resize(img, img, Size(50,50));
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// viz.showWidget("img", viz::ImageOverlayWidget(img, Point2i(50,50)));
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Matx33f K(657, 0, 320,
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0, 657, 240,
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0, 0, 1);
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//viz::CameraPositionWidget cpw(Vec3f(0.5, 0.5, 3.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,-1.0,0.0), 0.5);
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viz::CameraPositionWidget cpw2(0.5);
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viz::CameraPositionWidget frustum(K, 2.0, viz::Color::green());
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// viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
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viz::CameraPositionWidget frustum2(K, 4.0, viz::Color::red());
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viz::CameraPositionWidget frustum3(Vec2f(CV_PI, CV_PI/2), 4.0);
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viz::Text3DWidget t3w1("Camera1", Point3f(0.4, 0.6, 3.0), 0.1);
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viz::Text3DWidget t3w2("Camera2", Point3f(0,0,0), 0.1);
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// viz.showWidget("CameraPositionWidget", cpw);
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// viz.showWidget("CameraPositionWidget2", cpw2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
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// viz.showWidget("camera_label", t3w1);
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// viz.showWidget("camera_label2", t3w2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
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// viz.showWidget("frustrum", frustum, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
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// viz.showWidget("frustrum2", frustum2, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
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// viz.showWidget("frustum3", frustum3, Affine3f(0.524, 0, 0, Vec3f(-1.0, 0.5, 0.5)));
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std::vector<Affine3f> trajectory;
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trajectory.push_back(Affine3f().translate(Vec3f(0.5,0.5,0.5)));
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trajectory.push_back(Affine3f().translate(Vec3f(1.0,0.0,0.0)));
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trajectory.push_back(Affine3f().translate(Vec3f(2.0,0.5,0.0)));
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trajectory.push_back(Affine3f(0.5, 0.0, 0.0, Vec3f(1.0,0.0,1.0)));
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//
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//viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory, viz::Color(0,255,255), true, 0.5));
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viz.showWidget("trajectory2", viz::TrajectoryWidget(trajectory, K, 1.0, viz::Color(255,0,255)));
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// cv::Rodrigues2(Vec3f(), Mat());
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// viz.showWidget("trajectory1", viz::TrajectoryWidget(trajectory/*, viz::Color::yellow()*/));
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// viz.showWidget("CameraPositionWidget2", cpw2);
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// viz.showWidget("CameraPositionWidget3", cpw3);
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viz.spin();
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//viz::GridWidget gw(viz::Vec2i(100,100), viz::Vec2d(1,1));
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//v.showWidget("grid", gw);
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// lw = viz.getWidget("grid").cast<cv::viz::LineWidget>();
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//viz::Text3DWidget t3w("OpenCV", cv::Point3f(0.0, 2.0, 0.0), 1.0, viz::Color(255,255,0));
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//v.showWidget("txt3d", t3w);
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// float grid_x_angle = 0.0;
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while(!viz.wasStopped())
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{
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// Creating new point cloud with id cloud1
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cv::Affine3f cloudPosition(angle, pos);
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cv::Affine3f cloudPosition2(angle, pos + Vec3f(0.2f, 0.2f, 0.2f));
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lw.setColor(color);
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// lw.setLineWidth(pos_x * 10);
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//plw.setColor(viz::Color(col_blue, col_green, col_red));
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// sw.setPose(cloudPosition);
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// pw.setPose(cloudPosition);
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aw.setPose(cloudPosition);
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cw.setPose(cloudPosition);
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cyw.setPose(cloudPosition);
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frustum.setPose(cloudPosition);
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// lw.setPose(cloudPosition);
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// cpw.updatePose(Affine3f(0.1,0.0,0.0, cv::Vec3f(0.0,0.0,0.0)));
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// cpw.setPose(cloudPosition);
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// cnw.setPose(cloudPosition);
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// v.showWidget("pcw",pcw, cloudPosition);
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// v.showWidget("pcw2",pcw2, cloudPosition2);
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// v.showWidget("plane", pw, cloudPosition);
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// v.setWidgetPose("n",cloudPosition);
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// v.setWidgetPose("pcw2", cloudPosition);
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//cnw.setColor(viz::Color(col_blue, col_green, col_red));
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//pcw2.setColor(viz::Color(col_blue, col_green, col_red));
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//gw.updatePose(viz::Affine3f(0.0, 0.1, 0.0, cv::Vec3f(0.0,0.0,0.0)));
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angle[0] += 0.1f;
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angle[1] -= 0.1f;
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angle[2] += 0.1f;
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pos[0] = std::sin(angle[0]);
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pos[1] = std::sin(angle[1]);
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pos[2] = std::sin(angle[2]);
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color[0] = int(angle[0] * 10) % 256;
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color[1] = int(angle[0] * 20) % 256;
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color[2] = int(angle[0] * 30) % 256;
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viz.spinOnce(1, true);
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}
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//
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//
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// viz::ModelCoefficients mc;
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// mc.values.resize(4);
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// mc.values[0] = mc.values[1] = mc.values[2] = mc.values[3] = 1;
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// v.addPlane(mc);
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//
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//
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// viz::Mesh3d::Ptr mesh = viz::mesh_load("horse.ply");
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// v.addPolygonMesh(*mesh, "pq");
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//
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// v.spinOnce(1000, true);
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//
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// v.removeCoordinateSystem();
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//
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// for(int i = 0; i < mesh->cloud.cols; ++i)
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// mesh->cloud.ptr<cv::Point3f>()[i] += cv::Point3f(1, 1, 1);
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//
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// v.updatePolygonMesh(*mesh, "pq");
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//
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//
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// for(int i = 0; i < mesh->cloud.cols; ++i)
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// mesh->cloud.ptr<cv::Point3f>()[i] -= cv::Point3f(2, 2, 2);
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// v.addPolylineFromPolygonMesh(*mesh);
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//
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//
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// v.addText("===Abd sadfljsadlk", 100, 100, cv::Scalar(255, 0, 0), 15);
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// for(int i = 0; i < cloud.cols; ++i)
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// cloud.ptr<cv::Point3f>()[i].x *=2;
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//
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// colors.setTo(cv::Scalar(255, 0, 0));
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//
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// v.addSphere(cv::Point3f(0, 0, 0), 0.3, viz::Color::blue());
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//
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// cv::Mat cvpoly(1, 5, CV_32FC3);
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// cv::Point3f* pdata = cvpoly.ptr<cv::Point3f>();
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// pdata[0] = cv::Point3f(0, 0, 0);
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// pdata[1] = cv::Point3f(0, 1, 1);
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// pdata[2] = cv::Point3f(3, 1, 2);
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// pdata[3] = cv::Point3f(0, 2, 4);
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// pdata[4] = cv::Point3f(7, 2, 3);
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// v.addPolygon(cvpoly, viz::Color::white());
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//
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// // Updating cloud1
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// v.showPointCloud("cloud1", cloud, colors);
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// v.spin();
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}
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