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282 lines
11 KiB
C++
282 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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using namespace cv;
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using namespace cv::viz;
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TEST(Viz, DISABLED_show_cloud_bluberry)
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{
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Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_cloud_bluberry");
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose);
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viz.spin();
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}
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TEST(Viz, DISABLED_show_cloud_random_color)
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{
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Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
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Mat colors(dragon_cloud.size(), CV_8UC3);
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theRNG().fill(colors, RNG::UNIFORM, 0, 255);
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_cloud_random_color");
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose);
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viz.spin();
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}
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TEST(Viz, DISABLED_show_cloud_masked)
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{
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Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
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Vec3f qnan = Vec3f::all(std::numeric_limits<float>::quiet_NaN());
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for(size_t i = 0; i < dragon_cloud.total(); ++i)
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if (i % 15 != 0)
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dragon_cloud.at<Vec3f>(i) = qnan;
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_cloud_masked");
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("dragon", WCloud(dragon_cloud), pose);
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viz.spin();
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}
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TEST(Viz, DISABLED_show_cloud_collection)
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{
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Mat cloud = readCloud(get_dragon_ply_file_path());
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WCloudCollection ccol;
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ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(1.57, 0, 0)));
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ccol.addCloud(cloud, Color::blue(), Affine3d().translate(Vec3d(1, 0, 0)));
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ccol.addCloud(cloud, Color::red(), Affine3d().translate(Vec3d(2, 0, 0)));
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Viz3d viz("show_cloud_collection");
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("ccol", ccol);
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viz.spin();
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}
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TEST(Viz, DISABLED_show_mesh)
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{
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Mesh mesh = Mesh::load(get_dragon_ply_file_path());
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_mesh");
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("mesh", WMesh(mesh), pose);
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viz.spin();
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}
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TEST(Viz, DISABLED_show_mesh_random_colors)
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{
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Mesh mesh = Mesh::load(get_dragon_ply_file_path());
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theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255);
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_mesh_random_color");
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("mesh", WMesh(mesh), pose);
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viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
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viz.spin();
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}
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TEST(Viz, DISABLED_show_polyline)
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{
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Mat polyline(1, 32, CV_64FC3);
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for(size_t i = 0; i < polyline.total(); ++i)
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polyline.at<Vec3d>(i) = Vec3d(i/16.0, cos(i * CV_PI/6), sin(i * CV_PI/6));
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Viz3d viz("show_polyline");
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viz.showWidget("polyline", WPolyLine(Mat(polyline), Color::apricot()));
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viz.showWidget("coosys", WCoordinateSystem());
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viz.spin();
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}
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TEST(Viz, DISABLED_show_sampled_normals)
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{
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Mesh mesh = Mesh::load(get_dragon_ply_file_path());
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computeNormals(mesh, mesh.normals);
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_sampled_normals");
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viz.showWidget("mesh", WMesh(mesh), pose);
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viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose);
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viz.setRenderingProperty("normals", LINE_WIDTH, 2.0);
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viz.spin();
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}
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TEST(Viz, DISABLED_show_trajectories)
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{
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std::vector<Affine3d> path = generate_test_trajectory<double>(), sub0, sub1, sub2, sub3, sub4, sub5;
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Mat(path).rowRange(0, path.size()/10+1).copyTo(sub0);
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Mat(path).rowRange(path.size()/10, path.size()/5+1).copyTo(sub1);
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Mat(path).rowRange(path.size()/5, 11*path.size()/12).copyTo(sub2);
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Mat(path).rowRange(11*path.size()/12, path.size()).copyTo(sub3);
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Mat(path).rowRange(3*path.size()/4, 33*path.size()/40).copyTo(sub4);
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Mat(path).rowRange(33*path.size()/40, 9*path.size()/10).copyTo(sub5);
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Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
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Viz3d viz("show_trajectories");
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viz.showWidget("coos", WCoordinateSystem());
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viz.showWidget("sub0", WTrajectorySpheres(sub0, 0.25, 0.07));
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viz.showWidget("sub1", WTrajectory(sub1, WTrajectory::PATH, 0.2, Color::brown()));
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viz.showWidget("sub2", WTrajectory(sub2, WTrajectory::FRAMES, 0.2));
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viz.showWidget("sub3", WTrajectory(sub3, WTrajectory::BOTH, 0.2, Color::green()));
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viz.showWidget("sub4", WTrajectoryFrustums(sub4, K, 0.3, Color::yellow()));
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viz.showWidget("sub5", WTrajectoryFrustums(sub5, Vec2d(0.78, 0.78), 0.15));
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int i = 0;
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while(!viz.wasStopped())
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{
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double a = --i % 360;
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Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
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viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
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viz.spinOnce(20, true);
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}
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//viz.spin();
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}
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TEST(Viz, DISABLED_show_trajectory_reposition)
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{
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std::vector<Affine3f> path = generate_test_trajectory<float>();
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Viz3d viz("show_trajectory_reposition_to_origin");
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viz.showWidget("coos", WCoordinateSystem());
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viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv());
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viz.spin();
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}
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TEST(Viz, DISABLED_show_camera_positions)
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{
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Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
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Mat gray = make_gray(lena);
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Affine3d poses[2];
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for(int i = 0; i < 2; ++i)
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{
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Vec3d pose = 5 * Vec3d(sin(3.14 + 2.7 + i*60 * CV_PI/180), 0.4 - i*0.3, cos(3.14 + 2.7 + i*60 * CV_PI/180));
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poses[i] = makeCameraPose(pose, Vec3d(0.0, 0.0, 0.0), Vec3d(0.0, -0.1, 0.0));
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}
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Viz3d viz("show_camera_positions");
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viz.showWidget("sphe", WSphere(Point3d(0,0,0), 1.0, 10, Color::orange_red()));
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viz.showWidget("coos", WCoordinateSystem(1.5));
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viz.showWidget("pos1", WCameraPosition(0.75), poses[0]);
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viz.showWidget("pos2", WCameraPosition(Vec2d(0.78, 0.78), lena, 2.2, Color::green()), poses[0]);
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viz.showWidget("pos3", WCameraPosition(0.75), poses[1]);
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viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]);
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viz.spin();
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}
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TEST(Viz, show_overlay_image)
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{
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
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Mat gray = make_gray(lena);
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Viz3d viz("show_overlay_image");
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viz.showWidget("coos", WCoordinateSystem());
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viz.showWidget("cube", WCube());
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viz.showWidget("img1", WImageOverlay(lena, Rect(Point(0, 400), Size2d(viz.getWindowSize()) * 0.5)));
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viz.showWidget("img2", WImageOverlay(gray, Rect(Point(640, 0), Size2d(viz.getWindowSize()) * 0.5)));
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viz.spin();
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int i = 0;
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while(!viz.wasStopped())
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{
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double a = ++i % 360;
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Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
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viz.setViewerPose(makeCameraPose(pose * 3, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
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viz.getWidget("img1").cast<WImageOverlay>().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0));
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//viz.getWidget("img1").cast<WImageOverlay>().setImage(gray);
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viz.spinOnce(1, true);
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}
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//viz.spin();
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}
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TEST(Viz, DISABLED_show_image_3d)
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{
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
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Mat gray = make_gray(lena);
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Viz3d viz("show_image_3d");
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viz.showWidget("coos", WCoordinateSystem());
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viz.showWidget("cube", WCube());
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viz.showWidget("arr0", WArrow(Vec3d(0.5, 0.0, 0.0), Vec3d(1.5, 0.0, 0.0), 0.009, Color::raspberry()));
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viz.showWidget("img0", WImage3D(lena, Size2d(1.0, 1.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(.5, 0.0, 0.0)));
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viz.showWidget("arr1", WArrow(Vec3d(-0.5, -0.5, 0.0), Vec3d(0.2, 0.2, 0.0), 0.009, Color::raspberry()));
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viz.showWidget("img1", WImage3D(gray, Size2d(1.0, 1.0), Vec3d(-0.5, -0.5, 0.0), Vec3d(1.0, 1.0, 0.0), Vec3d(0.0, 1.0, 0.0)));
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int i = 0;
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while(!viz.wasStopped())
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{
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viz.getWidget("img0").cast<WImage3D>().setImage(lena * pow(sin(i++*7.5*CV_PI/180) * 0.5 + 0.5, 1.0));
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viz.spinOnce(1, true);
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}
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//viz.spin();
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}
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TEST(Viz, DISABLED_spin_twice_____________________________TODO_UI_BUG)
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{
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Mesh mesh = Mesh::load(get_dragon_ply_file_path());
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Viz3d viz("spin_twice");
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("mesh", WMesh(mesh));
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viz.spin();
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viz.spin();
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}
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