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55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
#include "test_precomp.hpp"
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using namespace cv;
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using namespace std;
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void tutorial2()
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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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/// Add line to represent (1,1,1) axis
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viz::WLine axis(Point3f(-1.0, -1.0, -1.0), Point3d(1.0, 1.0, 1.0));
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axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
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myWindow.showWidget("Line Widget", axis);
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/// Construct a cube widget
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viz::WCube cube_widget(Point3d(0.5, 0.5, 0.0), Point3d(0.0, 0.0, -0.5), true, viz::Color::blue());
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cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
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/// Display widget (update if already displayed)
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myWindow.showWidget("Cube Widget", cube_widget);
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/// Rodrigues vector
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Vec3d rot_vec = Vec3d::all(0);
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double translation_phase = 0.0, translation = 0.0;
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while(!myWindow.wasStopped())
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{
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/* Rotation using rodrigues */
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/// Rotate around (1,1,1)
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rot_vec[0] += CV_PI * 0.01;
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rot_vec[1] += CV_PI * 0.01;
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rot_vec[2] += CV_PI * 0.01;
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/// Shift on (1,1,1)
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translation_phase += CV_PI * 0.01;
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translation = sin(translation_phase);
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/// Construct pose
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Affine3d pose(rot_vec, Vec3d(translation, translation, translation));
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myWindow.setWidgetPose("Cube Widget", pose);
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myWindow.spinOnce(1, true);
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}
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}
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TEST(Viz, DISABLED_tutorial2_pose_of_widget)
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{
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tutorial2();
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}
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