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#include "test_precomp.hpp"
using namespace cv;
using namespace std;
/**
* @function cvcloud_load
* @brief load bunny.ply
*/
Mat cvcloud_load()
{
Mat cloud(1, 20000, CV_32FC3);
ifstream ifs("d:/cloud_dragon.ply");
string str;
for(size_t i = 0; i < 12; ++i)
getline(ifs, str);
Point3f* data = cloud.ptr<cv::Point3f>();
//float dummy1, dummy2;
for(size_t i = 0; i < 20000; ++i)
ifs >> data[i].x >> data[i].y >> data[i].z;// >> dummy1 >> dummy2;
//cloud *= 5.0f;
return cloud;
}
/**
* @function main
*/
void tutorial3(bool camera_pov)
{
/// Create a window
viz::Viz3d myWindow("Coordinate Frame");
/// Add coordinate axes
myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
/// Let's assume camera has the following properties
Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
/// We can get the pose of the cam using makeCameraPose
Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
/// We can get the transformation matrix from camera coordinate system to global using
/// - makeTransformToGlobal. We need the axes of the camera
Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
/// Create a cloud widget.
Mat bunny_cloud = cvcloud_load();
viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
/// Pose of the widget in camera frame
Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
/// Pose of the widget in global frame
Affine3f cloud_pose_global = transform * cloud_pose;
/// Visualize camera frame
if (!camera_pov)
{
viz::WCameraPosition cpw(0.5); // Coordinate axes
viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
myWindow.showWidget("CPW", cpw, cam_pose);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
}
/// Visualize widget
myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
/// Set the viewer pose to that of camera
if (camera_pov)
myWindow.setViewerPose(cam_pose);
/// Start event loop.
myWindow.spin();
}
TEST(Viz_viz3d, DISABLED_tutorial3_global_view)
{
tutorial3(false);
}
TEST(Viz_viz3d, DISABLED_tutorial3_camera_view)
{
tutorial3(true);
}