Viz::setViewerPose() - changed up-vector to down (common for Computer Vision & Odometry)

modules/viz/src/vizimpl.cpp

@@ -427,12 +427,12 @@ void cv::viz::Viz3d::VizImpl::setViewerPose(const Affine3d &pose)
 
     // Rotate the view vector
     cv::Matx33d rotation = pose.rotation();
-    cv::Vec3d y_axis(0.0, 1.0, 0.0);
+    cv::Vec3d y_axis(0.0, -1.0, 0.0); // In Computer Vision Camera Y-axis is oriented down
     cv::Vec3d up_vec(rotation * y_axis);
 
     // Compute the new focal point
     cv::Vec3d z_axis(0.0, 0.0, 1.0);
-    cv::Vec3d focal_vec = pos_vec + rotation * z_axis;
+    cv::Vec3d focal_vec = pose * z_axis;
 
     camera.SetPosition(pos_vec.val);
     camera.SetFocalPoint(focal_vec.val);
@@ -450,7 +450,7 @@ cv::Affine3d cv::viz::Viz3d::VizImpl::getViewerPose()
     Vec3d view_up(camera.GetViewUp());
     Vec3d focal(camera.GetFocalPoint());
 
-    Vec3d y_axis = normalized(view_up);
+    Vec3d y_axis = normalized(-view_up); // In Computer Vision Camera Y-axis is oriented down
     Vec3d z_axis = normalized(focal - pos);
     Vec3d x_axis = normalized(y_axis.cross(z_axis));
 

modules/viz/test/test_tutorial3.cpp

@@ -15,50 +15,46 @@ void tutorial3(bool camera_pov)
     myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
 
     /// Let's assume camera has the following properties
-    Point3d cam_pos(3.0, 3.0, 3.0), cam_focal_point(3.0, 3.0, 2.0), cam_y_dir(-1.0, 0.0, 0.0);
+    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);
 
     /// We can get the pose of the cam using makeCameraPose
-    Affine3d cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+    Affine3d camera_pose = viz::makeCameraPose(cam_origin, 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
-    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_pos);
+    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);
 
     /// Create a cloud widget.
     Mat dragon_cloud = viz::readCloud(get_dragon_ply_file_path());
     viz::WCloud cloud_widget(dragon_cloud, viz::Color::green());
 
     /// Pose of the widget in camera frame
-    Affine3d cloud_pose = Affine3d().translate(Vec3d(0.0, 0.0, 3.0));
+    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));
     /// Pose of the widget in global frame
     Affine3d cloud_pose_global = transform * cloud_pose;
 
     /// Visualize camera frame
+    myWindow.showWidget("CPW_FRUSTUM", viz::WCameraPosition(Vec2f(0.889484f, 0.523599f)), camera_pose);
     if (!camera_pov)
-    {
-        viz::WCameraPosition cpw(0.5); // Coordinate axes
-        viz::WCameraPosition cpw_frustum(Vec2f(0.889484f, 0.523599f)); // Camera frustum
-        myWindow.showWidget("CPW", cpw, cam_pose);
-        myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
-    }
+        myWindow.showWidget("CPW", viz::WCameraPosition(0.5), camera_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);
+        myWindow.setViewerPose(camera_pose);
 
     /// Start event loop.
     myWindow.spin();
 }
 
-TEST(Viz, DISABLED_tutorial3_global_view)
+TEST(Viz, tutorial3_global_view)
 {
     tutorial3(false);
 }
 
-TEST(Viz, DISABLED_tutorial3_camera_view)
+TEST(Viz, tutorial3_camera_view)
 {
     tutorial3(true);
 }