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Commit 512afe2a authored by Anatoly Baksheev's avatar Anatoly Baksheev
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beatification of test_viz

parent 83cb28f1
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Showing with 80 additions and 94 deletions
modules/viz/test/test_viz3d.cpp
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......@@ -48,6 +48,7 @@
#include <string>
#include <opencv2/viz.hpp>
using namespace cv;
cv::Mat cvcloud_load()
{
......@@ -67,102 +68,86 @@ cv::Mat cvcloud_load()
TEST(Viz_viz3d, accuracy)
{
temp_viz::Viz3d v("abc");
//v.spin();
v.setBackgroundColor();
cv::Mat cloud = cvcloud_load();
cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));
float angle_x = 0.0f;
float angle_y = 0.0f;
float angle_z = 0.0f;
float pos_x = 0.0f;
float pos_y = 0.0f;
float pos_z = 0.0f;
temp_viz::Mesh3d::Ptr mesh = temp_viz::Mesh3d::mesh_load("d:/horse.ply");
v.addPolygonMesh(*mesh, "pq");
int col_blue = 0;
int col_green = 0;
int col_red = 0;
temp_viz::LineWidget lw(cv::Point3f(0.0,0.0,0.0), cv::Point3f(4.0,4.0,4.0), temp_viz::Color(0,255,0));
temp_viz::PlaneWidget pw(cv::Vec4f(0.0,1.0,2.0,3.0), 50.0);
temp_viz::SphereWidget sw(cv::Point3f(0,0,0), 0.5);
temp_viz::ArrowWidget aw(cv::Point3f(0,0,0), cv::Point3f(1,1,1), temp_viz::Color(255,0,0));
temp_viz::CircleWidget cw(cv::Point3f(0,0,0), 0.5, 0.01, temp_viz::Color(0,255,0));
temp_viz::CylinderWidget cyw(cv::Point3f(0,0,0), cv::Point3f(-1,-1,-1), 0.5, 30, temp_viz::Color(0,255,0));
temp_viz::CubeWidget cuw(cv::Point3f(-2,-2,-2), cv::Point3f(-1,-1,-1));
temp_viz::CoordinateSystemWidget csw;
temp_viz::TextWidget tw("TEST", cv::Point2i(100,100), 20);
temp_viz::CloudWidget pcw(cloud, colors);
temp_viz::CloudWidget pcw2(cloud, temp_viz::Color(0,255,255));
// v.showWidget("line", lw);
// v.showWidget("plane", pw);
v.showWidget("sphere", sw);
v.spin();
//v.showWidget("arrow", aw);
//v.showWidget("circle", cw);
//v.showWidget("cylinder", cyw);
//v.showWidget("cube", cuw);
//v.showWidget("coordinateSystem", csw);
//v.showWidget("coordinateSystem2", temp_viz::CoordinateSystemWidget(2.0), cv::Affine3f(0, 0, 0, cv::Vec3f(2, 0, 0)));
//v.showWidget("text",tw);
//v.showWidget("pcw",pcw);
//v.showWidget("pcw2",pcw2);
// temp_viz::LineWidget lw2 = lw;
// v.showPointCloud("cld",cloud, colors);
cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0));
//cv::viz::Mesh3d::Ptr mesh = cv::viz::Mesh3d::mesh_load("d:/horse.ply");
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) };
cv::Mat points(1, sizeof(data)/sizeof(data[0]), CV_64FC4, (void*)data);
points = points.reshape(4, 2);
cv::viz::Viz3d viz("abc");
viz.setBackgroundColor();
Vec3f angle = Vec3f::all(0);
Vec3f pos = Vec3f::all(0);
//viz.addPolygonMesh(*mesh, "pq");
viz::Color color = viz::Color::black();
viz::LineWidget lw(Point3f(0, 0, 0), Point3f(4.f, 4.f,4.f), viz::Color::green());
viz::PlaneWidget pw(Vec4f(0.0,1.0,2.0,3.0), 5.0);
viz::SphereWidget sw(Point3f(0, 0, 0), 0.5);
viz::ArrowWidget aw(Point3f(0, 0, 0), Point3f(1, 1, 1), viz::Color::red());
viz::CircleWidget cw(Point3f(0, 0, 0), 0.5, 0.01, viz::Color::green());
viz::CylinderWidget cyw(Point3f(0, 0, 0), Point3f(-1, -1, -1), 0.5, 30, viz::Color::green());
viz::CubeWidget cuw(Point3f(-2, -2, -2), Point3f(-1, -1, -1));
viz::CoordinateSystemWidget csw;
viz::TextWidget tw("TEST", Point(100, 100), 20);
viz::CloudWidget pcw(cloud, colors);
viz::CloudWidget pcw2(cloud, viz::Color::magenta());
viz.showWidget("line", lw);
viz.showWidget("plane", pw);
viz.showWidget("sphere", sw);
viz.showWidget("arrow", aw);
viz.showWidget("circle", cw);
viz.showWidget("cylinder", cyw);
viz.showWidget("cube", cuw);
viz.showWidget("coordinateSystem", csw);
viz.showWidget("coordinateSystem2", viz::CoordinateSystemWidget(2.0), Affine3f().translate(Vec3f(2, 0, 0)));
viz.showWidget("text",tw);
viz.showWidget("pcw",pcw);
viz.showWidget("pcw2",pcw2);
// viz::LineWidget lw2 = lw;
// v.showPointCloud("cld",cloud, colors);
// v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
//temp_viz::CloudNormalsWidget cnw(cloud, normals);
//viz::CloudNormalsWidget cnw(cloud, normals);
//v.showWidget("n", cnw);
// lw = v.getWidget("n").cast<viz::LineWidget>();
// pw = v.getWidget("n").cast<viz::PlaneWidget>();
// lw = v.getWidget("n").cast<temp_viz::LineWidget>();
// pw = v.getWidget("n").cast<temp_viz::PlaneWidget>();
viz::PolyLineWidget plw(points, viz::Color::green());
viz.showWidget("polyline", plw);
// lw = v.getWidget("polyline").cast<viz::LineWidget>();
cv::Mat points(1, 4, CV_64FC4);
viz.spin();
cv::Vec4d* data = points.ptr<cv::Vec4d>();
data[0] = cv::Vec4d(0.0,0.0,0.0,0.0);
data[1] = cv::Vec4d(1.0,1.0,1.0,1.0);
data[2] = cv::Vec4d(0.0,2.0,0.0,0.0);
data[3] = cv::Vec4d(3.0,4.0,1.0,1.0);
points = points.reshape(0, 2);
temp_viz::PolyLineWidget plw(points, temp_viz::Color::green());
v.showWidget("polyline",plw);
// lw = v.getWidget("polyline").cast<temp_viz::LineWidget>();
v.spin();
//temp_viz::GridWidget gw(temp_viz::Vec2i(100,100), temp_viz::Vec2d(1,1));
//viz::GridWidget gw(viz::Vec2i(100,100), viz::Vec2d(1,1));
//v.showWidget("grid", gw);
lw = v.getWidget("grid").cast<temp_viz::LineWidget>();
lw = viz.getWidget("grid").cast<cv::viz::LineWidget>();
//temp_viz::Text3DWidget t3w("OpenCV", cv::Point3f(0.0, 2.0, 0.0), 1.0, temp_viz::Color(255,255,0));
//viz::Text3DWidget t3w("OpenCV", cv::Point3f(0.0, 2.0, 0.0), 1.0, viz::Color(255,255,0));
//v.showWidget("txt3d", t3w);
// float grid_x_angle = 0.0;
while(!v.wasStopped())
while(!viz.wasStopped())
{
// Creating new point cloud with id cloud1
cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
cv::Affine3f cloudPosition2(angle_x, angle_y, angle_z, cv::Vec3f(pos_x+0.2, pos_y+0.2, pos_z+0.2));
cv::Affine3f cloudPosition(angle, pos);
cv::Affine3f cloudPosition2(angle, pos + Vec3f(0.2f, 0.2f, 0.2f));
lw.setColor(temp_viz::Color(col_blue, col_green, col_red));
lw.setColor(color);
// lw.setLineWidth(pos_x * 10);
//plw.setColor(temp_viz::Color(col_blue, col_green, col_red));
//plw.setColor(viz::Color(col_blue, col_green, col_red));
sw.setPose(cloudPosition);
// pw.setPose(cloudPosition);
......@@ -178,34 +163,35 @@ TEST(Viz_viz3d, accuracy)
// v.setWidgetPose("n",cloudPosition);
// v.setWidgetPose("pcw2", cloudPosition);
//cnw.setColor(temp_viz::Color(col_blue, col_green, col_red));
//pcw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
//gw.updatePose(temp_viz::Affine3f(0.0, 0.1, 0.0, cv::Vec3f(0.0,0.0,0.0)));
angle_x += 0.1f;
angle_y -= 0.1f;
angle_z += 0.1f;
pos_x = std::sin(angle_x);
pos_y = std::sin(angle_y);
pos_z = std::sin(angle_z);
col_blue = int(angle_x * 10) % 256;
col_green = int(angle_x * 20) % 256;
col_red = int(angle_x * 30) % 256;
v.spinOnce(1, true);
//cnw.setColor(viz::Color(col_blue, col_green, col_red));
//pcw2.setColor(viz::Color(col_blue, col_green, col_red));
//gw.updatePose(viz::Affine3f(0.0, 0.1, 0.0, cv::Vec3f(0.0,0.0,0.0)));
angle[0] += 0.1f;
angle[1] -= 0.1f;
angle[2] += 0.1f;
pos[0] = std::sin(angle[0]);
pos[1] = std::sin(angle[1]);
pos[2] = std::sin(angle[2]);
color[0] = int(angle[0] * 10) % 256;
color[1] = int(angle[0] * 20) % 256;
color[2] = int(angle[0] * 30) % 256;
viz.spinOnce(1, true);
}
//
//
// temp_viz::ModelCoefficients mc;
// viz::ModelCoefficients mc;
// mc.values.resize(4);
// mc.values[0] = mc.values[1] = mc.values[2] = mc.values[3] = 1;
// v.addPlane(mc);
//
//
// temp_viz::Mesh3d::Ptr mesh = temp_viz::mesh_load("horse.ply");
// viz::Mesh3d::Ptr mesh = viz::mesh_load("horse.ply");
// v.addPolygonMesh(*mesh, "pq");
//
// v.spinOnce(1000, true);
......@@ -229,7 +215,7 @@ TEST(Viz_viz3d, accuracy)
//
// colors.setTo(cv::Scalar(255, 0, 0));
//
// v.addSphere(cv::Point3f(0, 0, 0), 0.3, temp_viz::Color::blue());
// v.addSphere(cv::Point3f(0, 0, 0), 0.3, viz::Color::blue());
//
// cv::Mat cvpoly(1, 5, CV_32FC3);
// cv::Point3f* pdata = cvpoly.ptr<cv::Point3f>();
......@@ -238,7 +224,7 @@ TEST(Viz_viz3d, accuracy)
// pdata[2] = cv::Point3f(3, 1, 2);
// pdata[3] = cv::Point3f(0, 2, 4);
// pdata[4] = cv::Point3f(7, 2, 3);
// v.addPolygon(cvpoly, temp_viz::Color::white());
// v.addPolygon(cvpoly, viz::Color::white());
//
// // Updating cloud1
// v.showPointCloud("cloud1", cloud, colors);
......
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