showPointCloud initial implementation together with test

modules/viz/include/opencv2/viz/viz3d.hpp

@@ -26,22 +26,15 @@ namespace temp_viz
         void setBackgroundColor(const Color& color = Color::black());
 
         void addCoordinateSystem(double scale, const Affine3f& t, const String &id = "coordinate");
-
-        void addPointCloud(const Mat& cloud, const Mat& colors, const String& id = "cloud", const Mat& mask = Mat());
+	
+	void showPointCloud(const std::string& id, cv::InputArray cloud, cv::InputArray colors, const cv::Affine3f& pose = cv::Affine3f::Identity());
 
         bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String &id = "cloud");
 
-
-
-
         bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
         bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");
         bool removeCoordinateSystem (const String &id = "coordinate");
 
-
-        bool updatePointCloud (const Mat& cloud, const Mat& colors, const String& id = "cloud", const Mat& mask = Mat());
-
-
         bool addPolygonMesh (const Mesh3d& mesh, const String &id = "polygon");
         bool updatePolygonMesh (const Mesh3d& mesh, const String &id = "polygon");
 

modules/viz/src/q/viz3d_impl.hpp

@@ -96,8 +96,14 @@ public:
     bool addText3D (const std::string &text, const cv::Point3f &position, const Color& color, double textScale = 1.0, const std::string &id = "");
 
     bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const std::string &id = "cloud");
-    void addPointCloud(const cv::Mat& cloud, const cv::Mat& colors, const std::string& id = "cloud", const cv::Mat& mask = cv::Mat());
-    bool updatePointCloud (const cv::Mat& cloud, const cv::Mat& colors, const std::string& id = "cloud", const cv::Mat& mask = cv::Mat());
+        
+    /** \brief If the id exists, updates the point cloud; otherwise, adds a new point cloud to the scene
+	  * \param[in] id a variable to identify the point cloud
+	  * \param[in] cloud cloud input in x,y,z coordinates
+	  * \param[in] colors color input in the same order of the points or single uniform color
+	  * \param[in] pose transform to be applied on the point cloud
+	  */
+    void showPointCloud(const std::string& id, cv::InputArray cloud, cv::InputArray colors, const cv::Affine3f& pose = cv::Affine3f::Identity());
 
     bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id = "polygon");
     bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id = "polygon");

modules/viz/src/viz3d.cpp

@@ -23,9 +23,9 @@ void temp_viz::Viz3d::addCoordinateSystem(double scale, const Affine3f& t, const
     impl_->addCoordinateSystem(scale, t, id);
 }
 
-void temp_viz::Viz3d::addPointCloud(const Mat& cloud, const Mat& colors, const String& id, const Mat& mask)
+void temp_viz::Viz3d::showPointCloud(const std::string& id, cv::InputArray cloud, cv::InputArray colors, const cv::Affine3f& pose)
 {
-    impl_->addPointCloud(cloud, colors, id, mask);
+    impl_->showPointCloud(id, cloud, colors, pose);
 }
 
 bool temp_viz::Viz3d::addPointCloudNormals (const Mat &cloud, const Mat& normals, int level, float scale, const String& id)
@@ -33,11 +33,6 @@ bool temp_viz::Viz3d::addPointCloudNormals (const Mat &cloud, const Mat& normals
     return impl_->addPointCloudNormals(cloud, normals, level, scale, id);
 }
 
-bool temp_viz::Viz3d::updatePointCloud(const Mat& cloud, const Mat& colors, const String& id, const Mat& mask)
-{
-    return impl_->updatePointCloud(cloud, colors, id, mask);
-}
-
 bool temp_viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String &id)
 {
     return impl_->addPolygonMesh(mesh, Mat(), id);

modules/viz/test/test_viz3d.cpp

@@ -78,56 +78,80 @@ TEST(Viz_viz3d, accuracy)
 
     cv::Mat cloud = cvcloud_load();
 
-
     cv::Mat colors(cloud.size(), CV_8UC3, cv::Scalar(0, 255, 0));
-    v.addPointCloud(cloud, colors);
-    cv::Mat normals(cloud.size(), CV_32FC3, cv::Scalar(0, 10, 0));
-
-    v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
-
-
-    temp_viz::ModelCoefficients mc;
-    mc.values.resize(4);
-    mc.values[0] = mc.values[1] = mc.values[2] = mc.values[3] = 1;
-    v.addPlane(mc);
-
-
+    
+    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::mesh_load("d:/horse.ply");
     v.addPolygonMesh(*mesh, "pq");
-
-    v.spinOnce(1000, true);
-
-    v.removeCoordinateSystem();
-
-    for(int i = 0; i < mesh->cloud.cols; ++i)
-        mesh->cloud.ptr<cv::Point3f>()[i] += cv::Point3f(1, 1, 1);
-
-    v.updatePolygonMesh(*mesh, "pq");
-
-
-    for(int i = 0; i < mesh->cloud.cols; ++i)
-        mesh->cloud.ptr<cv::Point3f>()[i] -= cv::Point3f(2, 2, 2);
-    v.addPolylineFromPolygonMesh(*mesh);
-
-
-    v.addText("===Abd sadfljsadlk", 100, 100, cv::Scalar(255, 0, 0), 15);
-        for(int i = 0; i < cloud.cols; ++i)
-        cloud.ptr<cv::Point3f>()[i].x *=2;
-
-    colors.setTo(cv::Scalar(255, 0, 0));
-
-    v.addSphere(cv::Point3f(0, 0, 0), 0.3, temp_viz::Color::blue());
-
-    cv::Mat cvpoly(1, 5, CV_32FC3);
-    cv::Point3f* pdata = cvpoly.ptr<cv::Point3f>();
-    pdata[0] = cv::Point3f(0, 0, 0);
-    pdata[1] = cv::Point3f(0, 1, 1);
-    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.updatePointCloud(cloud, colors);
-    v.spin();
+    while(1)
+    {
+	// Creating new point cloud with id cloud1
+	cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
+	v.showPointCloud("cloud1", cloud, colors, cloudPosition);
+	
+	angle_x += 0.1;
+	angle_y -= 0.1;
+	angle_z += 0.1;
+	pos_x = std::sin(angle_x);
+	pos_y = std::sin(angle_x);
+	pos_z = std::sin(angle_x);
+	
+	v.spinOnce(1,true);
+    }
+   
+//     cv::Mat normals(cloud.size(), CV_32FC3, cv::Scalar(0, 10, 0));
+// 
+//     v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
+// 
+// 
+//     temp_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");
+//     v.addPolygonMesh(*mesh, "pq");
+// 
+//     v.spinOnce(1000, true);
+// 
+//     v.removeCoordinateSystem();
+// 
+//     for(int i = 0; i < mesh->cloud.cols; ++i)
+//         mesh->cloud.ptr<cv::Point3f>()[i] += cv::Point3f(1, 1, 1);
+// 
+//     v.updatePolygonMesh(*mesh, "pq");
+// 
+// 
+//     for(int i = 0; i < mesh->cloud.cols; ++i)
+//         mesh->cloud.ptr<cv::Point3f>()[i] -= cv::Point3f(2, 2, 2);
+//     v.addPolylineFromPolygonMesh(*mesh);
+// 
+// 
+//     v.addText("===Abd sadfljsadlk", 100, 100, cv::Scalar(255, 0, 0), 15);
+//     for(int i = 0; i < cloud.cols; ++i)
+// 	cloud.ptr<cv::Point3f>()[i].x *=2;
+// 
+//     colors.setTo(cv::Scalar(255, 0, 0));
+// 
+//     v.addSphere(cv::Point3f(0, 0, 0), 0.3, temp_viz::Color::blue());
+// 
+//     cv::Mat cvpoly(1, 5, CV_32FC3);
+//     cv::Point3f* pdata = cvpoly.ptr<cv::Point3f>();
+//     pdata[0] = cv::Point3f(0, 0, 0);
+//     pdata[1] = cv::Point3f(0, 1, 1);
+//     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());
+// 
+//     // Updating cloud1
+//     v.showPointCloud("cloud1", cloud, colors);
+//     v.spin();
 }