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42
43 #include "test_precomp.hpp"
44
45 using namespace cv;
46 using namespace cv::viz;
47
TEST(Viz,show_cloud_bluberry)48 TEST(Viz, show_cloud_bluberry)
49 {
50 Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
51
52 Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
53
54 Viz3d viz("show_cloud_bluberry");
55 viz.setBackgroundColor(Color::black());
56 viz.showWidget("coosys", WCoordinateSystem());
57 viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose);
58
59 viz.showWidget("text2d", WText("Bluberry cloud", Point(20, 20), 20, Color::green()));
60 viz.spin();
61 }
62
TEST(Viz,show_cloud_random_color)63 TEST(Viz, show_cloud_random_color)
64 {
65 Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
66
67 Mat colors(dragon_cloud.size(), CV_8UC3);
68 theRNG().fill(colors, RNG::UNIFORM, 0, 255);
69
70 Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
71
72 Viz3d viz("show_cloud_random_color");
73 viz.setBackgroundMeshLab();
74 viz.showWidget("coosys", WCoordinateSystem());
75 viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose);
76 viz.showWidget("text2d", WText("Random color cloud", Point(20, 20), 20, Color::green()));
77 viz.spin();
78 }
79
TEST(Viz,show_cloud_masked)80 TEST(Viz, show_cloud_masked)
81 {
82 Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
83
84 Vec3f qnan = Vec3f::all(std::numeric_limits<float>::quiet_NaN());
85 for(int i = 0; i < (int)dragon_cloud.total(); ++i)
86 if (i % 15 != 0)
87 dragon_cloud.at<Vec3f>(i) = qnan;
88
89 Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
90
91 Viz3d viz("show_cloud_masked");
92 viz.showWidget("coosys", WCoordinateSystem());
93 viz.showWidget("dragon", WCloud(dragon_cloud), pose);
94 viz.showWidget("text2d", WText("Nan masked cloud", Point(20, 20), 20, Color::green()));
95 viz.spin();
96 }
97
TEST(Viz,show_cloud_collection)98 TEST(Viz, show_cloud_collection)
99 {
100 Mat cloud = readCloud(get_dragon_ply_file_path());
101
102 WCloudCollection ccol;
103 ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(CV_PI/2, 0, 0)));
104 ccol.addCloud(cloud, Color::blue(), Affine3d().translate(Vec3d(1, 0, 0)));
105 ccol.addCloud(cloud, Color::red(), Affine3d().translate(Vec3d(2, 0, 0)));
106 ccol.finalize();
107
108 Viz3d viz("show_cloud_collection");
109 viz.setBackgroundColor(Color::mlab());
110 viz.showWidget("coosys", WCoordinateSystem());
111 viz.showWidget("ccol", ccol);
112 viz.showWidget("text2d", WText("Cloud collection", Point(20, 20), 20, Color::green()));
113 viz.spin();
114 }
115
TEST(Viz,show_painted_clouds)116 TEST(Viz, show_painted_clouds)
117 {
118 Mat cloud = readCloud(get_dragon_ply_file_path());
119
120 Viz3d viz("show_painted_clouds");
121 viz.setBackgroundMeshLab();
122 viz.showWidget("coosys", WCoordinateSystem());
123 viz.showWidget("cloud1", WPaintedCloud(cloud), Affine3d(Vec3d(0.0, -CV_PI/2, 0.0), Vec3d(-1.5, 0.0, 0.0)));
124 viz.showWidget("cloud2", WPaintedCloud(cloud, Vec3d(0.0, -0.75, -1.0), Vec3d(0.0, 0.75, 0.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(1.5, 0.0, 0.0)));
125 viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red()));
126 viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry()));
127 viz.showWidget("text2d", WText("Painted clouds", Point(20, 20), 20, Color::green()));
128 viz.spin();
129 }
130
TEST(Viz,show_mesh)131 TEST(Viz, show_mesh)
132 {
133 Mesh mesh = Mesh::load(get_dragon_ply_file_path());
134
135 Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
136
137 Viz3d viz("show_mesh");
138 viz.showWidget("coosys", WCoordinateSystem());
139 viz.showWidget("mesh", WMesh(mesh), pose);
140 viz.showWidget("text2d", WText("Just mesh", Point(20, 20), 20, Color::green()));
141 viz.spin();
142 }
143
TEST(Viz,show_mesh_random_colors)144 TEST(Viz, show_mesh_random_colors)
145 {
146 Mesh mesh = Mesh::load(get_dragon_ply_file_path());
147 theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255);
148
149 Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
150
151 Viz3d viz("show_mesh_random_color");
152 viz.showWidget("coosys", WCoordinateSystem());
153 viz.showWidget("mesh", WMesh(mesh), pose);
154 viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
155 viz.showWidget("text2d", WText("Random color mesh", Point(20, 20), 20, Color::green()));
156 viz.spin();
157 }
158
TEST(Viz,show_widget_merger)159 TEST(Viz, show_widget_merger)
160 {
161 WWidgetMerger merger;
162 merger.addWidget(WCube(Vec3d::all(0.0), Vec3d::all(1.0), true, Color::gold()));
163
164 RNG& rng = theRNG();
165 for(int i = 0; i < 77; ++i)
166 {
167 Vec3b c;
168 rng.fill(c, RNG::NORMAL, Scalar::all(128), Scalar::all(48), true);
169 merger.addWidget(WSphere(Vec3d(c)*(1.0/255.0), 7.0/255.0, 10, Color(c[2], c[1], c[0])));
170 }
171 merger.finalize();
172
173 Viz3d viz("show_mesh_random_color");
174 viz.showWidget("coo", WCoordinateSystem());
175 viz.showWidget("merger", merger);
176 viz.showWidget("text2d", WText("Widget merger", Point(20, 20), 20, Color::green()));
177 viz.spin();
178 }
179
TEST(Viz,show_textured_mesh)180 TEST(Viz, show_textured_mesh)
181 {
182 Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
183
184 std::vector<Vec3d> points;
185 std::vector<Vec2d> tcoords;
186 std::vector<int> polygons;
187 for(size_t i = 0; i < 64; ++i)
188 {
189 double angle = CV_PI/2 * i/64.0;
190 points.push_back(Vec3d(0.00, cos(angle), sin(angle))*0.75);
191 points.push_back(Vec3d(1.57, cos(angle), sin(angle))*0.75);
192 tcoords.push_back(Vec2d(0.0, i/64.0));
193 tcoords.push_back(Vec2d(1.0, i/64.0));
194 }
195
196 for(int i = 0; i < (int)points.size()/2-1; ++i)
197 {
198 int polys[] = {3, 2*i, 2*i+1, 2*i+2, 3, 2*i+1, 2*i+2, 2*i+3};
199 polygons.insert(polygons.end(), polys, polys + sizeof(polys)/sizeof(polys[0]));
200 }
201
202 cv::viz::Mesh mesh;
203 mesh.cloud = Mat(points, true).reshape(3, 1);
204 mesh.tcoords = Mat(tcoords, true).reshape(2, 1);
205 mesh.polygons = Mat(polygons, true).reshape(1, 1);
206 mesh.texture = lena;
207
208 Viz3d viz("show_textured_mesh");
209 viz.setBackgroundMeshLab();
210 viz.showWidget("coosys", WCoordinateSystem());
211 viz.showWidget("mesh", WMesh(mesh));
212 viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
213 viz.showWidget("text2d", WText("Textured mesh", Point(20, 20), 20, Color::green()));
214 viz.spin();
215 }
216
TEST(Viz,show_polyline)217 TEST(Viz, show_polyline)
218 {
219 const Color palette[] = { Color::red(), Color::green(), Color::blue(), Color::gold(), Color::raspberry(), Color::bluberry(), Color::lime() };
220 size_t palette_size = sizeof(palette)/sizeof(palette[0]);
221
222 Mat polyline(1, 32, CV_64FC3), colors(1, 32, CV_8UC3);
223 for(int i = 0; i < (int)polyline.total(); ++i)
224 {
225 polyline.at<Vec3d>(i) = Vec3d(i/16.0, cos(i * CV_PI/6), sin(i * CV_PI/6));
226 colors.at<Vec3b>(i) = palette[i & palette_size];
227 }
228
229 Viz3d viz("show_polyline");
230 viz.showWidget("polyline", WPolyLine(polyline, colors));
231 viz.showWidget("coosys", WCoordinateSystem());
232 viz.showWidget("text2d", WText("Polyline", Point(20, 20), 20, Color::green()));
233 viz.spin();
234 }
235
TEST(Viz,show_sampled_normals)236 TEST(Viz, show_sampled_normals)
237 {
238 Mesh mesh = Mesh::load(get_dragon_ply_file_path());
239 computeNormals(mesh, mesh.normals);
240
241 Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
242
243 Viz3d viz("show_sampled_normals");
244 viz.showWidget("mesh", WMesh(mesh), pose);
245 viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose);
246 viz.setRenderingProperty("normals", LINE_WIDTH, 2.0);
247 viz.showWidget("text2d", WText("Cloud or mesh normals", Point(20, 20), 20, Color::green()));
248 viz.spin();
249 }
250
TEST(Viz,show_cloud_shaded_by_normals)251 TEST(Viz, show_cloud_shaded_by_normals)
252 {
253 Mesh mesh = Mesh::load(get_dragon_ply_file_path());
254 computeNormals(mesh, mesh.normals);
255
256 Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
257
258 WCloud cloud(mesh.cloud, Color::white(), mesh.normals);
259 cloud.setRenderingProperty(SHADING, SHADING_GOURAUD);
260
261 Viz3d viz("show_cloud_shaded_by_normals");
262 viz.showWidget("cloud", cloud, pose);
263 viz.showWidget("text2d", WText("Cloud shaded by normals", Point(20, 20), 20, Color::green()));
264 viz.spin();
265 }
266
TEST(Viz,show_trajectories)267 TEST(Viz, show_trajectories)
268 {
269 std::vector<Affine3d> path = generate_test_trajectory<double>(), sub0, sub1, sub2, sub3, sub4, sub5;
270 int size =(int)path.size();
271
272 Mat(path).rowRange(0, size/10+1).copyTo(sub0);
273 Mat(path).rowRange(size/10, size/5+1).copyTo(sub1);
274 Mat(path).rowRange(size/5, 11*size/12).copyTo(sub2);
275 Mat(path).rowRange(11*size/12, size).copyTo(sub3);
276 Mat(path).rowRange(3*size/4, 33*size/40).copyTo(sub4);
277 Mat(path).rowRange(33*size/40, 9*size/10).copyTo(sub5);
278 Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
279
280 Viz3d viz("show_trajectories");
281 viz.showWidget("coos", WCoordinateSystem());
282 viz.showWidget("sub0", WTrajectorySpheres(sub0, 0.25, 0.07));
283 viz.showWidget("sub1", WTrajectory(sub1, WTrajectory::PATH, 0.2, Color::brown()));
284 viz.showWidget("sub2", WTrajectory(sub2, WTrajectory::FRAMES, 0.2));
285 viz.showWidget("sub3", WTrajectory(sub3, WTrajectory::BOTH, 0.2, Color::green()));
286 viz.showWidget("sub4", WTrajectoryFrustums(sub4, K, 0.3, Color::yellow()));
287 viz.showWidget("sub5", WTrajectoryFrustums(sub5, Vec2d(0.78, 0.78), 0.15));
288 viz.showWidget("text2d", WText("Different kinds of supported trajectories", Point(20, 20), 20, Color::green()));
289
290 int i = 0;
291 while(!viz.wasStopped())
292 {
293 double a = --i % 360;
294 Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
295 viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
296 viz.spinOnce(20, true);
297 }
298 viz.resetCamera();
299 viz.spin();
300 }
301
TEST(Viz,show_trajectory_reposition)302 TEST(Viz, show_trajectory_reposition)
303 {
304 std::vector<Affine3f> path = generate_test_trajectory<float>();
305
306 Viz3d viz("show_trajectory_reposition_to_origin");
307 viz.showWidget("coos", WCoordinateSystem());
308 viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, (int)path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv());
309 viz.showWidget("text2d", WText("Trajectory resposition to origin", Point(20, 20), 20, Color::green()));
310 viz.spin();
311 }
312
TEST(Viz,show_camera_positions)313 TEST(Viz, show_camera_positions)
314 {
315 Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
316 Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
317 Mat gray = make_gray(lena);
318
319 Affine3d poses[2];
320 for(int i = 0; i < 2; ++i)
321 {
322 Vec3d pose = 5 * Vec3d(sin(3.14 + 2.7 + i*60 * CV_PI/180), 0.4 - i*0.3, cos(3.14 + 2.7 + i*60 * CV_PI/180));
323 poses[i] = makeCameraPose(pose, Vec3d(0.0, 0.0, 0.0), Vec3d(0.0, -0.1, 0.0));
324 }
325
326 Viz3d viz("show_camera_positions");
327 viz.showWidget("sphe", WSphere(Point3d(0,0,0), 1.0, 10, Color::orange_red()));
328 viz.showWidget("coos", WCoordinateSystem(1.5));
329 viz.showWidget("pos1", WCameraPosition(0.75), poses[0]);
330 viz.showWidget("pos2", WCameraPosition(Vec2d(0.78, 0.78), lena, 2.2, Color::green()), poses[0]);
331 viz.showWidget("pos3", WCameraPosition(0.75), poses[1]);
332 viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]);
333 viz.showWidget("text2d", WText("Camera positions with images", Point(20, 20), 20, Color::green()));
334 viz.spin();
335 }
336
TEST(Viz,show_overlay_image)337 TEST(Viz, show_overlay_image)
338 {
339 Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
340 Mat gray = make_gray(lena);
341
342 Size2d half_lsize = Size2d(lena.size()) * 0.5;
343
344 Viz3d viz("show_overlay_image");
345 viz.setBackgroundMeshLab();
346 Size vsz = viz.getWindowSize();
347
348 viz.showWidget("coos", WCoordinateSystem());
349 viz.showWidget("cube", WCube());
350 viz.showWidget("img1", WImageOverlay(lena, Rect(Point(10, 10), half_lsize)));
351 viz.showWidget("img2", WImageOverlay(gray, Rect(Point(vsz.width-10-lena.cols/2, 10), half_lsize)));
352 viz.showWidget("img3", WImageOverlay(gray, Rect(Point(10, vsz.height-10-lena.rows/2), half_lsize)));
353 viz.showWidget("img5", WImageOverlay(lena, Rect(Point(vsz.width-10-lena.cols/2, vsz.height-10-lena.rows/2), half_lsize)));
354 viz.showWidget("text2d", WText("Overlay images", Point(20, 20), 20, Color::green()));
355
356 int i = 0;
357 while(!viz.wasStopped())
358 {
359 double a = ++i % 360;
360 Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
361 viz.setViewerPose(makeCameraPose(pose * 3, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
362 viz.getWidget("img1").cast<WImageOverlay>().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0));
363 viz.spinOnce(1, true);
364 }
365 viz.showWidget("text2d", WText("Overlay images (stopped)", Point(20, 20), 20, Color::green()));
366 viz.spin();
367 }
368
369
TEST(Viz,show_image_method)370 TEST(Viz, show_image_method)
371 {
372 Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
373
374 Viz3d viz("show_image_method");
375 viz.showImage(lena);
376 viz.spinOnce(1500, true);
377 viz.showImage(lena, lena.size());
378 viz.spinOnce(1500, true);
379
380 cv::viz::imshow("show_image_method", make_gray(lena)).spin();
381 }
382
TEST(Viz,show_image_3d)383 TEST(Viz, show_image_3d)
384 {
385 Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
386 Mat gray = make_gray(lena);
387
388 Viz3d viz("show_image_3d");
389 viz.setBackgroundMeshLab();
390 viz.showWidget("coos", WCoordinateSystem());
391 viz.showWidget("cube", WCube());
392 viz.showWidget("arr0", WArrow(Vec3d(0.5, 0.0, 0.0), Vec3d(1.5, 0.0, 0.0), 0.009, Color::raspberry()));
393 viz.showWidget("img0", WImage3D(lena, Size2d(1.0, 1.0)), Affine3d(Vec3d(0.0, CV_PI/2, 0.0), Vec3d(.5, 0.0, 0.0)));
394 viz.showWidget("arr1", WArrow(Vec3d(-0.5, -0.5, 0.0), Vec3d(0.2, 0.2, 0.0), 0.009, Color::raspberry()));
395 viz.showWidget("img1", WImage3D(gray, Size2d(1.0, 1.0), Vec3d(-0.5, -0.5, 0.0), Vec3d(1.0, 1.0, 0.0), Vec3d(0.0, 1.0, 0.0)));
396
397 viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
398
399 viz.showWidget("text2d", WText("Images in 3D", Point(20, 20), 20, Color::green()));
400
401 int i = 0;
402 while(!viz.wasStopped())
403 {
404 viz.getWidget("img0").cast<WImage3D>().setImage(lena * pow(sin(i++*7.5*CV_PI/180) * 0.5 + 0.5, 1.0));
405 viz.spinOnce(1, true);
406 }
407 viz.showWidget("text2d", WText("Images in 3D (stopped)", Point(20, 20), 20, Color::green()));
408 viz.spin();
409 }
410
TEST(Viz,show_simple_widgets)411 TEST(Viz, show_simple_widgets)
412 {
413 Viz3d viz("show_simple_widgets");
414 viz.setBackgroundMeshLab();
415
416 viz.showWidget("coos", WCoordinateSystem());
417 viz.showWidget("cube", WCube());
418 viz.showWidget("cub0", WCube(Vec3d::all(-1.0), Vec3d::all(-0.5), false, Color::indigo()));
419 viz.showWidget("arro", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
420 viz.showWidget("cir1", WCircle(0.5, 0.01, Color::bluberry()));
421 viz.showWidget("cir2", WCircle(0.5, Point3d(0.5, 0.0, 0.0), Vec3d(1.0, 0.0, 0.0), 0.01, Color::apricot()));
422
423 viz.showWidget("cyl0", WCylinder(Vec3d(-0.5, 0.5, -0.5), Vec3d(0.5, 0.5, -0.5), 0.125, 30, Color::brown()));
424 viz.showWidget("con0", WCone(0.25, 0.125, 6, Color::azure()));
425 viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise()));
426
427 viz.showWidget("text2d", WText("Different simple widgets", Point(20, 20), 20, Color::green()));
428 viz.showWidget("text3d", WText3D("Simple 3D text", Point3d( 0.5, 0.5, 0.5), 0.125, false, Color::green()));
429
430 viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75)));
431 viz.showWidget("plane2", WPlane(Vec3d(0.5, -0.5, -0.5), Vec3d(0.0, 1.0, 1.0), Vec3d(1.0, 1.0, 0.0), Size2d(1.0, 0.5), Color::gold()));
432
433 viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0)));
434
435 viz.spin();
436 viz.getWidget("text2d").cast<WText>().setText("Different simple widgets (updated)");
437 viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D");
438 viz.spin();
439 }
440
TEST(Viz,show_follower)441 TEST(Viz, show_follower)
442 {
443 Viz3d viz("show_follower");
444
445 viz.showWidget("coos", WCoordinateSystem());
446 viz.showWidget("cube", WCube());
447 viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true, Color::green()));
448 viz.showWidget("text2d", WText("Follower: text always facing camera", Point(20, 20), 20, Color::green()));
449 viz.setBackgroundMeshLab();
450 viz.spin();
451 viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D");
452 viz.spin();
453 }
454