1 #include "test_precomp.hpp"
2
3 using namespace cv;
4 using namespace std;
5
6 /**
7 * @function main
8 */
tutorial3(bool camera_pov)9 void tutorial3(bool camera_pov)
10 {
11 /// Create a window
12 viz::Viz3d myWindow("Coordinate Frame");
13
14 /// Add coordinate axes
15 myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
16
17 /// Let's assume camera has the following properties
18 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);
19
20 /// We can get the pose of the cam using makeCameraPose
21 Affine3d camera_pose = viz::makeCameraPose(cam_origin, cam_focal_point, cam_y_dir);
22
23 /// We can get the transformation matrix from camera coordinate system to global using
24 /// - makeTransformToGlobal. We need the axes of the camera
25 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);
26
27 /// Create a cloud widget.
28 Mat dragon_cloud = viz::readCloud(get_dragon_ply_file_path());
29 viz::WCloud cloud_widget(dragon_cloud, viz::Color::green());
30
31 /// Pose of the widget in camera frame
32 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));
33 /// Pose of the widget in global frame
34 Affine3d cloud_pose_global = transform * cloud_pose;
35
36 /// Visualize camera frame
37 myWindow.showWidget("CPW_FRUSTUM", viz::WCameraPosition(Vec2f(0.889484f, 0.523599f)), camera_pose);
38 if (!camera_pov)
39 myWindow.showWidget("CPW", viz::WCameraPosition(0.5), camera_pose);
40
41 /// Visualize widget
42 myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
43
44 /// Set the viewer pose to that of camera
45 if (camera_pov)
46 myWindow.setViewerPose(camera_pose);
47
48 /// Start event loop.
49 myWindow.spin();
50 }
51
TEST(Viz,tutorial3_global_view)52 TEST(Viz, tutorial3_global_view)
53 {
54 tutorial3(false);
55 }
56
TEST(Viz,tutorial3_camera_view)57 TEST(Viz, tutorial3_camera_view)
58 {
59 tutorial3(true);
60 }
61