455 lines
18 KiB
C++
455 lines
18 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and / or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp"
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namespace opencv_test { namespace {
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TEST(Viz, show_cloud_bluberry)
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{
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Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_cloud_bluberry");
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viz.setBackgroundColor(Color::black());
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose);
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viz.showWidget("text2d", WText("Bluberry cloud", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_cloud_random_color)
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{
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Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
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Mat colors(dragon_cloud.size(), CV_8UC3);
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theRNG().fill(colors, RNG::UNIFORM, 0, 255);
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_cloud_random_color");
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viz.setBackgroundMeshLab();
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose);
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viz.showWidget("text2d", WText("Random color cloud", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_cloud_masked)
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{
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Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
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Vec3f qnan = Vec3f::all(std::numeric_limits<float>::quiet_NaN());
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for(int i = 0; i < (int)dragon_cloud.total(); ++i)
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if (i % 15 != 0)
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dragon_cloud.at<Vec3f>(i) = qnan;
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_cloud_masked");
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("dragon", WCloud(dragon_cloud), pose);
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viz.showWidget("text2d", WText("Nan masked cloud", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_cloud_collection)
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{
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Mat cloud = readCloud(get_dragon_ply_file_path());
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WCloudCollection ccol;
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ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(CV_PI/2, 0, 0)));
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ccol.addCloud(cloud, Color::blue(), Affine3d().translate(Vec3d(1, 0, 0)));
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ccol.addCloud(cloud, Color::red(), Affine3d().translate(Vec3d(2, 0, 0)));
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ccol.finalize();
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Viz3d viz("show_cloud_collection");
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viz.setBackgroundColor(Color::mlab());
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("ccol", ccol);
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viz.showWidget("text2d", WText("Cloud collection", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_painted_clouds)
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{
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Mat cloud = readCloud(get_dragon_ply_file_path());
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Viz3d viz("show_painted_clouds");
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viz.setBackgroundMeshLab();
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("cloud1", WPaintedCloud(cloud), Affine3d(Vec3d(0.0, -CV_PI/2, 0.0), Vec3d(-1.5, 0.0, 0.0)));
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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)));
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viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red()));
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viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry()));
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viz.showWidget("text2d", WText("Painted clouds", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_mesh)
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{
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Mesh mesh = Mesh::load(get_dragon_ply_file_path());
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_mesh");
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("mesh", WMesh(mesh), pose);
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viz.showWidget("text2d", WText("Just mesh", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_mesh_random_colors)
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{
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Mesh mesh = Mesh::load(get_dragon_ply_file_path());
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theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255);
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_mesh_random_color");
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("mesh", WMesh(mesh), pose);
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viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
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viz.showWidget("text2d", WText("Random color mesh", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_widget_merger)
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{
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WWidgetMerger merger;
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merger.addWidget(WCube(Vec3d::all(0.0), Vec3d::all(1.0), true, Color::gold()));
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RNG& rng = theRNG();
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for(int i = 0; i < 77; ++i)
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{
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Vec3b c;
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rng.fill(c, RNG::NORMAL, Scalar::all(128), Scalar::all(48), true);
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merger.addWidget(WSphere(Vec3d(c)*(1.0/255.0), 7.0/255.0, 10, Color(c[2], c[1], c[0])));
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}
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merger.finalize();
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Viz3d viz("show_mesh_random_color");
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viz.showWidget("coo", WCoordinateSystem());
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viz.showWidget("merger", merger);
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viz.showWidget("text2d", WText("Widget merger", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_textured_mesh)
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{
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
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std::vector<Vec3d> points;
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std::vector<Vec2d> tcoords;
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std::vector<int> polygons;
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for(size_t i = 0; i < 64; ++i)
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{
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double angle = CV_PI/2 * i/64.0;
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points.push_back(Vec3d(0.00, cos(angle), sin(angle))*0.75);
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points.push_back(Vec3d(1.57, cos(angle), sin(angle))*0.75);
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tcoords.push_back(Vec2d(0.0, i/64.0));
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tcoords.push_back(Vec2d(1.0, i/64.0));
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}
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for(int i = 0; i < (int)points.size()/2-1; ++i)
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{
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int polys[] = {3, 2*i, 2*i+1, 2*i+2, 3, 2*i+1, 2*i+2, 2*i+3};
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polygons.insert(polygons.end(), polys, polys + sizeof(polys)/sizeof(polys[0]));
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}
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cv::viz::Mesh mesh;
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mesh.cloud = Mat(points, true).reshape(3, 1);
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mesh.tcoords = Mat(tcoords, true).reshape(2, 1);
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mesh.polygons = Mat(polygons, true).reshape(1, 1);
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mesh.texture = lena;
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Viz3d viz("show_textured_mesh");
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viz.setBackgroundMeshLab();
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("mesh", WMesh(mesh));
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viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
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viz.showWidget("text2d", WText("Textured mesh", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_polyline)
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{
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const Color palette[] = { Color::red(), Color::green(), Color::blue(), Color::gold(), Color::raspberry(), Color::bluberry(), Color::lime() };
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size_t palette_size = sizeof(palette)/sizeof(palette[0]);
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Mat polyline(1, 32, CV_64FC3), colors(1, 32, CV_8UC3);
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for(int i = 0; i < (int)polyline.total(); ++i)
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{
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polyline.at<Vec3d>(i) = Vec3d(i/16.0, cos(i * CV_PI/6), sin(i * CV_PI/6));
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colors.at<Vec3b>(i) = palette[i & palette_size];
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}
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Viz3d viz("show_polyline");
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viz.showWidget("polyline", WPolyLine(polyline, colors));
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viz.showWidget("coosys", WCoordinateSystem());
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viz.showWidget("text2d", WText("Polyline", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_sampled_normals)
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{
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Mesh mesh = Mesh::load(get_dragon_ply_file_path());
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computeNormals(mesh, mesh.normals);
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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Viz3d viz("show_sampled_normals");
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viz.showWidget("mesh", WMesh(mesh), pose);
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viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose);
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viz.setRenderingProperty("normals", LINE_WIDTH, 2.0);
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viz.showWidget("text2d", WText("Cloud or mesh normals", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_cloud_shaded_by_normals)
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{
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Mesh mesh = Mesh::load(get_dragon_ply_file_path());
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computeNormals(mesh, mesh.normals);
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Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
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WCloud cloud(mesh.cloud, Color::white(), mesh.normals);
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cloud.setRenderingProperty(SHADING, SHADING_GOURAUD);
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Viz3d viz("show_cloud_shaded_by_normals");
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viz.showWidget("cloud", cloud, pose);
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viz.showWidget("text2d", WText("Cloud shaded by normals", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_trajectories)
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{
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std::vector<Affine3d> path = generate_test_trajectory<double>(), sub0, sub1, sub2, sub3, sub4, sub5;
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int size =(int)path.size();
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Mat(path).rowRange(0, size/10+1).copyTo(sub0);
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Mat(path).rowRange(size/10, size/5+1).copyTo(sub1);
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Mat(path).rowRange(size/5, 11*size/12).copyTo(sub2);
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Mat(path).rowRange(11*size/12, size).copyTo(sub3);
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Mat(path).rowRange(3*size/4, 33*size/40).copyTo(sub4);
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Mat(path).rowRange(33*size/40, 9*size/10).copyTo(sub5);
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Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
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Viz3d viz("show_trajectories");
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viz.showWidget("coos", WCoordinateSystem());
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viz.showWidget("sub0", WTrajectorySpheres(sub0, 0.25, 0.07));
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viz.showWidget("sub1", WTrajectory(sub1, WTrajectory::PATH, 0.2, Color::brown()));
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viz.showWidget("sub2", WTrajectory(sub2, WTrajectory::FRAMES, 0.2));
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viz.showWidget("sub3", WTrajectory(sub3, WTrajectory::BOTH, 0.2, Color::green()));
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viz.showWidget("sub4", WTrajectoryFrustums(sub4, K, 0.3, Color::yellow()));
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viz.showWidget("sub5", WTrajectoryFrustums(sub5, Vec2d(0.78, 0.78), 0.15));
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viz.showWidget("text2d", WText("Different kinds of supported trajectories", Point(20, 20), 20, Color::green()));
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int i = 0;
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while(!viz.wasStopped())
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{
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double a = --i % 360;
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Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
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viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
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viz.spinOnce(20, true);
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}
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viz.resetCamera();
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viz.spin();
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}
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TEST(Viz, show_trajectory_reposition)
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{
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std::vector<Affine3f> path = generate_test_trajectory<float>();
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Viz3d viz("show_trajectory_reposition_to_origin");
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viz.showWidget("coos", WCoordinateSystem());
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viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, (int)path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv());
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viz.showWidget("text2d", WText("Trajectory resposition to origin", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_camera_positions)
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{
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Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
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Mat gray = make_gray(lena);
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Affine3d poses[2];
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for(int i = 0; i < 2; ++i)
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{
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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));
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poses[i] = makeCameraPose(pose, Vec3d(0.0, 0.0, 0.0), Vec3d(0.0, -0.1, 0.0));
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}
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Viz3d viz("show_camera_positions");
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viz.showWidget("sphe", WSphere(Point3d(0,0,0), 1.0, 10, Color::orange_red()));
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viz.showWidget("coos", WCoordinateSystem(1.5));
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viz.showWidget("pos1", WCameraPosition(0.75), poses[0]);
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viz.showWidget("pos2", WCameraPosition(Vec2d(0.78, 0.78), lena, 2.2, Color::green()), poses[0]);
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viz.showWidget("pos3", WCameraPosition(0.75), poses[1]);
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viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]);
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viz.showWidget("text2d", WText("Camera positions with images", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_overlay_image)
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{
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
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Mat gray = make_gray(lena);
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Size2d half_lsize = Size2d(lena.size()) * 0.5;
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Viz3d viz("show_overlay_image");
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viz.setBackgroundMeshLab();
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Size vsz = viz.getWindowSize();
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viz.showWidget("coos", WCoordinateSystem());
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viz.showWidget("cube", WCube());
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viz.showWidget("img1", WImageOverlay(lena, Rect(Point(10, 10), half_lsize)));
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viz.showWidget("img2", WImageOverlay(gray, Rect(Point(vsz.width-10-lena.cols/2, 10), half_lsize)));
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viz.showWidget("img3", WImageOverlay(gray, Rect(Point(10, vsz.height-10-lena.rows/2), half_lsize)));
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viz.showWidget("img5", WImageOverlay(lena, Rect(Point(vsz.width-10-lena.cols/2, vsz.height-10-lena.rows/2), half_lsize)));
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viz.showWidget("text2d", WText("Overlay images", Point(20, 20), 20, Color::green()));
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int i = 0;
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while(!viz.wasStopped())
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{
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double a = ++i % 360;
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Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
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viz.setViewerPose(makeCameraPose(pose * 3, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
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viz.getWidget("img1").cast<WImageOverlay>().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0));
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viz.spinOnce(1, true);
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}
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viz.showWidget("text2d", WText("Overlay images (stopped)", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_image_method)
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{
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
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Viz3d viz("show_image_method");
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viz.showImage(lena);
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viz.spinOnce(1500, true);
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viz.showImage(lena, lena.size());
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viz.spinOnce(1500, true);
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cv::viz::imshow("show_image_method", make_gray(lena)).spin();
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}
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TEST(Viz, show_image_3d)
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{
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Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
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Mat gray = make_gray(lena);
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Viz3d viz("show_image_3d");
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viz.setBackgroundMeshLab();
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viz.showWidget("coos", WCoordinateSystem());
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viz.showWidget("cube", WCube());
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viz.showWidget("arr0", WArrow(Vec3d(0.5, 0.0, 0.0), Vec3d(1.5, 0.0, 0.0), 0.009, Color::raspberry()));
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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)));
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viz.showWidget("arr1", WArrow(Vec3d(-0.5, -0.5, 0.0), Vec3d(0.2, 0.2, 0.0), 0.009, Color::raspberry()));
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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)));
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viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
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viz.showWidget("text2d", WText("Images in 3D", Point(20, 20), 20, Color::green()));
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int i = 0;
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while(!viz.wasStopped())
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{
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viz.getWidget("img0").cast<WImage3D>().setImage(lena * pow(sin(i++*7.5*CV_PI/180) * 0.5 + 0.5, 1.0));
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viz.spinOnce(1, true);
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}
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viz.showWidget("text2d", WText("Images in 3D (stopped)", Point(20, 20), 20, Color::green()));
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viz.spin();
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}
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TEST(Viz, show_simple_widgets)
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{
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Viz3d viz("show_simple_widgets");
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viz.setBackgroundMeshLab();
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viz.showWidget("coos", WCoordinateSystem());
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viz.showWidget("cube", WCube());
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viz.showWidget("cub0", WCube(Vec3d::all(-1.0), Vec3d::all(-0.5), false, Color::indigo()));
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viz.showWidget("arro", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
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viz.showWidget("cir1", WCircle(0.5, 0.01, Color::bluberry()));
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viz.showWidget("cir2", WCircle(0.5, Point3d(0.5, 0.0, 0.0), Vec3d(1.0, 0.0, 0.0), 0.01, Color::apricot()));
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viz.showWidget("cyl0", WCylinder(Vec3d(-0.5, 0.5, -0.5), Vec3d(0.5, 0.5, -0.5), 0.125, 30, Color::brown()));
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viz.showWidget("con0", WCone(0.25, 0.125, 6, Color::azure()));
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viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise()));
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|
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viz.showWidget("text2d", WText("Different simple widgets", Point(20, 20), 20, Color::green()));
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viz.showWidget("text3d", WText3D("Simple 3D text", Point3d( 0.5, 0.5, 0.5), 0.125, false, Color::green()));
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viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75)));
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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()));
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viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0)));
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viz.spin();
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viz.getWidget("text2d").cast<WText>().setText("Different simple widgets (updated)");
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viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D");
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viz.spin();
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}
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|
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TEST(Viz, show_follower)
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{
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Viz3d viz("show_follower");
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|
|
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viz.showWidget("coos", WCoordinateSystem());
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viz.showWidget("cube", WCube());
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viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true, Color::green()));
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viz.showWidget("text2d", WText("Follower: text always facing camera", Point(20, 20), 20, Color::green()));
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|
viz.setBackgroundMeshLab();
|
|
viz.spin();
|
|
viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D");
|
|
viz.spin();
|
|
}
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|
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}} // namespace
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