viz: move to opencv_contrib

787f5236a9

modules/viz/test/test_tutorial3.cpp

@@ -0,0 +1,64 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+#include "test_precomp.hpp"
+
+namespace opencv_test { namespace {
+
+/**
+ * @function main
+ */
+static void tutorial3(bool camera_pov)
+{
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+    /// Let's assume camera has the following properties
+    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);
+
+    /// We can get the pose of the cam using makeCameraPose
+    Affine3d camera_pose = viz::makeCameraPose(cam_origin, cam_focal_point, cam_y_dir);
+
+    /// We can get the transformation matrix from camera coordinate system to global using
+    /// - makeTransformToGlobal. We need the axes of the camera
+    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);
+
+    /// Create a cloud widget.
+    Mat dragon_cloud = viz::readCloud(get_dragon_ply_file_path());
+    viz::WCloud cloud_widget(dragon_cloud, viz::Color::green());
+
+    /// Pose of the widget in camera frame
+    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));
+    /// Pose of the widget in global frame
+    Affine3d cloud_pose_global = transform * cloud_pose;
+
+    /// Visualize camera frame
+    myWindow.showWidget("CPW_FRUSTUM", viz::WCameraPosition(Vec2f(0.889484f, 0.523599f)), camera_pose);
+    if (!camera_pov)
+        myWindow.showWidget("CPW", viz::WCameraPosition(0.5), camera_pose);
+
+    /// Visualize widget
+    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+    /// Set the viewer pose to that of camera
+    if (camera_pov)
+        myWindow.setViewerPose(camera_pose);
+
+    /// Start event loop.
+    myWindow.spin();
+}
+
+TEST(Viz, tutorial3_global_view)
+{
+    tutorial3(false);
+}
+
+TEST(Viz, tutorial3_camera_view)
+{
+    tutorial3(true);
+}
+
+}} // namespace