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Merge pull request #2882 from LaurentBerger:python_viz

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* python binding for viz

tutorial widget pose

reset

test_tutorial 2 & 3

sample py

9 test sur 22

test PyWCloudNormal

16 sur 22

end?

python test

* oops

* bug

* comment but( this is not solved https://github.com/opencv/opencv_contrib/pull/2882#discussion_r591659839

* review 2

* oversight

* oversight oops

* viz: move out Py* classes from public C++ headers

* viz: recover PyColor

Co-authored-by: Alexander Alekhin <alexander.a.alekhin@gmail.com>
This commit is contained in:
LaurentBerger
2021-04-02 12:21:37 +02:00
committed by GitHub
parent a75800a3ad
commit 5e0ff400fc
10 changed files with 2038 additions and 21 deletions
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28
modules/viz/samples/widget_pose.cpp
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@@ -52,6 +52,26 @@ int main()
/// Rodrigues vector
Mat rot_vec = Mat::zeros(1,3,CV_32F);
float translation_phase = 0.0, translation = 0.0;
rot_vec.at<float>(0, 0) += (float)CV_PI * 0.01f;
rot_vec.at<float>(0, 1) += (float)CV_PI * 0.01f;
rot_vec.at<float>(0, 2) += (float)CV_PI * 0.01f;
/// Shift on (1,1,1)
translation_phase += (float)CV_PI * 0.01f;
translation = sin(translation_phase);
Mat rot_mat;
Rodrigues(rot_vec, rot_mat);
cout << "rot_mat = " << rot_mat << endl;
/// Construct pose
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
Affine3f pose2(pose.matrix);
cout << "pose = " << pose.matrix << endl;
cout << "pose = " << pose2.matrix << endl;
while(!myWindow.wasStopped())
{
/* Rotation using rodrigues */
@@ -64,13 +84,13 @@ int main()
translation_phase += (float)CV_PI * 0.01f;
translation = sin(translation_phase);
Mat rot_mat;
Rodrigues(rot_vec, rot_mat);
Mat rot_mat1;
Rodrigues(rot_vec, rot_mat1);
/// Construct pose
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
Affine3f pose1(rot_mat1, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose);
myWindow.setWidgetPose("Cube Widget", pose1);
myWindow.spinOnce(1, true);
}