| #include "test_precomp.hpp" |
| |
| using namespace cv; |
| using namespace std; |
| |
| void tutorial2() |
| { |
| /// Create a window |
| viz::Viz3d myWindow("Coordinate Frame"); |
| |
| /// Add coordinate axes |
| myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); |
| |
| /// Add line to represent (1,1,1) axis |
| viz::WLine axis(Point3f(-1.0, -1.0, -1.0), Point3d(1.0, 1.0, 1.0)); |
| axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); |
| myWindow.showWidget("Line Widget", axis); |
| |
| /// Construct a cube widget |
| viz::WCube cube_widget(Point3d(0.5, 0.5, 0.0), Point3d(0.0, 0.0, -0.5), true, viz::Color::blue()); |
| cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); |
| |
| /// Display widget (update if already displayed) |
| myWindow.showWidget("Cube Widget", cube_widget); |
| |
| /// Rodrigues vector |
| Vec3d rot_vec = Vec3d::all(0); |
| double translation_phase = 0.0, translation = 0.0; |
| while(!myWindow.wasStopped()) |
| { |
| /* Rotation using rodrigues */ |
| /// Rotate around (1,1,1) |
| rot_vec[0] += CV_PI * 0.01; |
| rot_vec[1] += CV_PI * 0.01; |
| rot_vec[2] += CV_PI * 0.01; |
| |
| /// Shift on (1,1,1) |
| translation_phase += CV_PI * 0.01; |
| translation = sin(translation_phase); |
| |
| /// Construct pose |
| Affine3d pose(rot_vec, Vec3d(translation, translation, translation)); |
| |
| myWindow.setWidgetPose("Cube Widget", pose); |
| |
| myWindow.spinOnce(1, true); |
| } |
| } |
| |
| |
| TEST(Viz, DISABLED_tutorial2_pose_of_widget) |
| { |
| tutorial2(); |
| } |