1#include "test_precomp.hpp"
2
3using namespace cv;
4using namespace std;
5
6/**
7 * @function main
8 */
9void 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
52TEST(Viz, tutorial3_global_view)
53{
54    tutorial3(false);
55}
56
57TEST(Viz, tutorial3_camera_view)
58{
59    tutorial3(true);
60}
61