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42
43#include "test_precomp.hpp"
44
45using namespace cv;
46using namespace cv::viz;
47
48TEST(Viz, show_cloud_bluberry)
49{
50    Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
51
52    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
53
54    Viz3d viz("show_cloud_bluberry");
55    viz.setBackgroundColor(Color::black());
56    viz.showWidget("coosys", WCoordinateSystem());
57    viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose);
58
59    viz.showWidget("text2d", WText("Bluberry cloud", Point(20, 20), 20, Color::green()));
60    viz.spin();
61}
62
63TEST(Viz, show_cloud_random_color)
64{
65    Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
66
67    Mat colors(dragon_cloud.size(), CV_8UC3);
68    theRNG().fill(colors, RNG::UNIFORM, 0, 255);
69
70    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
71
72    Viz3d viz("show_cloud_random_color");
73    viz.setBackgroundMeshLab();
74    viz.showWidget("coosys", WCoordinateSystem());
75    viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose);
76    viz.showWidget("text2d", WText("Random color cloud", Point(20, 20), 20, Color::green()));
77    viz.spin();
78}
79
80TEST(Viz, show_cloud_masked)
81{
82    Mat dragon_cloud = readCloud(get_dragon_ply_file_path());
83
84    Vec3f qnan = Vec3f::all(std::numeric_limits<float>::quiet_NaN());
85    for(int i = 0; i < (int)dragon_cloud.total(); ++i)
86        if (i % 15 != 0)
87            dragon_cloud.at<Vec3f>(i) = qnan;
88
89    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
90
91    Viz3d viz("show_cloud_masked");
92    viz.showWidget("coosys", WCoordinateSystem());
93    viz.showWidget("dragon", WCloud(dragon_cloud), pose);
94    viz.showWidget("text2d", WText("Nan masked cloud", Point(20, 20), 20, Color::green()));
95    viz.spin();
96}
97
98TEST(Viz, show_cloud_collection)
99{
100    Mat cloud = readCloud(get_dragon_ply_file_path());
101
102    WCloudCollection ccol;
103    ccol.addCloud(cloud, Color::white(), Affine3d().translate(Vec3d(0, 0, 0)).rotate(Vec3d(CV_PI/2, 0, 0)));
104    ccol.addCloud(cloud, Color::blue(),  Affine3d().translate(Vec3d(1, 0, 0)));
105    ccol.addCloud(cloud, Color::red(),   Affine3d().translate(Vec3d(2, 0, 0)));
106    ccol.finalize();
107
108    Viz3d viz("show_cloud_collection");
109    viz.setBackgroundColor(Color::mlab());
110    viz.showWidget("coosys", WCoordinateSystem());
111    viz.showWidget("ccol", ccol);
112    viz.showWidget("text2d", WText("Cloud collection", Point(20, 20), 20, Color::green()));
113    viz.spin();
114}
115
116TEST(Viz, show_painted_clouds)
117{
118    Mat cloud = readCloud(get_dragon_ply_file_path());
119
120    Viz3d viz("show_painted_clouds");
121    viz.setBackgroundMeshLab();
122    viz.showWidget("coosys", WCoordinateSystem());
123    viz.showWidget("cloud1", WPaintedCloud(cloud), Affine3d(Vec3d(0.0, -CV_PI/2, 0.0), Vec3d(-1.5, 0.0, 0.0)));
124    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)));
125    viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red()));
126    viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry()));
127    viz.showWidget("text2d", WText("Painted clouds", Point(20, 20), 20, Color::green()));
128    viz.spin();
129}
130
131TEST(Viz, show_mesh)
132{
133    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
134
135    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
136
137    Viz3d viz("show_mesh");
138    viz.showWidget("coosys", WCoordinateSystem());
139    viz.showWidget("mesh", WMesh(mesh), pose);
140    viz.showWidget("text2d", WText("Just mesh", Point(20, 20), 20, Color::green()));
141    viz.spin();
142}
143
144TEST(Viz, show_mesh_random_colors)
145{
146    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
147    theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255);
148
149    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
150
151    Viz3d viz("show_mesh_random_color");
152    viz.showWidget("coosys", WCoordinateSystem());
153    viz.showWidget("mesh", WMesh(mesh), pose);
154    viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
155    viz.showWidget("text2d", WText("Random color mesh", Point(20, 20), 20, Color::green()));
156    viz.spin();
157}
158
159TEST(Viz, show_widget_merger)
160{
161    WWidgetMerger merger;
162    merger.addWidget(WCube(Vec3d::all(0.0), Vec3d::all(1.0), true, Color::gold()));
163
164    RNG& rng = theRNG();
165    for(int i = 0; i < 77; ++i)
166    {
167        Vec3b c;
168        rng.fill(c, RNG::NORMAL, Scalar::all(128), Scalar::all(48), true);
169        merger.addWidget(WSphere(Vec3d(c)*(1.0/255.0), 7.0/255.0, 10, Color(c[2], c[1], c[0])));
170    }
171    merger.finalize();
172
173    Viz3d viz("show_mesh_random_color");
174    viz.showWidget("coo", WCoordinateSystem());
175    viz.showWidget("merger", merger);
176    viz.showWidget("text2d", WText("Widget merger", Point(20, 20), 20, Color::green()));
177    viz.spin();
178}
179
180TEST(Viz, show_textured_mesh)
181{
182    Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
183
184    std::vector<Vec3d> points;
185    std::vector<Vec2d> tcoords;
186    std::vector<int> polygons;
187    for(size_t i = 0; i < 64; ++i)
188    {
189        double angle = CV_PI/2 * i/64.0;
190        points.push_back(Vec3d(0.00, cos(angle), sin(angle))*0.75);
191        points.push_back(Vec3d(1.57, cos(angle), sin(angle))*0.75);
192        tcoords.push_back(Vec2d(0.0, i/64.0));
193        tcoords.push_back(Vec2d(1.0, i/64.0));
194    }
195
196    for(int i = 0; i < (int)points.size()/2-1; ++i)
197    {
198        int polys[] = {3, 2*i, 2*i+1, 2*i+2, 3, 2*i+1, 2*i+2, 2*i+3};
199        polygons.insert(polygons.end(), polys, polys + sizeof(polys)/sizeof(polys[0]));
200    }
201
202    cv::viz::Mesh mesh;
203    mesh.cloud = Mat(points, true).reshape(3, 1);
204    mesh.tcoords = Mat(tcoords, true).reshape(2, 1);
205    mesh.polygons = Mat(polygons, true).reshape(1, 1);
206    mesh.texture = lena;
207
208    Viz3d viz("show_textured_mesh");
209    viz.setBackgroundMeshLab();
210    viz.showWidget("coosys", WCoordinateSystem());
211    viz.showWidget("mesh", WMesh(mesh));
212    viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
213    viz.showWidget("text2d", WText("Textured mesh", Point(20, 20), 20, Color::green()));
214    viz.spin();
215}
216
217TEST(Viz, show_polyline)
218{
219    const Color palette[] = { Color::red(), Color::green(), Color::blue(), Color::gold(), Color::raspberry(), Color::bluberry(), Color::lime() };
220    size_t palette_size = sizeof(palette)/sizeof(palette[0]);
221
222    Mat polyline(1, 32, CV_64FC3), colors(1, 32, CV_8UC3);
223    for(int i = 0; i < (int)polyline.total(); ++i)
224    {
225        polyline.at<Vec3d>(i) = Vec3d(i/16.0, cos(i * CV_PI/6), sin(i * CV_PI/6));
226        colors.at<Vec3b>(i) = palette[i & palette_size];
227    }
228
229    Viz3d viz("show_polyline");
230    viz.showWidget("polyline", WPolyLine(polyline, colors));
231    viz.showWidget("coosys", WCoordinateSystem());
232    viz.showWidget("text2d", WText("Polyline", Point(20, 20), 20, Color::green()));
233    viz.spin();
234}
235
236TEST(Viz, show_sampled_normals)
237{
238    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
239    computeNormals(mesh, mesh.normals);
240
241    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
242
243    Viz3d viz("show_sampled_normals");
244    viz.showWidget("mesh", WMesh(mesh), pose);
245    viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose);
246    viz.setRenderingProperty("normals", LINE_WIDTH, 2.0);
247    viz.showWidget("text2d", WText("Cloud or mesh normals", Point(20, 20), 20, Color::green()));
248    viz.spin();
249}
250
251TEST(Viz, show_cloud_shaded_by_normals)
252{
253    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
254    computeNormals(mesh, mesh.normals);
255
256    Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
257
258    WCloud cloud(mesh.cloud, Color::white(), mesh.normals);
259    cloud.setRenderingProperty(SHADING, SHADING_GOURAUD);
260
261    Viz3d viz("show_cloud_shaded_by_normals");
262    viz.showWidget("cloud", cloud, pose);
263    viz.showWidget("text2d", WText("Cloud shaded by normals", Point(20, 20), 20, Color::green()));
264    viz.spin();
265}
266
267TEST(Viz, show_trajectories)
268{
269    std::vector<Affine3d> path = generate_test_trajectory<double>(), sub0, sub1, sub2, sub3, sub4, sub5;
270    int size =(int)path.size();
271
272    Mat(path).rowRange(0, size/10+1).copyTo(sub0);
273    Mat(path).rowRange(size/10, size/5+1).copyTo(sub1);
274    Mat(path).rowRange(size/5, 11*size/12).copyTo(sub2);
275    Mat(path).rowRange(11*size/12, size).copyTo(sub3);
276    Mat(path).rowRange(3*size/4, 33*size/40).copyTo(sub4);
277    Mat(path).rowRange(33*size/40, 9*size/10).copyTo(sub5);
278    Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
279
280    Viz3d viz("show_trajectories");
281    viz.showWidget("coos", WCoordinateSystem());
282    viz.showWidget("sub0", WTrajectorySpheres(sub0, 0.25, 0.07));
283    viz.showWidget("sub1", WTrajectory(sub1, WTrajectory::PATH, 0.2, Color::brown()));
284    viz.showWidget("sub2", WTrajectory(sub2, WTrajectory::FRAMES, 0.2));
285    viz.showWidget("sub3", WTrajectory(sub3, WTrajectory::BOTH, 0.2, Color::green()));
286    viz.showWidget("sub4", WTrajectoryFrustums(sub4, K, 0.3, Color::yellow()));
287    viz.showWidget("sub5", WTrajectoryFrustums(sub5, Vec2d(0.78, 0.78), 0.15));
288    viz.showWidget("text2d", WText("Different kinds of supported trajectories", Point(20, 20), 20, Color::green()));
289
290    int i = 0;
291    while(!viz.wasStopped())
292    {
293        double a = --i % 360;
294        Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
295        viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
296        viz.spinOnce(20, true);
297    }
298    viz.resetCamera();
299    viz.spin();
300}
301
302TEST(Viz, show_trajectory_reposition)
303{
304    std::vector<Affine3f> path = generate_test_trajectory<float>();
305
306    Viz3d viz("show_trajectory_reposition_to_origin");
307    viz.showWidget("coos", WCoordinateSystem());
308    viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, (int)path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv());
309    viz.showWidget("text2d", WText("Trajectory resposition to origin", Point(20, 20), 20, Color::green()));
310    viz.spin();
311}
312
313TEST(Viz, show_camera_positions)
314{
315    Matx33d K(1024.0, 0.0, 320.0, 0.0, 1024.0, 240.0, 0.0, 0.0, 1.0);
316    Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
317    Mat gray = make_gray(lena);
318
319    Affine3d poses[2];
320    for(int i = 0; i < 2; ++i)
321    {
322        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));
323        poses[i] = makeCameraPose(pose, Vec3d(0.0, 0.0, 0.0), Vec3d(0.0, -0.1, 0.0));
324    }
325
326    Viz3d viz("show_camera_positions");
327    viz.showWidget("sphe", WSphere(Point3d(0,0,0), 1.0, 10, Color::orange_red()));
328    viz.showWidget("coos", WCoordinateSystem(1.5));
329    viz.showWidget("pos1", WCameraPosition(0.75), poses[0]);
330    viz.showWidget("pos2", WCameraPosition(Vec2d(0.78, 0.78), lena, 2.2, Color::green()), poses[0]);
331    viz.showWidget("pos3", WCameraPosition(0.75), poses[1]);
332    viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]);
333    viz.showWidget("text2d", WText("Camera positions with images", Point(20, 20), 20, Color::green()));
334    viz.spin();
335}
336
337TEST(Viz, show_overlay_image)
338{
339    Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
340    Mat gray = make_gray(lena);
341
342    Size2d half_lsize = Size2d(lena.size()) * 0.5;
343
344    Viz3d viz("show_overlay_image");
345    viz.setBackgroundMeshLab();
346    Size vsz = viz.getWindowSize();
347
348    viz.showWidget("coos", WCoordinateSystem());
349    viz.showWidget("cube", WCube());
350    viz.showWidget("img1", WImageOverlay(lena, Rect(Point(10, 10), half_lsize)));
351    viz.showWidget("img2", WImageOverlay(gray, Rect(Point(vsz.width-10-lena.cols/2, 10), half_lsize)));
352    viz.showWidget("img3", WImageOverlay(gray, Rect(Point(10, vsz.height-10-lena.rows/2), half_lsize)));
353    viz.showWidget("img5", WImageOverlay(lena, Rect(Point(vsz.width-10-lena.cols/2, vsz.height-10-lena.rows/2), half_lsize)));
354    viz.showWidget("text2d", WText("Overlay images", Point(20, 20), 20, Color::green()));
355
356    int i = 0;
357    while(!viz.wasStopped())
358    {
359        double a = ++i % 360;
360        Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
361        viz.setViewerPose(makeCameraPose(pose * 3, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
362        viz.getWidget("img1").cast<WImageOverlay>().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0));
363        viz.spinOnce(1, true);
364    }
365    viz.showWidget("text2d", WText("Overlay images (stopped)", Point(20, 20), 20, Color::green()));
366    viz.spin();
367}
368
369
370TEST(Viz, show_image_method)
371{
372    Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
373
374    Viz3d viz("show_image_method");
375    viz.showImage(lena);
376    viz.spinOnce(1500, true);
377    viz.showImage(lena, lena.size());
378    viz.spinOnce(1500, true);
379
380    cv::viz::imshow("show_image_method", make_gray(lena)).spin();
381}
382
383TEST(Viz, show_image_3d)
384{
385    Mat lena = imread(Path::combine(cvtest::TS::ptr()->get_data_path(), "lena.png"));
386    Mat gray = make_gray(lena);
387
388    Viz3d viz("show_image_3d");
389    viz.setBackgroundMeshLab();
390    viz.showWidget("coos", WCoordinateSystem());
391    viz.showWidget("cube", WCube());
392    viz.showWidget("arr0", WArrow(Vec3d(0.5, 0.0, 0.0), Vec3d(1.5, 0.0, 0.0), 0.009, Color::raspberry()));
393    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)));
394    viz.showWidget("arr1", WArrow(Vec3d(-0.5, -0.5, 0.0), Vec3d(0.2, 0.2, 0.0), 0.009, Color::raspberry()));
395    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)));
396
397    viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
398
399    viz.showWidget("text2d", WText("Images in 3D", Point(20, 20), 20, Color::green()));
400
401    int i = 0;
402    while(!viz.wasStopped())
403    {
404        viz.getWidget("img0").cast<WImage3D>().setImage(lena * pow(sin(i++*7.5*CV_PI/180) * 0.5 + 0.5, 1.0));
405        viz.spinOnce(1, true);
406    }
407    viz.showWidget("text2d", WText("Images in 3D (stopped)", Point(20, 20), 20, Color::green()));
408    viz.spin();
409}
410
411TEST(Viz, show_simple_widgets)
412{
413    Viz3d viz("show_simple_widgets");
414    viz.setBackgroundMeshLab();
415
416    viz.showWidget("coos", WCoordinateSystem());
417    viz.showWidget("cube", WCube());
418    viz.showWidget("cub0", WCube(Vec3d::all(-1.0), Vec3d::all(-0.5), false, Color::indigo()));
419    viz.showWidget("arro", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
420    viz.showWidget("cir1", WCircle(0.5, 0.01, Color::bluberry()));
421    viz.showWidget("cir2", WCircle(0.5, Point3d(0.5, 0.0, 0.0), Vec3d(1.0, 0.0, 0.0), 0.01, Color::apricot()));
422
423    viz.showWidget("cyl0", WCylinder(Vec3d(-0.5, 0.5, -0.5), Vec3d(0.5, 0.5, -0.5), 0.125, 30, Color::brown()));
424    viz.showWidget("con0", WCone(0.25, 0.125, 6, Color::azure()));
425    viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise()));
426
427    viz.showWidget("text2d", WText("Different simple widgets", Point(20, 20), 20, Color::green()));
428    viz.showWidget("text3d", WText3D("Simple 3D text", Point3d( 0.5,  0.5, 0.5), 0.125, false, Color::green()));
429
430    viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75)));
431    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()));
432
433    viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0)));
434
435    viz.spin();
436    viz.getWidget("text2d").cast<WText>().setText("Different simple widgets (updated)");
437    viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D");
438    viz.spin();
439}
440
441TEST(Viz, show_follower)
442{
443    Viz3d viz("show_follower");
444
445    viz.showWidget("coos", WCoordinateSystem());
446    viz.showWidget("cube", WCube());
447    viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true,  Color::green()));
448    viz.showWidget("text2d", WText("Follower: text always facing camera", Point(20, 20), 20, Color::green()));
449    viz.setBackgroundMeshLab();
450    viz.spin();
451    viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D");
452    viz.spin();
453}
454