1/*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2008-2013, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and / or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 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