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Viewing changes to sw/ext/opencv_bebop/opencv/modules/viz/test/test_tutorial2.cpp

  • Committer: Paparazzi buildbot
  • Date: 2016-05-18 15:00:29 UTC
  • Revision ID: felix.ruess+docbot@gmail.com-20160518150029-e8lgzi5kvb4p7un9
Manual import commit 4b8bbb730080dac23cf816b98908dacfabe2a8ec from v5.0 branch.

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sw/ext/opencv_bebop/opencv/modules/viz/test/test_tutorial2.cpp
 
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#include "test_precomp.hpp"
 
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using namespace cv;
 
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using namespace std;
 
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void tutorial2()
 
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{
 
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    /// Create a window
 
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    viz::Viz3d myWindow("Coordinate Frame");
 
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    /// Add coordinate axes
 
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    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
 
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    /// Add line to represent (1,1,1) axis
 
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    viz::WLine axis(Point3f(-1.0, -1.0, -1.0), Point3d(1.0, 1.0, 1.0));
 
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    axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
 
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    myWindow.showWidget("Line Widget", axis);
 
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    /// Construct a cube widget
 
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    viz::WCube cube_widget(Point3d(0.5, 0.5, 0.0), Point3d(0.0, 0.0, -0.5), true, viz::Color::blue());
 
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    cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
 
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    /// Display widget (update if already displayed)
 
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    myWindow.showWidget("Cube Widget", cube_widget);
 
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    /// Rodrigues vector
 
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    Vec3d rot_vec = Vec3d::all(0);
 
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    double translation_phase = 0.0, translation = 0.0;
 
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    while(!myWindow.wasStopped())
 
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    {
 
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        /* Rotation using rodrigues */
 
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        /// Rotate around (1,1,1)
 
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        rot_vec[0] += CV_PI * 0.01;
 
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        rot_vec[1] += CV_PI * 0.01;
 
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        rot_vec[2] += CV_PI * 0.01;
 
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        /// Shift on (1,1,1)
 
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        translation_phase += CV_PI * 0.01;
 
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        translation = sin(translation_phase);
 
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        /// Construct pose
 
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        Affine3d pose(rot_vec, Vec3d(translation, translation, translation));
 
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        myWindow.setWidgetPose("Cube Widget", pose);
 
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        myWindow.spinOnce(1, true);
 
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    }
 
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}
 
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TEST(Viz, DISABLED_tutorial2_pose_of_widget)
 
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{
 
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    tutorial2();
 
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}