1 #include "test_precomp.hpp" 2 3 using namespace cv; 4 using namespace std; 5 6 void tutorial2() 7 { 8 /// Create a window 9 viz::Viz3d myWindow("Coordinate Frame"); 10 11 /// Add coordinate axes 12 myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem()); 13 14 /// Add line to represent (1,1,1) axis 15 viz::WLine axis(Point3f(-1.0, -1.0, -1.0), Point3d(1.0, 1.0, 1.0)); 16 axis.setRenderingProperty(viz::LINE_WIDTH, 4.0); 17 myWindow.showWidget("Line Widget", axis); 18 19 /// Construct a cube widget 20 viz::WCube cube_widget(Point3d(0.5, 0.5, 0.0), Point3d(0.0, 0.0, -0.5), true, viz::Color::blue()); 21 cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0); 22 23 /// Display widget (update if already displayed) 24 myWindow.showWidget("Cube Widget", cube_widget); 25 26 /// Rodrigues vector 27 Vec3d rot_vec = Vec3d::all(0); 28 double translation_phase = 0.0, translation = 0.0; 29 while(!myWindow.wasStopped()) 30 { 31 /* Rotation using rodrigues */ 32 /// Rotate around (1,1,1) 33 rot_vec[0] += CV_PI * 0.01; 34 rot_vec[1] += CV_PI * 0.01; 35 rot_vec[2] += CV_PI * 0.01; 36 37 /// Shift on (1,1,1) 38 translation_phase += CV_PI * 0.01; 39 translation = sin(translation_phase); 40 41 /// Construct pose 42 Affine3d pose(rot_vec, Vec3d(translation, translation, translation)); 43 44 myWindow.setWidgetPose("Cube Widget", pose); 45 46 myWindow.spinOnce(1, true); 47 } 48 } 49 50 51 TEST(Viz, DISABLED_tutorial2_pose_of_widget) 52 { 53 tutorial2(); 54 } 55
