import os import numpy as np import cv2 as cv from tests_common import NewOpenCVTests def generate_test_trajectory(): result = [] angle_i = np.arange(0, 271, 3) angle_j = np.arange(0, 1200, 10) for i, j in zip(angle_i, angle_j): x = 2 * np.cos(i * 3 * np.pi/180.0) * (1.0 + 0.5 * np.cos(1.2 + i * 1.2 * np.pi/180.0)) y = 0.25 + i/270.0 + np.sin(j * np.pi/180.0) * 0.2 * np.sin(0.6 + j * 1.5 * np.pi/180.0) z = 2 * np.sin(i * 3 * np.pi/180.0) * (1.0 + 0.5 * np.cos(1.2 + i * np.pi/180.0)) result.append(cv.viz.makeCameraPose((x, y, z), (0.0, 0, 0), (0.0, 1.0, 0.0))) x = np.zeros(shape=(len(result), 1, 16 ), dtype= np.float64) for idx, m in enumerate(result): x[idx, 0, :] = m.mat().reshape(16) return x, result def tutorial3(camera_pov, filename): myWindow = cv.viz_Viz3d("Coordinate Frame") myWindow.showWidget("axe",cv.viz_WCoordinateSystem()) 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) camera_pose = cv.viz.makeCameraPose(cam_origin, cam_focal_point, cam_y_dir) transform = cv.viz.makeTransformToGlobal((0.0,-1.0,0.0), (-1.0,0.0,0.0), (0.0,0.0,-1.0), cam_origin) dragon_cloud,_,_ = cv.viz.readCloud(filename) cloud_widget = cv.viz_WCloud(dragon_cloud, cv.viz_Color().green()) cloud_pose = cv.viz_Affine3d() cloud_pose = cv.viz_Affine3d().rotate((0, np.pi / 2, 0)).translate((0, 0, 3)) cloud_pose_global = transform.product(cloud_pose) myWindow.showWidget("CPW_FRUSTUM", cv.viz_WCameraPosition((0.889484, 0.523599)), camera_pose) if not camera_pov: myWindow.showWidget("CPW", cv.viz_WCameraPosition(0.5), camera_pose) myWindow.showWidget("dragon", cloud_widget, cloud_pose_global) if camera_pov: myWindow.setViewerPose(camera_pose) class viz_test(NewOpenCVTests): def setUp(self): super(viz_test, self).setUp() if not bool(os.environ.get('OPENCV_PYTEST_RUN_VIZ', False)): self.skipTest("Use OPENCV_PYTEST_RUN_VIZ=1 to enable VIZ UI tests") def test_viz_tutorial3_global_view(self): tutorial3(False, self.find_file("viz/dragon.ply")) def test_viz_tutorial3_camera_view(self): tutorial3(True, self.find_file("viz/dragon.ply")) def test_viz(self): dragon_cloud,_,_ = cv.viz.readCloud(self.find_file("viz/dragon.ply")) myWindow = cv.viz_Viz3d("abc") myWindow.showWidget("coo", cv.viz_WCoordinateSystem(1)) myWindow.showWidget("cloud", cv.viz_WPaintedCloud(dragon_cloud)) myWindow.spinOnce(500, True) def test_viz_show_simple_widgets(self): viz = cv.viz_Viz3d("show_simple_widgets") viz.setBackgroundMeshLab() viz.showWidget("coos", cv.viz_WCoordinateSystem()) viz.showWidget("cube", cv.viz_WCube()) viz.showWidget("cub0", cv.viz_WCube((-1.0, -1, -1), (-0.5, -0.5, -0.5), False, cv.viz_Color().indigo())) viz.showWidget("arro", cv.viz_WArrow((-0.5, -0.5, -0.5), (0.5, 0.5, 0.5), 0.009, cv.viz_Color().raspberry())) viz.showWidget("cir1", cv.viz_WCircle(0.5, 0.01, cv.viz_Color.bluberry())) viz.showWidget("cir2", cv.viz_WCircle(0.5, (0.5, 0.0, 0.0), (1.0, 0.0, 0.0), 0.01, cv.viz_Color().apricot())) viz.showWidget("cyl0", cv.viz_WCylinder((-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), 0.125, 30, cv.viz_Color().brown())) viz.showWidget("con0", cv.viz_WCone(0.25, 0.125, 6, cv.viz_Color().azure())) viz.showWidget("con1", cv.viz_WCone(0.125, (0.5, -0.5, 0.5), (0.5, -1.0, 0.5), 6, cv.viz_Color().turquoise())) text2d = cv.viz_WText("Different simple widgets", (20, 20), 20, cv.viz_Color().green()) viz.showWidget("text2d", text2d) text3d = cv.viz_WText3D("Simple 3D text", ( 0.5, 0.5, 0.5), 0.125, False, cv.viz_Color().green()) viz.showWidget("text3d", text3d) viz.showWidget("plane1", cv.viz_WPlane((0.25, 0.75))) viz.showWidget("plane2", cv.viz_WPlane((0.5, -0.5, -0.5), (0.0, 1.0, 1.0), (1.0, 1.0, 0.0), (1.0, 0.5), cv.viz_Color().gold())) viz.showWidget("grid1", cv.viz_WGrid((7,7), (0.75,0.75), cv.viz_Color().gray()), cv.viz_Affine3d().translate((0.0, 0.0, -1.0))) viz.spinOnce(500, True) text2d.setText("Different simple widgets (updated)") text3d.setText("Updated text 3D") viz.spinOnce(500, True) def test_viz_show_overlay_image(self): lena = cv.imread(self.find_file("viz/lena.png")) gray = cv.cvtColor(lena, cv.COLOR_BGR2GRAY) rows = lena.shape[0] cols = lena.shape[1] half_lsize = (lena.shape[1] // 2, lena.shape[0] // 2) viz = cv.viz_Viz3d("show_overlay_image") viz.setBackgroundMeshLab(); vsz = viz.getWindowSize() viz.showWidget("coos", cv.viz_WCoordinateSystem()) viz.showWidget("cube", cv.viz_WCube()) x = cv.viz_WImageOverlay(lena, (10, 10, half_lsize[1], half_lsize[0])) viz.showWidget("img1", x) viz.showWidget("img2", cv.viz_WImageOverlay(gray, (vsz[0] - 10 - cols // 2, 10, half_lsize[1], half_lsize[0]))) viz.showWidget("img3", cv.viz_WImageOverlay(gray, (10, vsz[1] - 10 - rows // 2, half_lsize[1], half_lsize[0]))) viz.showWidget("img5", cv.viz_WImageOverlay(lena, (vsz[0] - 10 - cols // 2, vsz[1] - 10 - rows // 2, half_lsize[1], half_lsize[0]))) viz.showWidget("text2d", cv.viz_WText("Overlay images", (20, 20), 20, cv.viz_Color().green())) i = 0 for num in range(50): i = i + 1 a = i % 360 pose = (3 * np.sin(a * np.pi/180), 2.1, 3 * np.cos(a * np.pi/180)); viz.setViewerPose(cv.viz.makeCameraPose(pose , (0.0, 0.5, 0.0), (0.0, 0.1, 0.0))) img = lena * (np.sin(i * 10 * np.pi/180) * 0.5 + 0.5) x.setImage(img.astype(np.uint8)) viz.spinOnce(100, True) viz.showWidget("text2d", cv.viz_WText("Overlay images (stopped)", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) def test_viz_show_image_3d(self): lena = cv.imread(self.find_file("viz/lena.png")) lena_gray = cv.cvtColor(lena, cv.COLOR_BGR2GRAY) viz = cv.viz_Viz3d("show_image_3d") viz.setBackgroundMeshLab() viz.showWidget("coos", cv.viz_WCoordinateSystem()) viz.showWidget("cube", cv.viz_WCube()); viz.showWidget("arr0", cv.viz_WArrow((0.5, 0.0, 0.0), (1.5, 0.0, 0.0), 0.009, cv.viz_Color().raspberry())) x = cv.viz_WImage3D(lena, (1.0, 1.0)) viz.showWidget("img0", x, cv.viz_Affine3d((0.0, np.pi/2, 0.0), (.5, 0.0, 0.0))) viz.showWidget("arr1", cv.viz_WArrow((-0.5, -0.5, 0.0), (0.2, 0.2, 0.0), 0.009, cv.viz_Color().raspberry())) viz.showWidget("img1", cv.viz_WImage3D(lena_gray, (1.0, 1.0), (-0.5, -0.5, 0.0), (1.0, 1.0, 0.0), (0.0, 1.0, 0.0))) viz.showWidget("arr3", cv.viz_WArrow((-0.5, -0.5, -0.5), (0.5, 0.5, 0.5), 0.009, cv.viz_Color().raspberry())) viz.showWidget("text2d", cv.viz_WText("Images in 3D", (20, 20), 20, cv.viz_Color().green())) i = 0 for num in range(50): img = lena * (np.sin(i*7.5*np.pi/180) * 0.5 + 0.5) x.setImage(img.astype(np.uint8)) i = i + 1 viz.spinOnce(100, True); viz.showWidget("text2d", cv.viz_WText("Images in 3D (stopped)", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) def test_viz_show_cloud_bluberry(self): dragon_cloud,_,_ = cv.viz.readCloud(self.find_file("viz/dragon.ply")) pose = cv.viz_Affine3d() pose = pose.rotate((0, 0.8, 0)); viz = cv.viz_Viz3d("show_cloud_bluberry") viz.setBackgroundColor(cv.viz_Color().black()) viz.showWidget("coosys", cv.viz_WCoordinateSystem()) viz.showWidget("dragon", cv.viz_WCloud(dragon_cloud, cv.viz_Color().bluberry()), pose) viz.showWidget("text2d", cv.viz_WText("Bluberry cloud", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) def test_viz_show_cloud_random_color(self): dragon_cloud,_,_ = cv.viz.readCloud(self.find_file("viz/dragon.ply")) colors = np.random.randint(0, 255, size=(dragon_cloud.shape[0],dragon_cloud.shape[1],3), dtype=np.uint8) pose = cv.viz_Affine3d() pose = pose.rotate((0, 0.8, 0)); viz = cv.viz_Viz3d("show_cloud_random_color") viz.setBackgroundMeshLab() viz.showWidget("coosys", cv.viz_WCoordinateSystem()) viz.showWidget("dragon", cv.viz_WCloud(dragon_cloud, colors), pose) viz.showWidget("text2d", cv.viz_WText("Random color cloud", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) def test_viz_show_cloud_masked(self): dragon_cloud,_,_ = cv.viz.readCloud(self.find_file("viz/dragon.ply")) qnan = np.NAN for idx in range(dragon_cloud.shape[0]): if idx % 15 != 0: dragon_cloud[idx,:] = qnan pose = cv.viz_Affine3d() pose = pose.rotate((0, 0.8, 0)) viz = cv.viz_Viz3d("show_cloud_masked"); viz.showWidget("coosys", cv.viz_WCoordinateSystem()) viz.showWidget("dragon", cv.viz_WCloud(dragon_cloud), pose) viz.showWidget("text2d", cv.viz_WText("Nan masked cloud", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) def test_viz_show_cloud_collection(self): cloud,_,_ = cv.viz.readCloud(self.find_file("viz/dragon.ply")) ccol = cv.viz_WCloudCollection() pose = cv.viz_Affine3d() pose1 = cv.viz_Affine3d().translate((0, 0, 0)).rotate((np.pi/2, 0, 0)) ccol.addCloud(cloud, cv.viz_Color().white(), cv.viz_Affine3d().translate((0, 0, 0)).rotate((np.pi/2, 0, 0))) ccol.addCloud(cloud, cv.viz_Color().blue(), cv.viz_Affine3d().translate((1, 0, 0))) ccol.addCloud(cloud, cv.viz_Color().red(), cv.viz_Affine3d().translate((2, 0, 0))) ccol.finalize(); viz = cv.viz_Viz3d("show_cloud_collection") viz.setBackgroundColor(cv.viz_Color().mlab()) viz.showWidget("coosys", cv.viz_WCoordinateSystem()); viz.showWidget("ccol", ccol); viz.showWidget("text2d", cv.viz_WText("Cloud collection", (20, 20), 20, cv.viz_Color(0, 255,0 ))) viz.spinOnce(500, True) def test_viz_show_painted_clouds(self): cloud,_,_ = cv.viz.readCloud(self.find_file("viz/dragon.ply")) viz = cv.viz_Viz3d("show_painted_clouds") viz.setBackgroundMeshLab() viz.showWidget("coosys", cv.viz_WCoordinateSystem()) pose1 = cv.viz_Affine3d((0.0, -np.pi/2, 0.0), (-1.5, 0.0, 0.0)) pose2 = cv.viz_Affine3d((0.0, np.pi/2, 0.0), (1.5, 0.0, 0.0)) viz.showWidget("cloud1", cv.viz_WPaintedCloud(cloud), pose1) viz.showWidget("cloud2", cv.viz_WPaintedCloud(cloud, (0.0, -0.75, -1.0), (0.0, 0.75, 0.0)), pose2); viz.showWidget("cloud3", cv.viz_WPaintedCloud(cloud, (0.0, 0.0, -1.0), (0.0, 0.0, 1.0), cv.viz_Color().blue(), cv.viz_Color().red())) viz.showWidget("arrow", cv.viz_WArrow((0.0, 1.0, -1.0), (0.0, 1.0, 1.0), 0.009, cv.viz_Color())) viz.showWidget("text2d", cv.viz_WText("Painted clouds", (20, 20), 20, cv.viz_Color(0, 255, 0))) viz.spinOnce(500, True) def test_viz_show_mesh(self): mesh = cv.viz.readMesh(self.find_file("viz/dragon.ply")) viz = cv.viz_Viz3d("show_mesh") viz.showWidget("coosys", cv.viz_WCoordinateSystem()); viz.showWidget("mesh", cv.viz_WMesh(mesh), cv.viz_Affine3d().rotate((0, 0.8, 0))); viz.showWidget("text2d", cv.viz_WText("Just mesh", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) def test_viz_show_mesh_random_colors(self): mesh = cv.viz.readMesh(self.find_file("viz/dragon.ply")) mesh.colors = np.random.randint(0, 255, size=mesh.colors.shape, dtype=np.uint8) viz = cv.viz_Viz3d("show_mesh") viz.showWidget("coosys", cv.viz_WCoordinateSystem()); viz.showWidget("mesh", cv.viz_WMesh(mesh), cv.viz_Affine3d().rotate((0, 0.8, 0))) viz.setRenderingProperty("mesh", cv.viz.SHADING, cv.viz.SHADING_PHONG) viz.showWidget("text2d", cv.viz_WText("Random color mesh", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) def test_viz_show_textured_mesh(self): lena = cv.imread(self.find_file("viz/lena.png")) angle = np.arange(0,64) points0 = np.vstack((np.zeros(shape=angle.shape, dtype=np.float32), np.cos(angle * np.pi /128), np.sin(angle* np.pi /128))) points1 = np.vstack((1.57 * np.ones(shape=angle.shape, dtype=np.float32),np.cos(angle* np.pi /128), np.sin(angle* np.pi /128))) tcoords0 = np.vstack((np.zeros(shape=angle.shape, dtype=np.float32), angle / 64)) tcoords1 = np.vstack((np.ones(shape=angle.shape, dtype=np.float32), angle / 64)) points = np.zeros(shape=(points0.shape[0], points0.shape[1] * 2 ),dtype=np.float32) tcoords = np.zeros(shape=(tcoords0.shape[0], tcoords0.shape[1] * 2),dtype=np.float32) tcoords[:,0::2] = tcoords0 tcoords[:,1::2] = tcoords1 points[:,0::2] = points0 * 0.75 points[:,1::2] = points1 * 0.75 polygons = np.zeros(shape=(4 * (points.shape[1]-2)+1),dtype=np.int32) for idx in range(points.shape[1] // 2 - 1): polygons[8 * idx: 8 * (idx + 1)] = [3, 2*idx, 2*idx+1, 2*idx+2, 3, 2*idx+1, 2*idx+2, 2*idx+3] mesh = cv.viz_Mesh() mesh.cloud = points.transpose().reshape(1,points.shape[1],points.shape[0]) mesh.tcoords = tcoords.transpose().reshape(1,tcoords.shape[1],tcoords.shape[0]) mesh.polygons = polygons.reshape(1, 4 * (points.shape[1]-2)+1) mesh.texture = lena viz = cv.viz_Viz3d("show_textured_mesh") viz.setBackgroundMeshLab(); viz.showWidget("coosys", cv.viz_WCoordinateSystem()); viz.showWidget("mesh", cv.viz_WMesh(mesh)) viz.setRenderingProperty("mesh", cv.viz.SHADING, cv.viz.SHADING_PHONG) viz.showWidget("text2d", cv.viz_WText("Textured mesh", (20, 20), 20, cv.viz_Color().green())); viz.spinOnce(500, True) def test_viz_show_polyline(self): palette = [ cv.viz_Color().red(), cv.viz_Color().green(), cv.viz_Color().blue(), cv.viz_Color().gold(), cv.viz_Color().raspberry(), cv.viz_Color().bluberry(), cv.viz_Color().lime()] palette_size = len(palette) polyline = np.zeros(shape=(1, 32, 3), dtype=np.float32) colors = np.zeros(shape=(1, 32, 3), dtype=np.uint8) for i in range(polyline.shape[1]): polyline[0,i,0] = i / 16.0 polyline[0,i,1] = np.cos(i * np.pi/6) polyline[0,i,2] = np.sin(i * np.pi/6) colors[0,i,0] = palette[i % palette_size].get_blue() colors[0,i,1] = palette[i % palette_size].get_green() colors[0,i,2] = palette[i % palette_size].get_red() viz = cv.viz_Viz3d("show_polyline") viz.showWidget("polyline", cv.viz_WPolyLine(polyline, colors)) viz.showWidget("coosys", cv.viz_WCoordinateSystem()) viz.showWidget("text2d", cv.viz_WText("Polyline", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) def test_viz_show_sampled_normals(self): mesh = cv.viz.readMesh(self.find_file("viz/dragon.ply")) mesh.normals = cv.viz.computeNormals(mesh) pose = cv.viz_Affine3d().rotate((0, 0.8, 0)) viz = cv.viz_Viz3d("show_sampled_normals") viz.showWidget("mesh", cv.viz_WMesh(mesh), pose) viz.showWidget("normals", cv.viz_WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1, cv.viz_Color().green()), pose) viz.setRenderingProperty("normals", cv.viz.LINE_WIDTH, 2.0) viz.showWidget("text2d", cv.viz_WText("Cloud or mesh normals", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True); def test_viz_show_cloud_shaded_by_normals(self): mesh = cv.viz.readMesh(self.find_file("viz/dragon.ply")) mesh.normals = cv.viz.computeNormals(mesh) pose = cv.viz_Affine3d().rotate((0, 0.8, 0)) cloud = cv.viz_WCloud(mesh.cloud, cv.viz_Color().white(), mesh.normals) cloud.setRenderingProperty(cv.viz.SHADING, cv.viz.SHADING_GOURAUD) viz = cv.viz_Viz3d("show_cloud_shaded_by_normals") viz.showWidget("cloud", cloud, pose) viz.showWidget("text2d", cv.viz_WText("Cloud shaded by normals", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) def test_viz_show_image_method(self): lena = cv.imread(self.find_file("viz/lena.png")) lena_gray = cv.cvtColor(lena, cv.COLOR_BGR2GRAY) viz = cv.viz_Viz3d("show_image_method") viz.showImage(lena) viz.spinOnce(1500, True) viz.showImage(lena, (lena.shape[1], lena.shape[0])) viz.spinOnce(1500, True) #cv.viz.imshow("show_image_method", lena_gray).spinOnce(500, True) BUG def test_viz_show_follower(self): viz = cv.viz_Viz3d("show_follower") viz.showWidget("coos", cv.viz_WCoordinateSystem()) viz.showWidget("cube", cv.viz_WCube()) text_3d = cv.viz_WText3D("Simple 3D follower", (-0.5, -0.5, 0.5), 0.125, True, cv.viz_Color().green()) viz.showWidget("t3d_2", text_3d) viz.showWidget("text2d", cv.viz_WText("Follower: text always facing camera", (20, 20), 20, cv.viz_Color().green())) viz.setBackgroundMeshLab() viz.spinOnce(500, True) text_3d.setText("Updated follower 3D") viz.spinOnce(500, True) def test_viz_show_trajectory_reposition(self): mat, path = generate_test_trajectory() viz = cv.viz_Viz3d("show_trajectory_reposition_to_origin") viz.showWidget("coos", cv.viz_WCoordinateSystem()) viz.showWidget("sub3", cv.viz_WTrajectory(mat[0: len(path) // 3,:,:], cv.viz.PyWTrajectory_BOTH, 0.2, cv.viz_Color().brown()), path[0].inv()) viz.showWidget("text2d", cv.viz_WText("Trajectory resposition to origin", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) def test_viz_show_trajectories(self): mat, path = generate_test_trajectory() size =len(path) sub0 = np.copy(mat[0: size//10+1,::]) sub1 = np.copy(mat[size//10: size//5+1,::]) sub2 = np.copy(mat[size//5: 11*size//12,::]) sub3 = np.copy(mat[11 * size // 12 : size,::]) sub4 = np.copy(mat[3 * size//4: 33*size//40,::]) sub5 = np.copy(mat[11*size//12: size,::]) K = np.array([[1024.0, 0.0, 320.0], [0.0, 1024.0, 240.0], [0.0, 0.0, 1.0]],dtype=np.float64) viz = cv.viz_Viz3d("show_trajectories") viz.showWidget("coos", cv.viz_WCoordinateSystem()) viz.showWidget("sub0", cv.viz_WTrajectorySpheres(sub0, 0.25, 0.07)) viz.showWidget("sub1", cv.viz_WTrajectory(sub1, cv.viz.PyWTrajectory_PATH, 0.2, cv.viz_Color().brown())) viz.showWidget("sub2", cv.viz_WTrajectory(sub2, cv.viz.PyWTrajectory_FRAMES, 0.2)) viz.showWidget("sub3", cv.viz_WTrajectory(sub3, cv.viz.PyWTrajectory_BOTH, 0.2, cv.viz_Color().green())) viz.showWidget("sub4", cv.viz_WTrajectoryFrustums(sub4, K, 0.3, cv.viz_Color().yellow())) viz.showWidget("sub5", cv.viz_WTrajectoryFrustums(sub5, (0.78, 0.78), 0.15, cv.viz_Color().magenta())) #BUG viz.showWidget("text2d", cv.viz_WText("Different kinds of supported trajectories", (20, 20), 20, cv.viz_Color().green())) i = 0 for num in range(50): i = i - 1 a = i % 360 pose = (np.sin(a * np.pi/180)* 7.5, 0.7, np.cos(a * np.pi/180)* 7.5) viz.setViewerPose(cv.viz.makeCameraPose(pose , (0.0, 0.5, 0.0), (0.0, 0.1, 0.0))); viz.spinOnce(100, True) viz.resetCamera() viz.spinOnce(500, True) def test_viz_show_camera_positions(self): K = np.array([[1024.0, 0.0, 320.0], [0.0, 1024.0, 240.0], [0.0, 0.0, 1.0]],dtype=np.float64) lena = cv.imread(self.find_file("viz/lena.png")) lena_gray = cv.cvtColor(lena, cv.COLOR_BGR2GRAY) poses = [] for i in range(2): pose = (5 * np.sin(3.14 + 2.7 + i*60 * np.pi/180), 2 - i*1.5, 5 * np.cos(3.14 + 2.7 + i*60 * np.pi/180)) poses.append(cv.viz.makeCameraPose(pose, (0.0, 0.0, 0.0), (0.0, -0.1, 0.0))) viz = cv.viz_Viz3d("show_camera_positions") viz.showWidget("sphe", cv.viz_WSphere((0,0,0), 1.0, 10, cv.viz_Color().orange_red())) viz.showWidget("coos", cv.viz_WCoordinateSystem(1.5)) viz.showWidget("pos1", cv.viz_WCameraPosition(0.75), poses[0]) viz.showWidget("pos2", cv.viz_WCameraPosition((0.78, 0.78), lena, 2.2, cv.viz_Color().green()), poses[0]) viz.showWidget("pos3", cv.viz_WCameraPosition(0.75), poses[0]) viz.showWidget("pos4", cv.viz_WCameraPosition(K, lena_gray, 3, cv.viz_Color().indigo()), poses[1]) viz.showWidget("text2d", cv.viz_WText("Camera positions with images", (20, 20), 20, cv.viz_Color().green())) viz.spinOnce(500, True) """ TEST(Viz, show_widget_merger) { WWidgetMerger merger; merger.addWidget(WCube(Vec3d::all(0.0), Vec3d::all(1.0), true, Color::gold())); RNG& rng = theRNG(); for(int i = 0; i < 77; ++i) { Vec3b c; rng.fill(c, RNG::NORMAL, Scalar::all(128), Scalar::all(48), true); merger.addWidget(WSphere(Vec3d(c)*(1.0/255.0), 7.0/255.0, 10, Color(c[2], c[1], c[0]))); } merger.finalize(); Viz3d viz("show_mesh_random_color"); viz.showWidget("coo", WCoordinateSystem()); viz.showWidget("merger", merger); viz.showWidget("text2d", WText("Widget merger", Point(20, 20), 20, Color::green())); viz.spinOnce(500, true); } """ if __name__ == '__main__': NewOpenCVTests.bootstrap()