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