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/**
* @file widget_pose.cpp
* @brief Setting pose of a widget
* @author Ozan Cagri Tonkal
*/
#include <opencv2/viz.hpp>
#include <opencv2/calib3d.hpp>
#include <iostream>
using namespace cv;
using namespace std;
/**
* @function help
* @brief Display instructions to use this tutorial program
*/
static void help()
{
cout
<< "--------------------------------------------------------------------------" << endl
<< "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
<< "using Rodrigues vector." << endl
<< "Usage:" << endl
<< "./widget_pose" << endl
<< endl;
}
/**
* @function main
*/
int main()
{
help();
/// 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(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Line Widget", axis);
/// Construct a cube widget
viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
myWindow.showWidget("Cube Widget", cube_widget);
/// Rodrigues vector
Mat rot_vec = Mat::zeros(1,3,CV_32F);
float translation_phase = 0.0, translation = 0.0;
rot_vec.at<float>(0, 0) += (float)CV_PI * 0.01f;
rot_vec.at<float>(0, 1) += (float)CV_PI * 0.01f;
rot_vec.at<float>(0, 2) += (float)CV_PI * 0.01f;
/// Shift on (1,1,1)
translation_phase += (float)CV_PI * 0.01f;
translation = sin(translation_phase);
Mat rot_mat;
Rodrigues(rot_vec, rot_mat);
cout << "rot_mat = " << rot_mat << endl;
/// Construct pose
Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
Affine3f pose2(pose.matrix);
cout << "pose = " << pose.matrix << endl;
cout << "pose = " << pose2.matrix << endl;
while(!myWindow.wasStopped())
{
/* Rotation using rodrigues */
/// Rotate around (1,1,1)
rot_vec.at<float>(0,0) += (float)CV_PI * 0.01f;
rot_vec.at<float>(0,1) += (float)CV_PI * 0.01f;
rot_vec.at<float>(0,2) += (float)CV_PI * 0.01f;
/// Shift on (1,1,1)
translation_phase += (float)CV_PI * 0.01f;
translation = sin(translation_phase);
Mat rot_mat1;
Rodrigues(rot_vec, rot_mat1);
/// Construct pose
Affine3f pose1(rot_mat1, Vec3f(translation, translation, translation));
myWindow.setWidgetPose("Cube Widget", pose1);
myWindow.spinOnce(1, true);
}
return 0;
}
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