diff --git a/modules/viz/include/opencv2/viz.hpp b/modules/viz/include/opencv2/viz.hpp index bf44a2c03..6fa6249e3 100644 --- a/modules/viz/include/opencv2/viz.hpp +++ b/modules/viz/include/opencv2/viz.hpp @@ -49,79 +49,6 @@ #include #include #include - -namespace cv -{ - namespace viz - { - //! takes coordiante frame data and builds transfrom to global coordinate frame - CV_EXPORTS Affine3d makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin = Vec3d::all(0)); - - //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation) - CV_EXPORTS Affine3d makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir); - - //! retrieves a window by its name. If no window with such name, then it creates new. - CV_EXPORTS Viz3d getWindowByName(const String &window_name); - - //! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead getting existing from the database. - CV_EXPORTS void unregisterAllWindows(); - - //! Displays image in specified window - CV_EXPORTS Viz3d imshow(const String& window_name, InputArray image, const Size& window_size = Size(-1, -1)); - - //! checks float value for Nan - inline bool isNan(float x) - { - unsigned int *u = reinterpret_cast(&x); - return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff); - } - - //! checks double value for Nan - inline bool isNan(double x) - { - unsigned int *u = reinterpret_cast(&x); - return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0); - } - - //! checks vectors for Nans - template inline bool isNan(const Vec<_Tp, cn>& v) - { return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); } - - //! checks point for Nans - template inline bool isNan(const Point3_<_Tp>& p) - { return isNan(p.x) || isNan(p.y) || isNan(p.z); } - - - /////////////////////////////////////////////////////////////////////////////////////////////// - /// Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly) - - CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false); - CV_EXPORTS Mat readCloud (const String& file, OutputArray colors = noArray(), OutputArray normals = noArray()); - - /////////////////////////////////////////////////////////////////////////////////////////////// - /// Reads mesh. Only ply format is supported now and no texture load support - - CV_EXPORTS Mesh readMesh(const String& file); - - /////////////////////////////////////////////////////////////////////////////////////////////// - /// Read/write poses and trajectories - - CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose"); - CV_EXPORTS void writePose(const String& file, const Affine3d& pose, const String& tag = "pose"); - - //! takes vector> with T = float/dobule and writes to a sequence of files with given filename format - CV_EXPORTS void writeTrajectory(InputArray traj, const String& files_format = "pose%05d.xml", int start = 0, const String& tag = "pose"); - - //! takes vector> with T = float/dobule and loads poses from sequence of files - CV_EXPORTS void readTrajectory(OutputArray traj, const String& files_format = "pose%05d.xml", int start = 0, int end = INT_MAX, const String& tag = "pose"); - - - /////////////////////////////////////////////////////////////////////////////////////////////// - /// Computing normals for mesh - - CV_EXPORTS void computeNormals(const Mesh& mesh, OutputArray normals); - - } /* namespace viz */ -} /* namespace cv */ +#include #endif /* __OPENCV_VIZ_HPP__ */ diff --git a/modules/viz/include/opencv2/viz/vizcore.hpp b/modules/viz/include/opencv2/viz/vizcore.hpp new file mode 100644 index 000000000..0fde95b2f --- /dev/null +++ b/modules/viz/include/opencv2/viz/vizcore.hpp @@ -0,0 +1,127 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2013, OpenCV Foundation, all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +// Authors: +// * Ozan Tonkal, ozantonkal@gmail.com +// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com +// +//M*/ + +#ifndef __OPENCV_VIZCORE_HPP__ +#define __OPENCV_VIZCORE_HPP__ + +#include +#include +#include + +namespace cv +{ + namespace viz + { + //! takes coordiante frame data and builds transfrom to global coordinate frame + CV_EXPORTS Affine3d makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin = Vec3d::all(0)); + + //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation) + CV_EXPORTS Affine3d makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir); + + //! retrieves a window by its name. If no window with such name, then it creates new. + CV_EXPORTS Viz3d getWindowByName(const String &window_name); + + //! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead getting existing from the database. + CV_EXPORTS void unregisterAllWindows(); + + //! Displays image in specified window + CV_EXPORTS Viz3d imshow(const String& window_name, InputArray image, const Size& window_size = Size(-1, -1)); + + //! checks float value for Nan + inline bool isNan(float x) + { + unsigned int *u = reinterpret_cast(&x); + return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff); + } + + //! checks double value for Nan + inline bool isNan(double x) + { + unsigned int *u = reinterpret_cast(&x); + return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0); + } + + //! checks vectors for Nans + template inline bool isNan(const Vec<_Tp, cn>& v) + { return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); } + + //! checks point for Nans + template inline bool isNan(const Point3_<_Tp>& p) + { return isNan(p.x) || isNan(p.y) || isNan(p.z); } + + + /////////////////////////////////////////////////////////////////////////////////////////////// + /// Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly) + + CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false); + CV_EXPORTS Mat readCloud (const String& file, OutputArray colors = noArray(), OutputArray normals = noArray()); + + /////////////////////////////////////////////////////////////////////////////////////////////// + /// Reads mesh. Only ply format is supported now and no texture load support + + CV_EXPORTS Mesh readMesh(const String& file); + + /////////////////////////////////////////////////////////////////////////////////////////////// + /// Read/write poses and trajectories + + CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose"); + CV_EXPORTS void writePose(const String& file, const Affine3d& pose, const String& tag = "pose"); + + //! takes vector> with T = float/dobule and writes to a sequence of files with given filename format + CV_EXPORTS void writeTrajectory(InputArray traj, const String& files_format = "pose%05d.xml", int start = 0, const String& tag = "pose"); + + //! takes vector> with T = float/dobule and loads poses from sequence of files + CV_EXPORTS void readTrajectory(OutputArray traj, const String& files_format = "pose%05d.xml", int start = 0, int end = INT_MAX, const String& tag = "pose"); + + + /////////////////////////////////////////////////////////////////////////////////////////////// + /// Computing normals for mesh + + CV_EXPORTS void computeNormals(const Mesh& mesh, OutputArray normals); + + } /* namespace viz */ +} /* namespace cv */ + +#endif /* __OPENCV_VIZCORE_HPP__ */ diff --git a/modules/viz/src/vizimpl.hpp b/modules/viz/src/vizimpl.hpp index 9eb918af6..02675e0a5 100644 --- a/modules/viz/src/vizimpl.hpp +++ b/modules/viz/src/vizimpl.hpp @@ -55,7 +55,7 @@ public: int ref_counter; VizImpl(const String &name); - virtual ~VizImpl() {}; + virtual ~VizImpl() {} bool wasStopped() const; void close();