128 lines
6.1 KiB
C++
128 lines
6.1 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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// Authors:
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// * Ozan Tonkal, ozantonkal@gmail.com
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//
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//M*/
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#ifndef __OPENCV_VIZCORE_HPP__
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#define __OPENCV_VIZCORE_HPP__
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#include <opencv2/viz/types.hpp>
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#include <opencv2/viz/widgets.hpp>
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#include <opencv2/viz/viz3d.hpp>
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namespace cv
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{
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namespace viz
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{
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//! takes coordiante frame data and builds transfrom to global coordinate frame
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CV_EXPORTS Affine3d makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin = Vec3d::all(0));
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//! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation)
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CV_EXPORTS Affine3d makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir);
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//! retrieves a window by its name. If no window with such name, then it creates new.
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CV_EXPORTS Viz3d getWindowByName(const String &window_name);
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//! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead getting existing from the database.
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CV_EXPORTS void unregisterAllWindows();
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//! Displays image in specified window
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CV_EXPORTS Viz3d imshow(const String& window_name, InputArray image, const Size& window_size = Size(-1, -1));
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//! checks float value for Nan
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inline bool isNan(float x)
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{
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unsigned int *u = reinterpret_cast<unsigned int *>(&x);
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return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
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}
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//! checks double value for Nan
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inline bool isNan(double x)
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{
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unsigned int *u = reinterpret_cast<unsigned int *>(&x);
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return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0);
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}
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//! checks vectors for Nans
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template<typename _Tp, int cn> inline bool isNan(const Vec<_Tp, cn>& v)
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{ return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); }
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//! checks point for Nans
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template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
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{ return isNan(p.x) || isNan(p.y) || isNan(p.z); }
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///////////////////////////////////////////////////////////////////////////////////////////////
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/// Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly)
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CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false);
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CV_EXPORTS Mat readCloud (const String& file, OutputArray colors = noArray(), OutputArray normals = noArray());
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///////////////////////////////////////////////////////////////////////////////////////////////
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/// Reads mesh. Only ply format is supported now and no texture load support
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CV_EXPORTS Mesh readMesh(const String& file);
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///////////////////////////////////////////////////////////////////////////////////////////////
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/// Read/write poses and trajectories
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CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose");
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CV_EXPORTS void writePose(const String& file, const Affine3d& pose, const String& tag = "pose");
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//! takes vector<Affine3<T>> with T = float/dobule and writes to a sequence of files with given filename format
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CV_EXPORTS void writeTrajectory(InputArray traj, const String& files_format = "pose%05d.xml", int start = 0, const String& tag = "pose");
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//! takes vector<Affine3<T>> with T = float/dobule and loads poses from sequence of files
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CV_EXPORTS void readTrajectory(OutputArray traj, const String& files_format = "pose%05d.xml", int start = 0, int end = INT_MAX, const String& tag = "pose");
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///////////////////////////////////////////////////////////////////////////////////////////////
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/// Computing normals for mesh
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CV_EXPORTS void computeNormals(const Mesh& mesh, OutputArray normals);
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} /* namespace viz */
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} /* namespace cv */
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#endif /* __OPENCV_VIZCORE_HPP__ */
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