/*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_VIZ_TYPES_HPP__
#define __OPENCV_VIZ_TYPES_HPP__
#include <string>
#include <opencv2/core.hpp>
#include <opencv2/core/affine.hpp>
namespace cv
{
namespace viz
{
//! @addtogroup viz
//! @{
/** @brief This class a represents BGR color.
*/
class Color : public Scalar
{
public:
Color();
Color(double gray);
Color(double blue, double green, double red);
Color(const Scalar& color);
operator Vec3b() const;
static Color black();
static Color blue();
static Color green();
static Color cyan();
static Color red();
static Color magenta();
static Color yellow();
static Color white();
static Color gray();
static Color mlab();
static Color navy();
static Color olive();
static Color maroon();
static Color teal();
static Color rose();
static Color azure();
static Color lime();
static Color gold();
static Color brown();
static Color orange();
static Color chartreuse();
static Color orange_red();
static Color purple();
static Color indigo();
static Color pink();
static Color cherry();
static Color bluberry();
static Color raspberry();
static Color silver();
static Color violet();
static Color apricot();
static Color turquoise();
static Color celestial_blue();
static Color amethyst();
static Color not_set();
};
/** @brief This class wraps mesh attributes, and it can load a mesh from a ply file. :
*/
class CV_EXPORTS Mesh
{
public:
Mat cloud, colors, normals;
//! Raw integer list of the form: (n,id1,id2,...,idn, n,id1,id2,...,idn, ...)
//! where n is the number of points in the poligon, and id is a zero-offset index into an associated cloud.
Mat polygons;
Mat texture, tcoords;
/** @brief Loads a mesh from a ply file.
@param file File name (for now only PLY is supported)
*/
static Mesh load(const String& file);
};
/** @brief This class wraps intrinsic parameters of a camera.
It provides several constructors that can extract the intrinsic parameters from field of
view, intrinsic matrix and projection matrix. :
*/
class CV_EXPORTS Camera
{
public:
/** @brief Constructs a Camera.
@param fx Horizontal focal length.
@param fy Vertical focal length.
@param cx x coordinate of the principal point.
@param cy y coordinate of the principal point.
@param window_size Size of the window. This together with focal length and principal
point determines the field of view.
*/
Camera(double fx, double fy, double cx, double cy, const Size &window_size);
/** @overload
@param fov Field of view (horizontal, vertical)
@param window_size Size of the window. Principal point is at the center of the window
by default.
*/
explicit Camera(const Vec2d &fov, const Size &window_size);
/** @overload
@param K Intrinsic matrix of the camera.
@param window_size Size of the window. This together with intrinsic matrix determines
the field of view.
*/
explicit Camera(const Matx33d &K, const Size &window_size);
/** @overload
@param proj Projection matrix of the camera.
@param window_size Size of the window. This together with projection matrix determines
the field of view.
*/
explicit Camera(const Matx44d &proj, const Size &window_size);
const Vec2d & getClip() const { return clip_; }
void setClip(const Vec2d &clip) { clip_ = clip; }
const Size & getWindowSize() const { return window_size_; }
void setWindowSize(const Size &window_size);
const Vec2d& getFov() const { return fov_; }
void setFov(const Vec2d& fov) { fov_ = fov; }
const Vec2d& getPrincipalPoint() const { return principal_point_; }
const Vec2d& getFocalLength() const { return focal_; }
/** @brief Computes projection matrix using intrinsic parameters of the camera.
@param proj Output projection matrix.
*/
void computeProjectionMatrix(Matx44d &proj) const;
/** @brief Creates a Kinect Camera.
@param window_size Size of the window. This together with intrinsic matrix of a Kinect Camera
determines the field of view.
*/
static Camera KinectCamera(const Size &window_size);
private:
void init(double fx, double fy, double cx, double cy, const Size &window_size);
Vec2d clip_;
Vec2d fov_;
Size window_size_;
Vec2d principal_point_;
Vec2d focal_;
};
/** @brief This class represents a keyboard event.
*/
class CV_EXPORTS KeyboardEvent
{
public:
enum { NONE = 0, ALT = 1, CTRL = 2, SHIFT = 4 };
enum Action { KEY_UP = 0, KEY_DOWN = 1 };
/** @brief Constructs a KeyboardEvent.
@param action Signals if key is pressed or released.
@param symbol Name of the key.
@param code Code of the key.
@param modifiers Signals if alt, ctrl or shift are pressed or their combination.
*/
KeyboardEvent(Action action, const String& symbol, unsigned char code, int modifiers);
Action action;
String symbol;
unsigned char code;
int modifiers;
};
/** @brief This class represents a mouse event.
*/
class CV_EXPORTS MouseEvent
{
public:
enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ;
enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ;
/** @brief Constructs a MouseEvent.
@param type Type of the event. This can be **MouseMove**, **MouseButtonPress**,
**MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**.
@param button Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**,
**RightButton**, **VScroll**.
@param pointer Position of the event.
@param modifiers Signals if alt, ctrl or shift are pressed or their combination.
*/
MouseEvent(const Type& type, const MouseButton& button, const Point& pointer, int modifiers);
Type type;
MouseButton button;
Point pointer;
int modifiers;
};
//! @} viz
} /* namespace viz */
} /* namespace cv */
//! @cond IGNORED
//////////////////////////////////////////////////////////////////////////////////////////////////////
/// cv::viz::Color
inline cv::viz::Color::Color() : Scalar(0, 0, 0) {}
inline cv::viz::Color::Color(double _gray) : Scalar(_gray, _gray, _gray) {}
inline cv::viz::Color::Color(double _blue, double _green, double _red) : Scalar(_blue, _green, _red) {}
inline cv::viz::Color::Color(const Scalar& color) : Scalar(color) {}
inline cv::viz::Color::operator cv::Vec3b() const { return cv::Vec3d(val); }
inline cv::viz::Color cv::viz::Color::black() { return Color( 0, 0, 0); }
inline cv::viz::Color cv::viz::Color::green() { return Color( 0, 255, 0); }
inline cv::viz::Color cv::viz::Color::blue() { return Color(255, 0, 0); }
inline cv::viz::Color cv::viz::Color::cyan() { return Color(255, 255, 0); }
inline cv::viz::Color cv::viz::Color::red() { return Color( 0, 0, 255); }
inline cv::viz::Color cv::viz::Color::yellow() { return Color( 0, 255, 255); }
inline cv::viz::Color cv::viz::Color::magenta() { return Color(255, 0, 255); }
inline cv::viz::Color cv::viz::Color::white() { return Color(255, 255, 255); }
inline cv::viz::Color cv::viz::Color::gray() { return Color(128, 128, 128); }
inline cv::viz::Color cv::viz::Color::mlab() { return Color(255, 128, 128); }
inline cv::viz::Color cv::viz::Color::navy() { return Color(0, 0, 128); }
inline cv::viz::Color cv::viz::Color::olive() { return Color(0, 128, 128); }
inline cv::viz::Color cv::viz::Color::maroon() { return Color(0, 0, 128); }
inline cv::viz::Color cv::viz::Color::teal() { return Color(128, 128, 0); }
inline cv::viz::Color cv::viz::Color::rose() { return Color(128, 0, 255); }
inline cv::viz::Color cv::viz::Color::azure() { return Color(255, 128, 0); }
inline cv::viz::Color cv::viz::Color::lime() { return Color(0, 255, 191); }
inline cv::viz::Color cv::viz::Color::gold() { return Color(0, 215, 255); }
inline cv::viz::Color cv::viz::Color::brown() { return Color(0, 75, 150); }
inline cv::viz::Color cv::viz::Color::orange() { return Color(0, 165, 255); }
inline cv::viz::Color cv::viz::Color::chartreuse() { return Color(0, 255, 128); }
inline cv::viz::Color cv::viz::Color::orange_red() { return Color(0, 69, 255); }
inline cv::viz::Color cv::viz::Color::purple() { return Color(128, 0, 128); }
inline cv::viz::Color cv::viz::Color::indigo() { return Color(130, 0, 75); }
inline cv::viz::Color cv::viz::Color::pink() { return Color(203, 192, 255); }
inline cv::viz::Color cv::viz::Color::cherry() { return Color( 99, 29, 222); }
inline cv::viz::Color cv::viz::Color::bluberry() { return Color(247, 134, 79); }
inline cv::viz::Color cv::viz::Color::raspberry() { return Color( 92, 11, 227); }
inline cv::viz::Color cv::viz::Color::silver() { return Color(192, 192, 192); }
inline cv::viz::Color cv::viz::Color::violet() { return Color(226, 43, 138); }
inline cv::viz::Color cv::viz::Color::apricot() { return Color(177, 206, 251); }
inline cv::viz::Color cv::viz::Color::turquoise() { return Color(208, 224, 64); }
inline cv::viz::Color cv::viz::Color::celestial_blue() { return Color(208, 151, 73); }
inline cv::viz::Color cv::viz::Color::amethyst() { return Color(204, 102, 153); }
inline cv::viz::Color cv::viz::Color::not_set() { return Color(-1, -1, -1); }
//! @endcond
#endif