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// Authors:
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//M*/
#ifndef __OPENCV_VIZCORE_HPP__
#define __OPENCV_VIZCORE_HPP__
#include <opencv2/viz/types.hpp>
#include <opencv2/viz/widgets.hpp>
#include <opencv2/viz/viz3d.hpp>
namespace cv
{
namespace viz
{
//! @addtogroup viz
//! @{
/** @brief Takes coordinate frame data and builds transform to global coordinate frame.
@param axis_x X axis vector in global coordinate frame. @param axis_y Y axis vector in global
coordinate frame. @param axis_z Z axis vector in global coordinate frame. @param origin Origin of
the coordinate frame in global coordinate frame.
This function returns affine transform that describes transformation between global coordinate frame
and a given coordinate frame.
*/
CV_EXPORTS Affine3d makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin = Vec3d::all(0));
/** @brief Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more
infromation).
@param position Position of the camera in global coordinate frame. @param focal_point Focal point
of the camera in global coordinate frame. @param y_dir Up vector of the camera in global
coordinate frame.
This function returns pose of the camera in global coordinate frame.
*/
CV_EXPORTS Affine3d makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir);
/** @brief Retrieves a window by its name.
@param window_name Name of the window that is to be retrieved.
This function returns a Viz3d object with the given name.
@note If the window with that name already exists, that window is returned. Otherwise, new window is
created with the given name, and it is returned.
@note Window names are automatically prefixed by "Viz - " if it is not done by the user.
@code
/// window and window_2 are the same windows.
viz::Viz3d window = viz::getWindowByName("myWindow");
viz::Viz3d window_2 = viz::getWindowByName("Viz - myWindow");
@endcode
*/
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));
/** @brief Checks **float/double** value for nan.
@param x return true if nan.
*/
inline bool isNan(float x)
{
unsigned int *u = reinterpret_cast<unsigned int *>(&x);
return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
}
/** @brief Checks **float/double** value for nan.
@param x return true if nan.
*/
inline bool isNan(double x)
{
unsigned int *u = reinterpret_cast<unsigned int *>(&x);
return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0);
}
/** @brief Checks **float/double** value for nan.
@param v return true if **any** of the elements of the vector is *nan*.
*/
template<typename _Tp, int cn> inline bool isNan(const Vec<_Tp, cn>& v)
{ return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); }
/** @brief Checks **float/double** value for nan.
@param p return true if **any** of the elements of the point is *nan*.
*/
template<typename _Tp> 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<Affine3<T>> 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<Affine3<T>> 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__ */