/*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 { //! @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. @return An affine transform that describes transformation between global coordinate frame and a given coordinate frame. The returned transforms can transform a point in the given coordinate frame to the 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)); /** @brief Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more information). @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. */ CV_EXPORTS Viz3d getWindowByName(const String &window_name); //! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead of 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(&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(&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 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 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) /** * @param file Filename with extension. Supported formats: PLY, XYZ and OBJ. * @param cloud Supported depths: CV_32F and CV_64F. Supported channels: 3 and 4. * @param colors Used by PLY format only. Supported depth: CV_8U. Supported channels: 1, 3 and 4. * @param normals Used by PLY and OBJ format only. Supported depths: CV_32F and CV_64F. * Supported channels: 3 and 4. * @param binary Used only for PLY format. */ CV_EXPORTS_W void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false); /** * @param file Filename with extension. Supported formats: PLY, XYZ, OBJ and STL. * @param colors Used by PLY and STL formats only. * @param normals Used by PLY, OBJ and STL formats only. * @return A mat containing the point coordinates with depth CV_32F or CV_64F and number of * channels 3 or 4 with only 1 row. */ CV_EXPORTS_W 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_W Mesh readMesh(const String& file); /////////////////////////////////////////////////////////////////////////////////////////////// /// Read/write poses and trajectories /** * @param file Filename of type supported by cv::FileStorage. * @param pose Output matrix. * @param tag Name of the pose in the file. */ CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose"); /** * @param file Filename. * @param pose Input matrix. * @param tag Name of the pose to be saved into the given file. */ 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 * @param traj Trajectory containing a list of poses. It can be * - std::vector, each cv::Mat is of type CV_32F16 or CV_64FC16 * - std::vector, std::vector * - cv::Mat of type CV_32FC16 OR CV_64F16 * @param files_format Format specifier string for constructing filenames. * The only placeholder in the string should support `int`. * @param start The initial counter for files_format. * @param tag Name of the matrix in the file. */ 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 * * @param traj Output array containing a lists of poses. It can be * - std::vector, std::vector * - cv::Mat * @param files_format Format specifier string for constructing filenames. * The only placeholder in the string should support `int`. * @param start The initial counter for files_format. It must be greater than or equal to 0. * @param end The final counter for files_format. * @param tag Name of the matrix in the file. */ 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 * @param mesh Input mesh. * @param normals Normals at very point in the mesh of type CV_64FC3. */ CV_EXPORTS_W void computeNormals(const Mesh& mesh, OutputArray normals); //! @} } /* namespace viz */ } /* namespace cv */ #endif /* OPENCV_VIZCORE_HPP */