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Diffstat (limited to 'thirdparty/linux/include/opencv2/viz/viz3d.hpp')
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diff --git a/thirdparty/linux/include/opencv2/viz/viz3d.hpp b/thirdparty/linux/include/opencv2/viz/viz3d.hpp new file mode 100644 index 0000000..86e4a38 --- /dev/null +++ b/thirdparty/linux/include/opencv2/viz/viz3d.hpp @@ -0,0 +1,351 @@ +/*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_VIZ3D_HPP +#define OPENCV_VIZ_VIZ3D_HPP + +#if !defined YES_I_AGREE_THAT_VIZ_API_IS_NOT_STABLE_NOW_AND_BINARY_COMPARTIBILITY_WONT_BE_SUPPORTED && !defined CVAPI_EXPORTS + //#error "Viz is in beta state now. Please define macro above to use it" +#endif + +#include <opencv2/core.hpp> +#include <opencv2/viz/types.hpp> +#include <opencv2/viz/widgets.hpp> + +namespace cv +{ + namespace viz + { + +//! @addtogroup viz +//! @{ + + /** @brief The Viz3d class represents a 3D visualizer window. This class is implicitly shared. : + */ + class CV_EXPORTS Viz3d + { + public: + typedef cv::viz::Color Color; + typedef void (*KeyboardCallback)(const KeyboardEvent&, void*); + typedef void (*MouseCallback)(const MouseEvent&, void*); + + /** @brief The constructors. + + @param window_name Name of the window. + */ + Viz3d(const String& window_name = String()); + Viz3d(const Viz3d&); + Viz3d& operator=(const Viz3d&); + ~Viz3d(); + + /** @brief Shows a widget in the window. + + @param id A unique id for the widget. @param widget The widget to be displayed in the window. + @param pose Pose of the widget. + */ + void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity()); + + /** @brief Removes a widget from the window. + + @param id The id of the widget that will be removed. + */ + void removeWidget(const String &id); + + /** @brief Retrieves a widget from the window. + + A widget is implicitly shared; that is, if the returned widget is modified, the changes + will be immediately visible in the window. + + @param id The id of the widget that will be returned. + */ + Widget getWidget(const String &id) const; + + /** @brief Removes all widgets from the window. + */ + void removeAllWidgets(); + + /** @brief Removed all widgets and displays image scaled to whole window area. + + @param image Image to be displayed. + @param window_size Size of Viz3d window. Default value means no change. + */ + void showImage(InputArray image, const Size& window_size = Size(-1, -1)); + + /** @brief Sets pose of a widget in the window. + + @param id The id of the widget whose pose will be set. @param pose The new pose of the widget. + */ + void setWidgetPose(const String &id, const Affine3d &pose); + + /** @brief Updates pose of a widget in the window by pre-multiplying its current pose. + + @param id The id of the widget whose pose will be updated. @param pose The pose that the current + pose of the widget will be pre-multiplied by. + */ + void updateWidgetPose(const String &id, const Affine3d &pose); + + /** @brief Returns the current pose of a widget in the window. + + @param id The id of the widget whose pose will be returned. + */ + Affine3d getWidgetPose(const String &id) const; + + /** @brief Sets the intrinsic parameters of the viewer using Camera. + + @param camera Camera object wrapping intrinsinc parameters. + */ + void setCamera(const Camera &camera); + + /** @brief Returns a camera object that contains intrinsic parameters of the current viewer. + */ + Camera getCamera() const; + + /** @brief Returns the current pose of the viewer. + */ + Affine3d getViewerPose(); + + /** @brief Sets pose of the viewer. + + @param pose The new pose of the viewer. + */ + void setViewerPose(const Affine3d &pose); + + /** @brief Resets camera viewpoint to a 3D widget in the scene. + + @param id Id of a 3D widget. + */ + void resetCameraViewpoint(const String &id); + + /** @brief Resets camera. + */ + void resetCamera(); + + /** @brief Transforms a point in world coordinate system to window coordinate system. + + @param pt Point in world coordinate system. + @param window_coord Output point in window coordinate system. + */ + void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord); + + /** @brief Transforms a point in window coordinate system to a 3D ray in world coordinate system. + + @param window_coord Point in window coordinate system. @param origin Output origin of the ray. + @param direction Output direction of the ray. + */ + void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction); + + /** @brief Returns the current size of the window. + */ + Size getWindowSize() const; + /** @brief Sets the size of the window. + + @param window_size New size of the window. + */ + void setWindowSize(const Size &window_size); + + /** @brief Returns the name of the window which has been set in the constructor. + */ + String getWindowName() const; + + /** @brief Returns the Mat screenshot of the current scene. + */ + cv::Mat getScreenshot() const; + + /** @brief Saves screenshot of the current scene. + + @param file Name of the file. + */ + void saveScreenshot(const String &file); + + /** @brief Sets the position of the window in the screen. + + @param window_position coordinates of the window + */ + void setWindowPosition(const Point& window_position); + + /** @brief Sets or unsets full-screen rendering mode. + + @param mode If true, window will use full-screen mode. + */ + void setFullScreen(bool mode = true); + + /** @brief Sets background color. + */ + void setBackgroundColor(const Color& color = Color::black(), const Color& color2 = Color::not_set()); + void setBackgroundTexture(InputArray image = noArray()); + void setBackgroundMeshLab(); + + /** @brief The window renders and starts the event loop. + */ + void spin(); + + /** @brief Starts the event loop for a given time. + + @param time Amount of time in milliseconds for the event loop to keep running. + @param force_redraw If true, window renders. + */ + void spinOnce(int time = 1, bool force_redraw = false); + + /** @brief Create a window in memory instead of on the screen. + */ + void setOffScreenRendering(); + + /** @brief Remove all lights from the current scene. + */ + void removeAllLights(); + + /** @brief Add a light in the scene. + + @param position The position of the light. + @param focalPoint The point at which the light is shining + @param color The color of the light + @param diffuseColor The diffuse color of the light + @param ambientColor The ambient color of the light + @param specularColor The specular color of the light + */ + void addLight(Vec3d position, Vec3d focalPoint = Vec3d(0, 0, 0), Color color = Color::white(), + Color diffuseColor = Color::white(), Color ambientColor = Color::black(), Color specularColor = Color::white()); + + /** @brief Returns whether the event loop has been stopped. + */ + bool wasStopped() const; + void close(); + + /** @brief Sets keyboard handler. + + @param callback Keyboard callback (void (\*KeyboardCallbackFunction(const + KeyboardEvent&, void\*)). + @param cookie The optional parameter passed to the callback. + */ + void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0); + + /** @brief Sets mouse handler. + + @param callback Mouse callback (void (\*MouseCallback)(const MouseEvent&, void\*)). + @param cookie The optional parameter passed to the callback. + */ + void registerMouseCallback(MouseCallback callback, void* cookie = 0); + + /** @brief Sets rendering property of a widget. + + @param id Id of the widget. + @param property Property that will be modified. + @param value The new value of the property. + + **Rendering property** can be one of the following: + - **POINT_SIZE** + - **OPACITY** + - **LINE_WIDTH** + - **FONT_SIZE** + - + **REPRESENTATION**: Expected values are + - **REPRESENTATION_POINTS** + - **REPRESENTATION_WIREFRAME** + - **REPRESENTATION_SURFACE** + - + **IMMEDIATE_RENDERING**: + - Turn on immediate rendering by setting the value to 1. + - Turn off immediate rendering by setting the value to 0. + - + **SHADING**: Expected values are + - **SHADING_FLAT** + - **SHADING_GOURAUD** + - **SHADING_PHONG** + */ + void setRenderingProperty(const String &id, int property, double value); + /** @brief Returns rendering property of a widget. + + @param id Id of the widget. + @param property Property. + + **Rendering property** can be one of the following: + - **POINT_SIZE** + - **OPACITY** + - **LINE_WIDTH** + - **FONT_SIZE** + - + **REPRESENTATION**: Expected values are + - **REPRESENTATION_POINTS** + - **REPRESENTATION_WIREFRAME** + - **REPRESENTATION_SURFACE** + - + **IMMEDIATE_RENDERING**: + - Turn on immediate rendering by setting the value to 1. + - Turn off immediate rendering by setting the value to 0. + - + **SHADING**: Expected values are + - **SHADING_FLAT** + - **SHADING_GOURAUD** + - **SHADING_PHONG** + */ + double getRenderingProperty(const String &id, int property); + + /** @brief Sets geometry representation of the widgets to surface, wireframe or points. + + @param representation Geometry representation which can be one of the following: + - **REPRESENTATION_POINTS** + - **REPRESENTATION_WIREFRAME** + - **REPRESENTATION_SURFACE** + */ + void setRepresentation(int representation); + + void setGlobalWarnings(bool enabled = false); + private: + + struct VizImpl; + VizImpl* impl_; + + void create(const String &window_name); + void release(); + + friend class VizStorage; + }; + +//! @} + + } /* namespace viz */ +} /* namespace cv */ + +#endif |