diff options
Diffstat (limited to 'thirdparty1/linux/include/opencv2/viz')
| -rw-r--r-- | thirdparty1/linux/include/opencv2/viz/types.hpp | 329 | ||||
| -rw-r--r-- | thirdparty1/linux/include/opencv2/viz/viz3d.hpp | 351 | ||||
| -rw-r--r-- | thirdparty1/linux/include/opencv2/viz/vizcore.hpp | 176 | ||||
| -rw-r--r-- | thirdparty1/linux/include/opencv2/viz/widget_accessor.hpp | 89 | ||||
| -rw-r--r-- | thirdparty1/linux/include/opencv2/viz/widgets.hpp | 850 |
5 files changed, 1795 insertions, 0 deletions
diff --git a/thirdparty1/linux/include/opencv2/viz/types.hpp b/thirdparty1/linux/include/opencv2/viz/types.hpp new file mode 100644 index 0000000..f485442 --- /dev/null +++ b/thirdparty1/linux/include/opencv2/viz/types.hpp @@ -0,0 +1,329 @@ +/*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: + enum { + LOAD_AUTO = 0, + LOAD_PLY = 1, + LOAD_OBJ = 2 + }; + + 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 or a obj file. + + @param file File name + @param type File type (for now only PLY and OBJ are supported) + + **File type** can be one of the following: + - **LOAD_PLY** + - **LOAD_OBJ** + */ + static Mesh load(const String& file, int type = LOAD_PLY); + + }; + + /** @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 diff --git a/thirdparty1/linux/include/opencv2/viz/viz3d.hpp b/thirdparty1/linux/include/opencv2/viz/viz3d.hpp new file mode 100644 index 0000000..86e4a38 --- /dev/null +++ b/thirdparty1/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 diff --git a/thirdparty1/linux/include/opencv2/viz/vizcore.hpp b/thirdparty1/linux/include/opencv2/viz/vizcore.hpp new file mode 100644 index 0000000..c32802c --- /dev/null +++ b/thirdparty1/linux/include/opencv2/viz/vizcore.hpp @@ -0,0 +1,176 @@ +/*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 <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 */ diff --git a/thirdparty1/linux/include/opencv2/viz/widget_accessor.hpp b/thirdparty1/linux/include/opencv2/viz/widget_accessor.hpp new file mode 100644 index 0000000..7b4be54 --- /dev/null +++ b/thirdparty1/linux/include/opencv2/viz/widget_accessor.hpp @@ -0,0 +1,89 @@ +/*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_WIDGET_ACCESSOR_HPP +#define OPENCV_VIZ_WIDGET_ACCESSOR_HPP + +#include <opencv2/core/cvdef.h> +#include <vtkSmartPointer.h> +#include <vtkProp.h> + +namespace cv +{ + namespace viz + { + +//! @addtogroup viz_widget +//! @{ + + class Widget; + + /** @brief This class is for users who want to develop their own widgets using VTK library API. : + */ + struct CV_EXPORTS WidgetAccessor + { + /** @brief Returns vtkProp of a given widget. + + @param widget Widget whose vtkProp is to be returned. + + @note vtkProp has to be down cast appropriately to be modified. + @code + vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget)); + @endcode + */ + static vtkSmartPointer<vtkProp> getProp(const Widget &widget); + /** @brief Sets vtkProp of a given widget. + + @param widget Widget whose vtkProp is to be set. @param prop A vtkProp. + */ + static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop); + }; + +//! @} + + } +} + +#endif diff --git a/thirdparty1/linux/include/opencv2/viz/widgets.hpp b/thirdparty1/linux/include/opencv2/viz/widgets.hpp new file mode 100644 index 0000000..dc05d77 --- /dev/null +++ b/thirdparty1/linux/include/opencv2/viz/widgets.hpp @@ -0,0 +1,850 @@ +/*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_WIDGETS_HPP +#define OPENCV_VIZ_WIDGETS_HPP + +#include <opencv2/viz/types.hpp> + +namespace cv +{ + namespace viz + { + +//! @addtogroup viz_widget +//! @{ + + ///////////////////////////////////////////////////////////////////////////// + /// Widget rendering properties + enum RenderingProperties + { + POINT_SIZE, + OPACITY, + LINE_WIDTH, + FONT_SIZE, + REPRESENTATION, + IMMEDIATE_RENDERING, + SHADING, + AMBIENT, + LIGHTING + }; + + enum RepresentationValues + { + REPRESENTATION_POINTS, + REPRESENTATION_WIREFRAME, + REPRESENTATION_SURFACE + }; + + enum ShadingValues + { + SHADING_FLAT, + SHADING_GOURAUD, + SHADING_PHONG + }; + + ///////////////////////////////////////////////////////////////////////////// + + /** @brief Base class of all widgets. Widget is implicitly shared. : + */ + class CV_EXPORTS Widget + { + public: + Widget(); + Widget(const Widget& other); + Widget& operator=(const Widget& other); + ~Widget(); + + /** @brief Creates a widget from ply file. + + @param file_name Ply file name. + */ + static Widget fromPlyFile(const String &file_name); + + /** @brief Sets rendering property 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(int property, double value); + /** @brief Returns rendering property of the widget. + + @param property Property. + + **Rendering property** can be one of the following: + - **POINT_SIZE** + - **OPACITY** + - **LINE_WIDTH** + - **FONT_SIZE** + - **AMBIENT** + - + **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(int property) const; + + /** @brief Casts a widget to another. + + @code + // Create a sphere widget + viz::WSphere sw(Point3f(0.0f,0.0f,0.0f), 0.5f); + // Cast sphere widget to cloud widget + viz::WCloud cw = sw.cast<viz::WCloud>(); + @endcode + + @note 3D Widgets can only be cast to 3D Widgets. 2D Widgets can only be cast to 2D Widgets. + */ + template<typename _W> _W cast(); + private: + class Impl; + Impl *impl_; + friend struct WidgetAccessor; + }; + + ///////////////////////////////////////////////////////////////////////////// + + /** @brief Base class of all 3D widgets. + */ + class CV_EXPORTS Widget3D : public Widget + { + public: + Widget3D() {} + + /** @brief Sets pose of the widget. + + @param pose The new pose of the widget. + */ + void setPose(const Affine3d &pose); + /** @brief Updates pose of the widget by pre-multiplying its current pose. + + @param pose The pose that the current pose of the widget will be pre-multiplied by. + */ + void updatePose(const Affine3d &pose); + /** @brief Returns the current pose of the widget. + */ + Affine3d getPose() const; + + /** @brief Transforms internal widget data (i.e. points, normals) using the given transform. + + @param transform Specified transformation to apply. + */ + void applyTransform(const Affine3d &transform); + + /** @brief Sets the color of the widget. + + @param color color of type Color + */ + void setColor(const Color &color); + + }; + + ///////////////////////////////////////////////////////////////////////////// + + /** @brief Base class of all 2D widgets. + */ + class CV_EXPORTS Widget2D : public Widget + { + public: + Widget2D() {} + + /** @brief Sets the color of the widget. + + @param color color of type Color + */ + void setColor(const Color &color); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Simple widgets + + /** @brief This 3D Widget defines a finite line. + */ + class CV_EXPORTS WLine : public Widget3D + { + public: + /** @brief Constructs a WLine. + + @param pt1 Start point of the line. + @param pt2 End point of the line. + @param color Color of the line. + */ + WLine(const Point3d &pt1, const Point3d &pt2, const Color &color = Color::white()); + }; + + /** @brief This 3D Widget defines a finite plane. + */ + class CV_EXPORTS WPlane : public Widget3D + { + public: + /** @brief Constructs a default plane with center point at origin and normal oriented along z-axis. + + @param size Size of the plane + @param color Color of the plane. + */ + WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); + + /** @brief Constructs a repositioned plane + + @param center Center of the plane + @param normal Plane normal orientation + @param new_yaxis Up-vector. New orientation of plane y-axis. + @param size + @param color Color of the plane. + */ + WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, + const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white()); + }; + + /** @brief This 3D Widget defines a sphere. : + */ + class CV_EXPORTS WSphere : public Widget3D + { + public: + /** @brief Constructs a WSphere. + + @param center Center of the sphere. + @param radius Radius of the sphere. + @param sphere_resolution Resolution of the sphere. + @param color Color of the sphere. + */ + WSphere(const cv::Point3d ¢er, double radius, int sphere_resolution = 10, const Color &color = Color::white()); + }; + + /** @brief This 3D Widget defines an arrow. + */ + class CV_EXPORTS WArrow : public Widget3D + { + public: + /** @brief Constructs an WArrow. + + @param pt1 Start point of the arrow. + @param pt2 End point of the arrow. + @param thickness Thickness of the arrow. Thickness of arrow head is also adjusted + accordingly. + @param color Color of the arrow. + + Arrow head is located at the end point of the arrow. + */ + WArrow(const Point3d& pt1, const Point3d& pt2, double thickness = 0.03, const Color &color = Color::white()); + }; + + /** @brief This 3D Widget defines a circle. + */ + class CV_EXPORTS WCircle : public Widget3D + { + public: + /** @brief Constructs default planar circle centred at origin with plane normal along z-axis + + @param radius Radius of the circle. + @param thickness Thickness of the circle. + @param color Color of the circle. + */ + WCircle(double radius, double thickness = 0.01, const Color &color = Color::white()); + + /** @brief Constructs repositioned planar circle. + + @param radius Radius of the circle. + @param center Center of the circle. + @param normal Normal of the plane in which the circle lies. + @param thickness Thickness of the circle. + @param color Color of the circle. + */ + WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white()); + }; + + /** @brief This 3D Widget defines a cone. : + */ + class CV_EXPORTS WCone : public Widget3D + { + public: + /** @brief Constructs default cone oriented along x-axis with center of its base located at origin + + @param length Length of the cone. + @param radius Radius of the cone. + @param resolution Resolution of the cone. + @param color Color of the cone. + */ + WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white()); + + /** @brief Constructs repositioned planar cone. + + @param radius Radius of the cone. + @param center Center of the cone base. + @param tip Tip of the cone. + @param resolution Resolution of the cone. + @param color Color of the cone. + + */ + WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white()); + }; + + /** @brief This 3D Widget defines a cylinder. : + */ + class CV_EXPORTS WCylinder : public Widget3D + { + public: + /** @brief Constructs a WCylinder. + + @param axis_point1 A point1 on the axis of the cylinder. + @param axis_point2 A point2 on the axis of the cylinder. + @param radius Radius of the cylinder. + @param numsides Resolution of the cylinder. + @param color Color of the cylinder. + */ + WCylinder(const Point3d& axis_point1, const Point3d& axis_point2, double radius, int numsides = 30, const Color &color = Color::white()); + }; + + /** @brief This 3D Widget defines a cube. + */ + class CV_EXPORTS WCube : public Widget3D + { + public: + /** @brief Constructs a WCube. + + @param min_point Specifies minimum point of the bounding box. + @param max_point Specifies maximum point of the bounding box. + @param wire_frame If true, cube is represented as wireframe. + @param color Color of the cube. + +  + */ + WCube(const Point3d& min_point = Vec3d::all(-0.5), const Point3d& max_point = Vec3d::all(0.5), + bool wire_frame = true, const Color &color = Color::white()); + }; + + /** @brief This 3D Widget defines a poly line. : + */ + class CV_EXPORTS WPolyLine : public Widget3D + { + public: + WPolyLine(InputArray points, InputArray colors); + /** @brief Constructs a WPolyLine. + + @param points Point set. + @param color Color of the poly line. + */ + WPolyLine(InputArray points, const Color &color = Color::white()); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Text and image widgets + + /** @brief This 2D Widget represents text overlay. + */ + class CV_EXPORTS WText : public Widget2D + { + public: + /** @brief Constructs a WText. + + @param text Text content of the widget. + @param pos Position of the text. + @param font_size Font size. + @param color Color of the text. + */ + WText(const String &text, const Point &pos, int font_size = 20, const Color &color = Color::white()); + + /** @brief Sets the text content of the widget. + + @param text Text content of the widget. + */ + void setText(const String &text); + /** @brief Returns the current text content of the widget. + */ + String getText() const; + }; + + /** @brief This 3D Widget represents 3D text. The text always faces the camera. + */ + class CV_EXPORTS WText3D : public Widget3D + { + public: + /** @brief Constructs a WText3D. + + @param text Text content of the widget. + @param position Position of the text. + @param text_scale Size of the text. + @param face_camera If true, text always faces the camera. + @param color Color of the text. + */ + WText3D(const String &text, const Point3d &position, double text_scale = 1., bool face_camera = true, const Color &color = Color::white()); + + /** @brief Sets the text content of the widget. + + @param text Text content of the widget. + + */ + void setText(const String &text); + /** @brief Returns the current text content of the widget. + */ + String getText() const; + }; + + /** @brief This 2D Widget represents an image overlay. : + */ + class CV_EXPORTS WImageOverlay : public Widget2D + { + public: + /** @brief Constructs an WImageOverlay. + + @param image BGR or Gray-Scale image. + @param rect Image is scaled and positioned based on rect. + */ + WImageOverlay(InputArray image, const Rect &rect); + /** @brief Sets the image content of the widget. + + @param image BGR or Gray-Scale image. + */ + void setImage(InputArray image); + }; + + /** @brief This 3D Widget represents an image in 3D space. : + */ + class CV_EXPORTS WImage3D : public Widget3D + { + public: + /** @brief Constructs an WImage3D. + + @param image BGR or Gray-Scale image. + @param size Size of the image. + */ + WImage3D(InputArray image, const Size2d &size); + + /** @brief Constructs an WImage3D. + + @param image BGR or Gray-Scale image. + @param size Size of the image. + @param center Position of the image. + @param normal Normal of the plane that represents the image. + @param up_vector Determines orientation of the image. + */ + WImage3D(InputArray image, const Size2d &size, const Vec3d ¢er, const Vec3d &normal, const Vec3d &up_vector); + + /** @brief Sets the image content of the widget. + + @param image BGR or Gray-Scale image. + */ + void setImage(InputArray image); + + /** @brief Sets the image size of the widget. + + @param size the new size of the image. + */ + void setSize(const Size& size); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Compond widgets + + /** @brief This 3D Widget represents a coordinate system. : + */ + class CV_EXPORTS WCoordinateSystem : public Widget3D + { + public: + /** @brief Constructs a WCoordinateSystem. + + @param scale Determines the size of the axes. + */ + WCoordinateSystem(double scale = 1.0); + }; + + /** @brief This 3D Widget defines a grid. : + */ + class CV_EXPORTS WGrid : public Widget3D + { + public: + /** @brief Constructs a WGrid. + + @param cells Number of cell columns and rows, respectively. + @param cells_spacing Size of each cell, respectively. + @param color Color of the grid. + */ + WGrid(const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white()); + + //! Creates repositioned grid + WGrid(const Point3d& center, const Vec3d& normal, const Vec3d& new_yaxis, + const Vec2i &cells = Vec2i::all(10), const Vec2d &cells_spacing = Vec2d::all(1.0), const Color &color = Color::white()); + }; + + /** @brief This 3D Widget represents camera position in a scene by its axes or viewing frustum. : + */ + class CV_EXPORTS WCameraPosition : public Widget3D + { + public: + /** @brief Creates camera coordinate frame at the origin. + +  + */ + WCameraPosition(double scale = 1.0); + /** @brief Display the viewing frustum + @param K Intrinsic matrix of the camera. + @param scale Scale of the frustum. + @param color Color of the frustum. + + Creates viewing frustum of the camera based on its intrinsic matrix K. + +  + */ + WCameraPosition(const Matx33d &K, double scale = 1.0, const Color &color = Color::white()); + /** @brief Display the viewing frustum + @param fov Field of view of the camera (horizontal, vertical). + @param scale Scale of the frustum. + @param color Color of the frustum. + + Creates viewing frustum of the camera based on its field of view fov. + +  + */ + WCameraPosition(const Vec2d &fov, double scale = 1.0, const Color &color = Color::white()); + /** @brief Display image on the far plane of the viewing frustum + + @param K Intrinsic matrix of the camera. + @param image BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. + @param scale Scale of the frustum and image. + @param color Color of the frustum. + + Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on + the far end plane. + +  + */ + WCameraPosition(const Matx33d &K, InputArray image, double scale = 1.0, const Color &color = Color::white()); + /** @brief Display image on the far plane of the viewing frustum + + @param fov Field of view of the camera (horizontal, vertical). + @param image BGR or Gray-Scale image that is going to be displayed on the far plane of the frustum. + @param scale Scale of the frustum and image. + @param color Color of the frustum. + + Creates viewing frustum of the camera based on its intrinsic matrix K, and displays image on + the far end plane. + +  + */ + WCameraPosition(const Vec2d &fov, InputArray image, double scale = 1.0, const Color &color = Color::white()); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Trajectories + + /** @brief This 3D Widget represents a trajectory. : + */ + class CV_EXPORTS WTrajectory : public Widget3D + { + public: + enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH }; + + /** @brief Constructs a WTrajectory. + + @param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double] + @param display_mode Display mode. This can be PATH, FRAMES, and BOTH. + @param scale Scale of the frames. Polyline is not affected. + @param color Color of the polyline that represents path. + + Frames are not affected. + Displays trajectory of the given path as follows: + - PATH : Displays a poly line that represents the path. + - FRAMES : Displays coordinate frames at each pose. + - PATH & FRAMES : Displays both poly line and coordinate frames. + */ + WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white()); + }; + + /** @brief This 3D Widget represents a trajectory. : + */ + class CV_EXPORTS WTrajectoryFrustums : public Widget3D + { + public: + /** @brief Constructs a WTrajectoryFrustums. + + @param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double] + @param K Intrinsic matrix of the camera. + @param scale Scale of the frustums. + @param color Color of the frustums. + + Displays frustums at each pose of the trajectory. + */ + WTrajectoryFrustums(InputArray path, const Matx33d &K, double scale = 1., const Color &color = Color::white()); + + /** @brief Constructs a WTrajectoryFrustums. + + @param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double] + @param fov Field of view of the camera (horizontal, vertical). + @param scale Scale of the frustums. + @param color Color of the frustums. + + Displays frustums at each pose of the trajectory. + */ + WTrajectoryFrustums(InputArray path, const Vec2d &fov, double scale = 1., const Color &color = Color::white()); + }; + + /** @brief This 3D Widget represents a trajectory using spheres and lines + + where spheres represent the positions of the camera, and lines represent the direction from + previous position to the current. : + */ + class CV_EXPORTS WTrajectorySpheres: public Widget3D + { + public: + /** @brief Constructs a WTrajectorySpheres. + + @param path List of poses on a trajectory. Takes std::vector\<Affine\<T\>\> with T == [float | double] + @param line_length Max length of the lines which point to previous position + @param radius Radius of the spheres. + @param from Color for first sphere. + @param to Color for last sphere. Intermediate spheres will have interpolated color. + */ + WTrajectorySpheres(InputArray path, double line_length = 0.05, double radius = 0.007, + const Color &from = Color::red(), const Color &to = Color::white()); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Clouds + + /** @brief This 3D Widget defines a point cloud. : + + @note In case there are four channels in the cloud, fourth channel is ignored. + */ + class CV_EXPORTS WCloud: public Widget3D + { + public: + /** @brief Constructs a WCloud. + + @param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. + @param colors Set of colors. It has to be of the same size with cloud. + + Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). + */ + WCloud(InputArray cloud, InputArray colors); + + /** @brief Constructs a WCloud. + @param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. + @param color A single Color for the whole cloud. + + Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). + */ + WCloud(InputArray cloud, const Color &color = Color::white()); + + /** @brief Constructs a WCloud. + @param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. + @param colors Set of colors. It has to be of the same size with cloud. + @param normals Normals for each point in cloud. Size and type should match with the cloud parameter. + + Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). + */ + WCloud(InputArray cloud, InputArray colors, InputArray normals); + + /** @brief Constructs a WCloud. + @param cloud Set of points which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. + @param color A single Color for the whole cloud. + @param normals Normals for each point in cloud. + + Size and type should match with the cloud parameter. + Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). + */ + WCloud(InputArray cloud, const Color &color, InputArray normals); + }; + + class CV_EXPORTS WPaintedCloud: public Widget3D + { + public: + //! Paint cloud with default gradient between cloud bounds points + WPaintedCloud(InputArray cloud); + + //! Paint cloud with default gradient between given points + WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2); + + //! Paint cloud with gradient specified by given colors between given points + WPaintedCloud(InputArray cloud, const Point3d& p1, const Point3d& p2, const Color& c1, const Color c2); + }; + + /** @brief This 3D Widget defines a collection of clouds. : + @note In case there are four channels in the cloud, fourth channel is ignored. + */ + class CV_EXPORTS WCloudCollection : public Widget3D + { + public: + WCloudCollection(); + + /** @brief Adds a cloud to the collection. + + @param cloud Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. + @param colors Set of colors. It has to be of the same size with cloud. + @param pose Pose of the cloud. Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). + */ + void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity()); + /** @brief Adds a cloud to the collection. + + @param cloud Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. + @param color A single Color for the whole cloud. + @param pose Pose of the cloud. Points in the cloud belong to mask when they are set to (NaN, NaN, NaN). + */ + void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3d &pose = Affine3d::Identity()); + /** @brief Finalizes cloud data by repacking to single cloud. + + Useful for large cloud collections to reduce memory usage + */ + void finalize(); + }; + + /** @brief This 3D Widget represents normals of a point cloud. : + */ + class CV_EXPORTS WCloudNormals : public Widget3D + { + public: + /** @brief Constructs a WCloudNormals. + + @param cloud Point set which can be of type: CV_32FC3, CV_32FC4, CV_64FC3, CV_64FC4. + @param normals A set of normals that has to be of same type with cloud. + @param level Display only every level th normal. + @param scale Scale of the arrows that represent normals. + @param color Color of the arrows that represent normals. + + @note In case there are four channels in the cloud, fourth channel is ignored. + */ + WCloudNormals(InputArray cloud, InputArray normals, int level = 64, double scale = 0.1, const Color &color = Color::white()); + }; + + /** @brief Constructs a WMesh. + + @param mesh Mesh object that will be displayed. + @param cloud Points of the mesh object. + @param polygons Points of the mesh object. + @param colors Point colors. + @param normals Point normals. + */ + class CV_EXPORTS WMesh : public Widget3D + { + public: + WMesh(const Mesh &mesh); + WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray()); + }; + + /** @brief This class allows to merge several widgets to single one. + + It has quite limited functionality and can't merge widgets with different attributes. For + instance, if widgetA has color array and widgetB has only global color defined, then result + of merge won't have color at all. The class is suitable for merging large amount of similar + widgets. : + */ + class CV_EXPORTS WWidgetMerger : public Widget3D + { + public: + WWidgetMerger(); + + //! Add widget to merge with optional position change + void addWidget(const Widget3D& widget, const Affine3d &pose = Affine3d::Identity()); + + //! Repacks internal structure to single widget + void finalize(); + }; + + ///////////////////////////////////////////////////////////////////////////// + /// Utility exports + + template<> CV_EXPORTS Widget2D Widget::cast<Widget2D>(); + template<> CV_EXPORTS Widget3D Widget::cast<Widget3D>(); + template<> CV_EXPORTS WLine Widget::cast<WLine>(); + template<> CV_EXPORTS WPlane Widget::cast<WPlane>(); + template<> CV_EXPORTS WSphere Widget::cast<WSphere>(); + template<> CV_EXPORTS WCylinder Widget::cast<WCylinder>(); + template<> CV_EXPORTS WArrow Widget::cast<WArrow>(); + template<> CV_EXPORTS WCircle Widget::cast<WCircle>(); + template<> CV_EXPORTS WCone Widget::cast<WCone>(); + template<> CV_EXPORTS WCube Widget::cast<WCube>(); + template<> CV_EXPORTS WCoordinateSystem Widget::cast<WCoordinateSystem>(); + template<> CV_EXPORTS WPolyLine Widget::cast<WPolyLine>(); + template<> CV_EXPORTS WGrid Widget::cast<WGrid>(); + template<> CV_EXPORTS WText3D Widget::cast<WText3D>(); + template<> CV_EXPORTS WText Widget::cast<WText>(); + template<> CV_EXPORTS WImageOverlay Widget::cast<WImageOverlay>(); + template<> CV_EXPORTS WImage3D Widget::cast<WImage3D>(); + template<> CV_EXPORTS WCameraPosition Widget::cast<WCameraPosition>(); + template<> CV_EXPORTS WTrajectory Widget::cast<WTrajectory>(); + template<> CV_EXPORTS WTrajectoryFrustums Widget::cast<WTrajectoryFrustums>(); + template<> CV_EXPORTS WTrajectorySpheres Widget::cast<WTrajectorySpheres>(); + template<> CV_EXPORTS WCloud Widget::cast<WCloud>(); + template<> CV_EXPORTS WPaintedCloud Widget::cast<WPaintedCloud>(); + template<> CV_EXPORTS WCloudCollection Widget::cast<WCloudCollection>(); + template<> CV_EXPORTS WCloudNormals Widget::cast<WCloudNormals>(); + template<> CV_EXPORTS WMesh Widget::cast<WMesh>(); + template<> CV_EXPORTS WWidgetMerger Widget::cast<WWidgetMerger>(); + +//! @} + + } /* namespace viz */ +} /* namespace cv */ + +#endif |