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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 |