opencv/modules/viz/include/opencv2/viz.hpp

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// Authors:
//  * Ozan Tonkal
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//  OpenCV Viz module is complete rewrite of
//  PCL visualization module (www.pointclouds.org)
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//M*/

#ifndef __OPENCV_VIZ_HPP__
#define __OPENCV_VIZ_HPP__


#include <opencv2/viz/types.hpp>
#include <opencv2/viz/widgets.hpp>
#include <opencv2/viz/viz3d.hpp>


namespace cv
{
    namespace viz
    {   
        typedef std::map<String, Viz3d> VizMap;
        typedef std::pair<String, Viz3d> VizPair;
        
        //! takes coordiante frame data and builds transfrom to global coordinate frame
        CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0));

        //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation
        CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir);

        CV_EXPORTS Viz3d get(const String &window_name);

        //! checks float value for Nan
        inline bool isNan(float x)
        {
            unsigned int *u = reinterpret_cast<unsigned int *>(&x);
            return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
        }

        //! checks double value for 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);
        }

        //! checks vectors for Nans
        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]); }

        //! checks point for Nans
        template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
        { return isNan(p.x) || isNan(p.y) || isNan(p.z); }
        
        class CV_EXPORTS VizAccessor
        {
        public:
            static VizAccessor & getInstance();
            static void release();
            
            Viz3d get(const String &window_name);
            void add(Viz3d window);
            void remove(const String &window_name);
            
            static void generateWindowName(const String &window_name, String &output);
            
        private:
            VizAccessor(); // Singleton
            ~VizAccessor();
            
            static VizAccessor * instance_;
            static bool is_instantiated_;
            static VizMap viz_map_;
        };
    }
}


#endif /* __OPENCV_VIZ_HPP__ */