/*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 // * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com // // OpenCV Viz module is complete rewrite of // PCL visualization module (www.pointclouds.org) // //M*/ #ifndef __OPENCV_VIZ_HPP__ #define __OPENCV_VIZ_HPP__ #include #include #include namespace cv { namespace viz { typedef std::map VizMap; typedef std::pair 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(&x); return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff); } //! checks double value for Nan inline bool isNan(double x) { unsigned int *u = reinterpret_cast(&x); return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0); } //! checks vectors for Nans template 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 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__ */