mirror of
https://github.com/opencv/opencv.git
synced 2024-12-21 05:28:01 +08:00
98 lines
4.2 KiB
C++
98 lines
4.2 KiB
C++
/*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
|
|
//
|
|
// OpenCV Viz module is complete rewrite of
|
|
// PCL visualization module (www.pointclouds.org)
|
|
//
|
|
//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
|
|
{
|
|
//! 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);
|
|
|
|
//! retrieves a window by its name. If no window with such name, then it creates new.
|
|
CV_EXPORTS Viz3d get(const String &window_name);
|
|
|
|
//! Unregisters all Viz windows from internal database. After it 'get()' will create new windows instead getting existing from the database.
|
|
CV_EXPORTS void unregisterAllWindows();
|
|
|
|
//! 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); }
|
|
|
|
} /* namespace viz */
|
|
} /* namespace cv */
|
|
|
|
#endif /* __OPENCV_VIZ_HPP__ */
|