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124 lines
4.8 KiB
C++
124 lines
4.8 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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// Authors:
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// * Ozan Tonkal
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// * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com
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//
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// OpenCV Viz module is complete rewrite of
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// PCL visualization module (www.pointclouds.org)
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//
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//M*/
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#ifndef __OPENCV_VIZ_HPP__
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#define __OPENCV_VIZ_HPP__
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#include <opencv2/viz/types.hpp>
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#include <opencv2/viz/widgets.hpp>
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#include <opencv2/viz/viz3d.hpp>
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namespace cv
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{
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namespace viz
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{
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typedef std::map<String, Viz3d> VizMap;
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typedef std::pair<String, Viz3d> VizPair;
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//! takes coordiante frame data and builds transfrom to global coordinate frame
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CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0));
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//! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation)
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CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir);
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//! retrieves a window by its name
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CV_EXPORTS Viz3d get(const String &window_name);
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//! checks float value for Nan
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inline bool isNan(float x)
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{
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unsigned int *u = reinterpret_cast<unsigned int *>(&x);
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return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
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}
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//! checks double value for Nan
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inline bool isNan(double x)
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{
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unsigned int *u = reinterpret_cast<unsigned int *>(&x);
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return (u[1] & 0x7ff00000) == 0x7ff00000 && (u[0] != 0 || (u[1] & 0x000fffff) != 0);
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}
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//! checks vectors for Nans
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template<typename _Tp, int cn> inline bool isNan(const Vec<_Tp, cn>& v)
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{ return isNan(v.val[0]) || isNan(v.val[1]) || isNan(v.val[2]); }
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//! checks point for Nans
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template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
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{ return isNan(p.x) || isNan(p.y) || isNan(p.z); }
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//! helper class that provides access by name infrastructure
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class CV_EXPORTS VizAccessor
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{
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public:
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static VizAccessor & getInstance();
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static void release();
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Viz3d get(const String &window_name);
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void add(Viz3d window);
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void remove(const String &window_name);
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//! window names automatically have Viz - prefix even though not provided by the users
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static void generateWindowName(const String &window_name, String &output);
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private:
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VizAccessor(); // Singleton
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~VizAccessor();
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static VizAccessor * instance_;
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static bool is_instantiated_;
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static VizMap viz_map_;
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};
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} /* namespace viz */
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} /* namespace cv */
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#endif /* __OPENCV_VIZ_HPP__ */
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