1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2013, OpenCV Foundation, all rights reserved. 14 // Third party copyrights are property of their respective owners. 15 // 16 // Redistribution and use in source and binary forms, with or without modification, 17 // are permitted provided that the following conditions are met: 18 // 19 // * Redistribution's of source code must retain the above copyright notice, 20 // this list of conditions and the following disclaimer. 21 // 22 // * Redistribution's in binary form must reproduce the above copyright notice, 23 // this list of conditions and the following disclaimer in the documentation 24 // and/or other materials provided with the distribution. 25 // 26 // * The name of the copyright holders may not be used to endorse or promote products 27 // derived from this software without specific prior written permission. 28 // 29 // This software is provided by the copyright holders and contributors "as is" and 30 // any express or implied warranties, including, but not limited to, the implied 31 // warranties of merchantability and fitness for a particular purpose are disclaimed. 32 // In no event shall the Intel Corporation or contributors be liable for any direct, 33 // indirect, incidental, special, exemplary, or consequential damages 34 // (including, but not limited to, procurement of substitute goods or services; 35 // loss of use, data, or profits; or business interruption) however caused 36 // and on any theory of liability, whether in contract, strict liability, 37 // or tort (including negligence or otherwise) arising in any way out of 38 // the use of this software, even if advised of the possibility of such damage. 39 // 40 // Authors: 41 // * Ozan Tonkal, ozantonkal (at) gmail.com 42 // * Anatoly Baksheev, Itseez Inc. myname.mysurname <> mycompany.com 43 // 44 //M*/ 45 46 #ifndef __OPENCV_VIZ_TYPES_HPP__ 47 #define __OPENCV_VIZ_TYPES_HPP__ 48 49 #include <string> 50 #include <opencv2/core.hpp> 51 #include <opencv2/core/affine.hpp> 52 53 namespace cv 54 { 55 namespace viz 56 { 57 58 //! @addtogroup viz 59 //! @{ 60 61 /** @brief This class a represents BGR color. 62 */ 63 class Color : public Scalar 64 { 65 public: 66 Color(); 67 Color(double gray); 68 Color(double blue, double green, double red); 69 70 Color(const Scalar& color); 71 72 operator Vec3b() const; 73 74 static Color black(); 75 static Color blue(); 76 static Color green(); 77 static Color cyan(); 78 79 static Color red(); 80 static Color magenta(); 81 static Color yellow(); 82 static Color white(); 83 84 static Color gray(); 85 86 static Color mlab(); 87 88 static Color navy(); 89 static Color olive(); 90 static Color maroon(); 91 static Color teal(); 92 static Color rose(); 93 static Color azure(); 94 static Color lime(); 95 static Color gold(); 96 static Color brown(); 97 static Color orange(); 98 static Color chartreuse(); 99 static Color orange_red(); 100 static Color purple(); 101 static Color indigo(); 102 103 static Color pink(); 104 static Color cherry(); 105 static Color bluberry(); 106 static Color raspberry(); 107 static Color silver(); 108 static Color violet(); 109 static Color apricot(); 110 static Color turquoise(); 111 static Color celestial_blue(); 112 static Color amethyst(); 113 114 static Color not_set(); 115 }; 116 117 /** @brief This class wraps mesh attributes, and it can load a mesh from a ply file. : 118 */ 119 class CV_EXPORTS Mesh 120 { 121 public: 122 Mat cloud, colors, normals; 123 124 //! Raw integer list of the form: (n,id1,id2,...,idn, n,id1,id2,...,idn, ...) 125 //! where n is the number of points in the poligon, and id is a zero-offset index into an associated cloud. 126 Mat polygons; 127 128 Mat texture, tcoords; 129 130 /** @brief Loads a mesh from a ply file. 131 132 @param file File name (for now only PLY is supported) 133 */ 134 static Mesh load(const String& file); 135 }; 136 137 /** @brief This class wraps intrinsic parameters of a camera. 138 139 It provides several constructors that can extract the intrinsic parameters from field of 140 view, intrinsic matrix and projection matrix. : 141 */ 142 class CV_EXPORTS Camera 143 { 144 public: 145 146 /** @brief Constructs a Camera. 147 148 @param fx Horizontal focal length. 149 @param fy Vertical focal length. 150 @param cx x coordinate of the principal point. 151 @param cy y coordinate of the principal point. 152 @param window_size Size of the window. This together with focal length and principal 153 point determines the field of view. 154 */ 155 Camera(double fx, double fy, double cx, double cy, const Size &window_size); 156 /** @overload 157 @param fov Field of view (horizontal, vertical) 158 @param window_size Size of the window. Principal point is at the center of the window 159 by default. 160 */ 161 explicit Camera(const Vec2d &fov, const Size &window_size); 162 /** @overload 163 @param K Intrinsic matrix of the camera. 164 @param window_size Size of the window. This together with intrinsic matrix determines 165 the field of view. 166 */ 167 explicit Camera(const Matx33d &K, const Size &window_size); 168 /** @overload 169 @param proj Projection matrix of the camera. 170 @param window_size Size of the window. This together with projection matrix determines 171 the field of view. 172 */ 173 explicit Camera(const Matx44d &proj, const Size &window_size); 174 175 const Vec2d & getClip() const { return clip_; } 176 void setClip(const Vec2d &clip) { clip_ = clip; } 177 178 const Size & getWindowSize() const { return window_size_; } 179 void setWindowSize(const Size &window_size); 180 181 const Vec2d& getFov() const { return fov_; } 182 void setFov(const Vec2d& fov) { fov_ = fov; } 183 184 const Vec2d& getPrincipalPoint() const { return principal_point_; } 185 const Vec2d& getFocalLength() const { return focal_; } 186 187 /** @brief Computes projection matrix using intrinsic parameters of the camera. 188 189 @param proj Output projection matrix. 190 */ 191 void computeProjectionMatrix(Matx44d &proj) const; 192 193 /** @brief Creates a Kinect Camera. 194 195 @param window_size Size of the window. This together with intrinsic matrix of a Kinect Camera 196 determines the field of view. 197 */ 198 static Camera KinectCamera(const Size &window_size); 199 200 private: 201 void init(double fx, double fy, double cx, double cy, const Size &window_size); 202 203 Vec2d clip_; 204 Vec2d fov_; 205 Size window_size_; 206 Vec2d principal_point_; 207 Vec2d focal_; 208 }; 209 210 /** @brief This class represents a keyboard event. 211 */ 212 class CV_EXPORTS KeyboardEvent 213 { 214 public: 215 enum { NONE = 0, ALT = 1, CTRL = 2, SHIFT = 4 }; 216 enum Action { KEY_UP = 0, KEY_DOWN = 1 }; 217 218 /** @brief Constructs a KeyboardEvent. 219 220 @param action Signals if key is pressed or released. 221 @param symbol Name of the key. 222 @param code Code of the key. 223 @param modifiers Signals if alt, ctrl or shift are pressed or their combination. 224 */ 225 KeyboardEvent(Action action, const String& symbol, unsigned char code, int modifiers); 226 227 Action action; 228 String symbol; 229 unsigned char code; 230 int modifiers; 231 }; 232 233 /** @brief This class represents a mouse event. 234 */ 235 class CV_EXPORTS MouseEvent 236 { 237 public: 238 enum Type { MouseMove = 1, MouseButtonPress, MouseButtonRelease, MouseScrollDown, MouseScrollUp, MouseDblClick } ; 239 enum MouseButton { NoButton = 0, LeftButton, MiddleButton, RightButton, VScroll } ; 240 241 /** @brief Constructs a MouseEvent. 242 243 @param type Type of the event. This can be **MouseMove**, **MouseButtonPress**, 244 **MouseButtonRelease**, **MouseScrollDown**, **MouseScrollUp**, **MouseDblClick**. 245 @param button Mouse button. This can be **NoButton**, **LeftButton**, **MiddleButton**, 246 **RightButton**, **VScroll**. 247 @param pointer Position of the event. 248 @param modifiers Signals if alt, ctrl or shift are pressed or their combination. 249 */ 250 MouseEvent(const Type& type, const MouseButton& button, const Point& pointer, int modifiers); 251 252 Type type; 253 MouseButton button; 254 Point pointer; 255 int modifiers; 256 }; 257 258 //! @} viz 259 260 } /* namespace viz */ 261 } /* namespace cv */ 262 263 //! @cond IGNORED 264 265 ////////////////////////////////////////////////////////////////////////////////////////////////////// 266 /// cv::viz::Color 267 268 inline cv::viz::Color::Color() : Scalar(0, 0, 0) {} 269 inline cv::viz::Color::Color(double _gray) : Scalar(_gray, _gray, _gray) {} 270 inline cv::viz::Color::Color(double _blue, double _green, double _red) : Scalar(_blue, _green, _red) {} 271 inline cv::viz::Color::Color(const Scalar& color) : Scalar(color) {} 272 273 inline cv::viz::Color::operator cv::Vec3b() const { return cv::Vec3d(val); } 274 275 inline cv::viz::Color cv::viz::Color::black() { return Color( 0, 0, 0); } 276 inline cv::viz::Color cv::viz::Color::green() { return Color( 0, 255, 0); } 277 inline cv::viz::Color cv::viz::Color::blue() { return Color(255, 0, 0); } 278 inline cv::viz::Color cv::viz::Color::cyan() { return Color(255, 255, 0); } 279 inline cv::viz::Color cv::viz::Color::red() { return Color( 0, 0, 255); } 280 inline cv::viz::Color cv::viz::Color::yellow() { return Color( 0, 255, 255); } 281 inline cv::viz::Color cv::viz::Color::magenta() { return Color(255, 0, 255); } 282 inline cv::viz::Color cv::viz::Color::white() { return Color(255, 255, 255); } 283 inline cv::viz::Color cv::viz::Color::gray() { return Color(128, 128, 128); } 284 285 inline cv::viz::Color cv::viz::Color::mlab() { return Color(255, 128, 128); } 286 287 inline cv::viz::Color cv::viz::Color::navy() { return Color(0, 0, 128); } 288 inline cv::viz::Color cv::viz::Color::olive() { return Color(0, 128, 128); } 289 inline cv::viz::Color cv::viz::Color::maroon() { return Color(0, 0, 128); } 290 inline cv::viz::Color cv::viz::Color::teal() { return Color(128, 128, 0); } 291 inline cv::viz::Color cv::viz::Color::rose() { return Color(128, 0, 255); } 292 inline cv::viz::Color cv::viz::Color::azure() { return Color(255, 128, 0); } 293 inline cv::viz::Color cv::viz::Color::lime() { return Color(0, 255, 191); } 294 inline cv::viz::Color cv::viz::Color::gold() { return Color(0, 215, 255); } 295 inline cv::viz::Color cv::viz::Color::brown() { return Color(0, 75, 150); } 296 inline cv::viz::Color cv::viz::Color::orange() { return Color(0, 165, 255); } 297 inline cv::viz::Color cv::viz::Color::chartreuse() { return Color(0, 255, 128); } 298 inline cv::viz::Color cv::viz::Color::orange_red() { return Color(0, 69, 255); } 299 inline cv::viz::Color cv::viz::Color::purple() { return Color(128, 0, 128); } 300 inline cv::viz::Color cv::viz::Color::indigo() { return Color(130, 0, 75); } 301 302 inline cv::viz::Color cv::viz::Color::pink() { return Color(203, 192, 255); } 303 inline cv::viz::Color cv::viz::Color::cherry() { return Color( 99, 29, 222); } 304 inline cv::viz::Color cv::viz::Color::bluberry() { return Color(247, 134, 79); } 305 inline cv::viz::Color cv::viz::Color::raspberry() { return Color( 92, 11, 227); } 306 inline cv::viz::Color cv::viz::Color::silver() { return Color(192, 192, 192); } 307 inline cv::viz::Color cv::viz::Color::violet() { return Color(226, 43, 138); } 308 inline cv::viz::Color cv::viz::Color::apricot() { return Color(177, 206, 251); } 309 inline cv::viz::Color cv::viz::Color::turquoise() { return Color(208, 224, 64); } 310 inline cv::viz::Color cv::viz::Color::celestial_blue() { return Color(208, 151, 73); } 311 inline cv::viz::Color cv::viz::Color::amethyst() { return Color(204, 102, 153); } 312 313 inline cv::viz::Color cv::viz::Color::not_set() { return Color(-1, -1, -1); } 314 315 //! @endcond 316 317 #endif 318
