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// Authors:
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//M*/

#ifndef OPENCV_VIZCORE_HPP
#define OPENCV_VIZCORE_HPP

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

namespace cv
{
    namespace viz
    {

//! @addtogroup viz
//! @{

        /** @brief Takes coordinate frame data and builds transform to global coordinate frame.

        @param axis_x X axis vector in global coordinate frame.
        @param axis_y Y axis vector in global coordinate frame.
        @param axis_z Z axis vector in global coordinate frame.
        @param origin Origin of the coordinate frame in global coordinate frame.

        @return An affine transform that describes transformation between global coordinate frame
        and a given coordinate frame.
        The returned transforms can transform a point in the given coordinate frame to the global
        coordinate frame.
         */
        CV_EXPORTS Affine3d makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin = Vec3d::all(0));

        /** @brief Constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more
        information).

        @param position Position of the camera in global coordinate frame.
        @param focal_point Focal point of the camera in global coordinate frame.
        @param y_dir Up vector of the camera in global coordinate frame.

        This function returns pose of the camera in global coordinate frame.
         */
        CV_EXPORTS Affine3d makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir);

        /** @brief Retrieves a window by its name.

        @param window_name Name of the window that is to be retrieved.

        This function returns a Viz3d object with the given name.

        @note If the window with that name already exists, that window is returned. Otherwise, new window is
        created with the given name, and it is returned.


         */
        CV_EXPORTS Viz3d getWindowByName(const String &window_name);

        //! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead of getting existing from the database.
        CV_EXPORTS void unregisterAllWindows();

        //! Displays image in specified window
        CV_EXPORTS Viz3d imshow(const String& window_name, InputArray image, const Size& window_size = Size(-1, -1));

        /** @brief Checks **float/double** value for nan.

        @param x return true if nan.
         */
        inline bool isNan(float x)
        {
            unsigned int *u = reinterpret_cast<unsigned int *>(&x);
            return ((u[0] & 0x7f800000) == 0x7f800000) && (u[0] & 0x007fffff);
        }

        /** @brief Checks **float/double** value for nan.

        @param x return true if 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);
        }

        /** @brief Checks **float/double** value for nan.

        @param v return true if **any** of the elements of the vector is *nan*.
         */
        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]); }

        /** @brief Checks **float/double** value for nan.

        @param p return true if **any** of the elements of the point is *nan*.
         */
        template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
        { return isNan(p.x) || isNan(p.y) || isNan(p.z); }


        ///////////////////////////////////////////////////////////////////////////////////////////////
        /// Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly)

        /**
         * @param file Filename with extension. Supported formats: PLY, XYZ and OBJ.
         * @param cloud  Supported depths: CV_32F and CV_64F. Supported channels: 3 and 4.
         * @param colors Used by PLY format only. Supported depth: CV_8U. Supported channels: 1, 3 and 4.
         * @param normals Used by PLY and OBJ format only. Supported depths: CV_32F and CV_64F.
         *                Supported channels: 3 and 4.
         * @param binary Used only for PLY format.
         */
        CV_EXPORTS_W void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false);

        /**
         * @param file Filename with extension. Supported formats: PLY, XYZ, OBJ and STL.
         * @param colors Used by PLY and STL formats only.
         * @param normals Used by PLY, OBJ and STL formats only.
         * @return A mat containing the point coordinates with depth CV_32F or CV_64F and number of
         *         channels 3 or 4 with only 1 row.
         */
        CV_EXPORTS_W Mat  readCloud (const String& file, OutputArray colors = noArray(), OutputArray normals = noArray());

        ///////////////////////////////////////////////////////////////////////////////////////////////
        /// Reads mesh. Only ply format is supported now and no texture load support

        CV_EXPORTS_W Mesh readMesh(const String& file);

        ///////////////////////////////////////////////////////////////////////////////////////////////
        /// Read/write poses and trajectories

        /**
         * @param file Filename of type supported by cv::FileStorage.
         * @param pose Output matrix.
         * @param tag Name of the pose in the file.
         */
        CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose");
        /**
         * @param file Filename.
         * @param pose Input matrix.
         * @param tag Name of the pose to be saved into the given file.
         */
        CV_EXPORTS void writePose(const String& file, const Affine3d& pose, const String& tag = "pose");

        /** takes vector<Affine3<T>> with T = float/dobule and writes to a sequence of files with given filename format
         * @param traj Trajectory containing a list of poses. It can be
         *          - std::vector<cv::Mat>, each cv::Mat is of type CV_32F16 or CV_64FC16
         *          - std::vector<cv::Affine3f>, std::vector<cv::Affine3d>
         *          - cv::Mat of type CV_32FC16 OR CV_64F16
         * @param files_format Format specifier string for constructing filenames.
         *                     The only placeholder in the string should support `int`.
         * @param start The initial counter for files_format.
         * @param tag Name of the matrix in the file.
         */
        CV_EXPORTS void writeTrajectory(InputArray traj, const String& files_format = "pose%05d.xml", int start = 0, const String& tag = "pose");

        /** takes vector<Affine3<T>> with T = float/dobule and loads poses from sequence of files
         *
         * @param traj Output array containing a lists of poses. It can be
         *             - std::vector<cv::Affine3f>, std::vector<cv::Affine3d>
         *             - cv::Mat
         * @param files_format Format specifier string for constructing filenames.
         *                     The only placeholder in the string should support `int`.
         * @param start The initial counter for files_format. It must be greater than or equal to 0.
         * @param end The final  counter for files_format.
         * @param tag Name of the matrix in the file.
         */
        CV_EXPORTS void readTrajectory(OutputArray traj, const String& files_format = "pose%05d.xml", int start = 0, int end = INT_MAX, const String& tag = "pose");


        ///////////////////////////////////////////////////////////////////////////////////////////////
        /** Computing normals for mesh
         * @param mesh Input mesh.
         * @param normals Normals at very point in the mesh of type CV_64FC3.
         */
        CV_EXPORTS_W void computeNormals(const Mesh& mesh, OutputArray normals);

//! @}

    } /* namespace viz */
} /* namespace cv */

#endif /* OPENCV_VIZCORE_HPP */
