added makeTransformToGlobal() function

modules/viz/include/opencv2/viz.hpp

@@ -44,8 +44,8 @@
 //
 //M*/
 
-#ifndef __OPENCV_VIZ_HPP
-#define __OPENCV_VIZ_HPP
+#ifndef __OPENCV_VIZ_HPP__
+#define __OPENCV_VIZ_HPP__
 
 
 #include <opencv2/viz/types.hpp>
@@ -53,5 +53,14 @@
 #include <opencv2/viz/viz3d.hpp>
 
 
-#endif __OPENCV_VIZ_HPP
+namespace temp_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));
+
+    CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& up_vector);
+}
+
+
+#endif /* __OPENCV_VIZ_HPP__ */
 

modules/viz/src/precomp.hpp

@@ -154,8 +154,8 @@
 
 #include <q/viz3d_impl.hpp>
 #include <opencv2/core.hpp>
+#include <opencv2/viz.hpp>
 #include "opencv2/viz/widget_accessor.hpp"
-#include <opencv2/viz/widgets.hpp>
 #include <opencv2/calib3d.hpp>
 
 namespace temp_viz

modules/viz/src/viz.cpp

-#include "precomp.hpp"
+#include "precomp.hpp"
\ No newline at end of file
+
+
+cv::Affine3f temp_viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin)
+{
+    Affine3f::Mat3 R;
+    R.val[0] = axis_x.val[0];
+    R.val[3] = axis_x.val[1];
+    R.val[6] = axis_x.val[2];
+
+    R.val[1] = axis_y.val[0];
+    R.val[4] = axis_y.val[1];
+    R.val[7] = axis_y.val[2];
+
+    R.val[2] = axis_z.val[0];
+    R.val[5] = axis_z.val[1];
+    R.val[8] = axis_z.val[2];
+
+    return Affine3f(R, origin);
+}