Viz initial backport, compilation fixes, moved viz/viz.hpp header according to 2.4 style

CMakeLists.txt

@@ -128,6 +128,7 @@ OCV_OPTION(WITH_1394           "Include IEEE1394 support"                    ON
 OCV_OPTION(WITH_AVFOUNDATION   "Use AVFoundation for Video I/O"              ON   IF IOS)
 OCV_OPTION(WITH_CARBON         "Use Carbon for UI instead of Cocoa"          OFF  IF APPLE )
 OCV_OPTION(WITH_CUDA           "Include NVidia Cuda Runtime support"         ON   IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) )
+OCV_OPTION(WITH_VTK            "Include VTK library support (and build opencv_viz module eiher)"             ON  IF (NOT ANDROID AND NOT IOS) )
 OCV_OPTION(WITH_CUFFT          "Include NVidia Cuda Fast Fourier Transform (FFT) library support"            ON  IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) )
 OCV_OPTION(WITH_CUBLAS         "Include NVidia Cuda Basic Linear Algebra Subprograms (BLAS) library support" OFF IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT IOS) )
 OCV_OPTION(WITH_NVCUVID        "Include NVidia Video Decoding library support"                               OFF IF (CMAKE_VERSION VERSION_GREATER "2.8" AND NOT ANDROID AND NOT IOS AND NOT APPLE) )
@@ -471,6 +472,9 @@ if(WITH_OPENCL)
   include(cmake/OpenCVDetectOpenCL.cmake)
 endif()
 
+# --- VTK support ---
+include(cmake/OpenCVDetectVTK.cmake)
+
 # ----------------------------------------------------------------------------
 # Add CUDA libraries (needed for apps/tools, samples)
 # ----------------------------------------------------------------------------
@@ -705,6 +709,7 @@ else()
 endif()
 
 status("    OpenGL support:" HAVE_OPENGL THEN "YES (${OPENGL_LIBRARIES})" ELSE NO)
+status("    VTK support:" HAVE_VTK THEN "YES (ver ${VTK_VERSION})" ELSE NO)
 
 # ========================== MEDIA IO ==========================
 status("")

cmake/OpenCVDetectVTK.cmake

+if(NOT WITH_VTK OR ANDROID OR IOS)
+  return()
+endif()
+
+find_package(VTK 6.0 QUIET COMPONENTS vtkRenderingCore vtkInteractionWidgets vtkInteractionStyle vtkIOLegacy vtkIOPLY vtkRenderingFreeType vtkRenderingLOD vtkFiltersTexture vtkIOExport NO_MODULE)
+
+if(NOT DEFINED VTK_FOUND OR NOT VTK_FOUND)
+  find_package(VTK 5.10 QUIET COMPONENTS vtkCommon vtkFiltering vtkRendering vtkWidgets vtkImaging NO_MODULE)
+endif()
+
+if(NOT DEFINED VTK_FOUND OR NOT VTK_FOUND)
+  find_package(VTK 5.8 QUIET COMPONENTS vtkCommon vtkFiltering vtkRendering vtkWidgets vtkImaging NO_MODULE)
+endif()
+
+if(VTK_FOUND)
+  set(HAVE_VTK ON)
+  message(STATUS "Found VTK ver. ${VTK_VERSION} (usefile: ${VTK_USE_FILE})")
+else()
+  set(HAVE_VTK OFF)
+  message(STATUS "VTK is not found. Please set -DVTK_DIR in CMake to VTK build directory, or set $VTK_DIR enviroment variable to VTK install subdirectory with VTKConfig.cmake file (for windows)")
+endif()

doc/tutorials/tutorials.rst

@@ -186,6 +186,21 @@ As always, we would be happy to hear your comments and receive your contribution
                     :width:  80pt
                     :alt: gpu icon
 
+*  :ref:`Table-Of-Content-Viz`
+
+   .. tabularcolumns:: m{100pt} m{300pt}
+   .. cssclass:: toctableopencv
+
+   =========== =======================================================
+      |Viz|     These tutorials show how to use Viz module effectively.
+
+   =========== =======================================================
+
+     .. |Viz| image:: images/viz.jpg
+                   :height: 80pt
+                   :width:  80pt
+                   :alt: viz icon
+
 *  :ref:`Table-Of-Content-General`
 
       .. tabularcolumns:: m{100pt} m{300pt}
@@ -221,4 +236,5 @@ As always, we would be happy to hear your comments and receive your contribution
    gpu/table_of_content_gpu/table_of_content_gpu
    contrib/table_of_content_contrib/table_of_content_contrib
    ios/table_of_content_ios/table_of_content_ios
+   viz/table_of_content_viz/table_of_content_viz
    general/table_of_content_general/table_of_content_general

doc/tutorials/viz/creating_widgets/creating_widgets.rst

+.. _creating_widgets:
+
+Creating Widgets
+****************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Create your own widgets using WidgetAccessor and VTK.
+  * Show your widget in the visualization window.
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/creating_widgets.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <opencv2/viz/widget_accessor.hpp>
+    #include <iostream>
+
+    #include <vtkPoints.h>
+    #include <vtkTriangle.h>
+    #include <vtkCellArray.h>
+    #include <vtkPolyData.h>
+    #include <vtkPolyDataMapper.h>
+    #include <vtkIdList.h>
+    #include <vtkActor.h>
+    #include <vtkProp.h>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+     * @class WTriangle
+     * @brief Defining our own 3D Triangle widget
+     */
+    class WTriangle : public viz::Widget3D
+    {
+        public:
+            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
+    };
+
+    /**
+     * @function WTriangle::WTriangle
+     */
+    WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
+    {
+        // Create a triangle
+        vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+        points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
+        points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
+        points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
+
+        vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
+        triangle->GetPointIds()->SetId(0,0);
+        triangle->GetPointIds()->SetId(1,1);
+        triangle->GetPointIds()->SetId(2,2);
+
+        vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
+        cells->InsertNextCell(triangle);
+
+        // Create a polydata object
+        vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+
+        // Add the geometry and topology to the polydata
+        polyData->SetPoints(points);
+        polyData->SetPolys(cells);
+
+        // Create mapper and actor
+        vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    #if VTK_MAJOR_VERSION <= 5
+        mapper->SetInput(polyData);
+    #else
+        mapper->SetInputData(polyData);
+    #endif
+
+        vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+        actor->SetMapper(mapper);
+
+        // Store this actor in the widget in order that visualizer can access it
+        viz::WidgetAccessor::setProp(*this, actor);
+
+        // Set the color of the widget. This has to be called after WidgetAccessor.
+        setColor(color);
+    }
+
+    /**
+     * @function main
+     */
+    int main()
+    {
+        /// Create a window
+        viz::Viz3d myWindow("Creating Widgets");
+
+        /// Create a triangle widget
+        WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
+
+        /// Show widget in the visualizer window
+        myWindow.showWidget("TRIANGLE", tw);
+
+        /// Start event loop
+        myWindow.spin();
+
+        return 0;
+    }
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Extend Widget3D class to create a new 3D widget.
+
+.. code-block:: cpp
+
+    class WTriangle : public viz::Widget3D
+    {
+        public:
+            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
+    };
+
+* Assign a VTK actor to the widget.
+
+.. code-block:: cpp
+
+    // Store this actor in the widget in order that visualizer can access it
+    viz::WidgetAccessor::setProp(*this, actor);
+
+* Set color of the widget.
+
+.. code-block:: cpp
+
+    // Set the color of the widget. This has to be called after WidgetAccessor.
+    setColor(color);
+
+* Construct a triangle widget and display it in the window.
+
+.. code-block:: cpp
+
+    /// Create a triangle widget
+    WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
+
+    /// Show widget in the visualizer window
+    myWindow.showWidget("TRIANGLE", tw);
+
+Results
+=======
+
+Here is the result of the program.
+
+.. image:: images/red_triangle.png
+    :alt: Creating Widgets
+    :align: center

doc/tutorials/viz/launching_viz/launching_viz.rst

+.. _launching_viz:
+
+Launching Viz
+*************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Open a visualization window.
+  * Access a window by its name.
+  * Start event loop.
+  * Start event loop for a given amount of time.
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/launching_viz.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <iostream>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+    * @function main
+    */
+    int main()
+    {
+        /// Create a window
+        viz::Viz3d myWindow("Viz Demo");
+
+        /// Start event loop
+        myWindow.spin();
+
+        /// Event loop is over when pressed q, Q, e, E
+        cout << "First event loop is over" << endl;
+
+        /// Access window via its name
+        viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
+
+        /// Start event loop
+        sameWindow.spin();
+
+        /// Event loop is over when pressed q, Q, e, E
+        cout << "Second event loop is over" << endl;
+
+        /// Event loop is over when pressed q, Q, e, E
+        /// Start event loop once for 1 millisecond
+        sameWindow.spinOnce(1, true);
+        while(!sameWindow.wasStopped())
+        {
+            /// Interact with window
+
+            /// Event loop for 1 millisecond
+            sameWindow.spinOnce(1, true);
+        }
+
+        /// Once more event loop is stopped
+        cout << "Last event loop is over" << endl;
+        return 0;
+    }
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Viz Demo");
+
+* Start event loop. This event loop will run until user terminates it by pressing **e**, **E**, **q**, **Q**.
+
+.. code-block:: cpp
+
+    /// Start event loop
+    myWindow.spin();
+
+* Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly the same with **myWindow**. If the name does not exist, a new window is created.
+
+.. code-block:: cpp
+
+    /// Access window via its name
+    viz::Viz3d sameWindow = viz::get("Viz Demo");
+
+* Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping. Inside the while loop, user can execute other statements including those which interact with the window.
+
+.. code-block:: cpp
+
+    /// Event loop is over when pressed q, Q, e, E
+    /// Start event loop once for 1 millisecond
+    sameWindow.spinOnce(1, true);
+    while(!sameWindow.wasStopped())
+    {
+        /// Interact with window
+
+        /// Event loop for 1 millisecond
+        sameWindow.spinOnce(1, true);
+    }
+
+Results
+=======
+
+Here is the result of the program.
+
+.. image:: images/window_demo.png
+    :alt: Launching Viz
+    :align: center

doc/tutorials/viz/table_of_content_viz/table_of_content_viz.rst

+.. _Table-Of-Content-Viz:
+
+**OpenCV Viz**
+-----------------------------------------------------------
+
+.. include:: ../../definitions/tocDefinitions.rst
+
++
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ================== ===============================================================================
+   |VizLaunchingViz|   **Title:** :ref:`launching_viz`
+
+                       *Compatibility:* > OpenCV 3.0.0
+
+                       *Author:* Ozan Tonkal
+
+                       You will learn how to launch a viz window.
+
+  ================== ===============================================================================
+
+  .. |VizLaunchingViz| image:: ../launching_viz/images/window_demo.png
+                         :height: 120pt
+                         :width:  90pt
+
++
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ================ ============================================================================
+    |WidgetPose|    **Title:** :ref:`widget_pose`
+
+                    *Compatibility:* > OpenCV 3.0.0
+
+                    *Author:* Ozan Tonkal
+
+                    You will learn how to change pose of a widget.
+
+  ================ ============================================================================
+
+  .. |WidgetPose|  image:: ../widget_pose/images/widgetpose.png
+                        :height: 90pt
+                        :width:  90pt
+
++
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ==================  ============================================================================
+   |Transformations|   **Title:** :ref:`transformations`
+
+                       *Compatibility:* > OpenCV 3.0.0
+
+                       *Author:* Ozan Tonkal
+
+                       You will learn how to transform between global and camera frames.
+
+  ==================  ============================================================================
+
+  .. |Transformations| image:: ../transformations/images/global_view_point.png
+                           :height: 120pt
+                           :width:  90pt
+
++
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ==================  ============================================================================
+   |CreatingWidgets|   **Title:** :ref:`creating_widgets`
+
+                       *Compatibility:* > OpenCV 3.0.0
+
+                       *Author:* Ozan Tonkal
+
+                       You will learn how to create your own widgets.
+
+  ==================  ============================================================================
+
+  .. |CreatingWidgets| image:: ../creating_widgets/images/red_triangle.png
+                            :height: 120pt
+                            :width:  90pt
+
+.. raw:: latex
+
+   \pagebreak
+
+.. toctree::
+   :hidden:
+
+   ../launching_viz/launching_viz
+   ../widget_pose/widget_pose
+   ../transformations/transformations
+   ../creating_widgets/creating_widgets

doc/tutorials/viz/transformations/transformations.rst

+.. _transformations:
+
+Transformations
+***************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * How to use makeTransformToGlobal to compute pose
+  * How to use makeCameraPose and Viz3d::setViewerPose
+  * How to visualize camera position by axes and by viewing frustum
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/transformations.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <iostream>
+    #include <fstream>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+     * @function cvcloud_load
+     * @brief load bunny.ply
+     */
+    Mat cvcloud_load()
+    {
+        Mat cloud(1, 1889, CV_32FC3);
+        ifstream ifs("bunny.ply");
+
+        string str;
+        for(size_t i = 0; i < 12; ++i)
+            getline(ifs, str);
+
+        Point3f* data = cloud.ptr<cv::Point3f>();
+        float dummy1, dummy2;
+        for(size_t i = 0; i < 1889; ++i)
+            ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
+
+        cloud *= 5.0f;
+        return cloud;
+    }
+
+    /**
+     * @function main
+     */
+    int main(int argn, char **argv)
+    {
+        if (argn < 2)
+        {
+            cout << "Usage: " << endl << "./transformations [ G | C ]" << endl;
+            return 1;
+        }
+
+        bool camera_pov = (argv[1][0] == 'C');
+
+        /// Create a window
+        viz::Viz3d myWindow("Coordinate Frame");
+
+        /// Add coordinate axes
+        myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+        /// Let's assume camera has the following properties
+        Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
+
+        /// We can get the pose of the cam using makeCameraPose
+        Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+
+        /// We can get the transformation matrix from camera coordinate system to global using
+        /// - makeTransformToGlobal. We need the axes of the camera
+        Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
+
+        /// Create a cloud widget.
+        Mat bunny_cloud = cvcloud_load();
+        viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+
+        /// Pose of the widget in camera frame
+        Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
+        /// Pose of the widget in global frame
+        Affine3f cloud_pose_global = transform * cloud_pose;
+
+        /// Visualize camera frame
+        if (!camera_pov)
+        {
+            viz::WCameraPosition cpw(0.5); // Coordinate axes
+            viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
+            myWindow.showWidget("CPW", cpw, cam_pose);
+            myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+        }
+
+        /// Visualize widget
+        myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+        /// Set the viewer pose to that of camera
+        if (camera_pov)
+            myWindow.setViewerPose(cam_pose);
+
+        /// Start event loop.
+        myWindow.spin();
+
+        return 0;
+    }
+
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a visualization window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Transformations");
+
+* Get camera pose from camera position, camera focal point and y direction.
+
+.. code-block:: cpp
+
+    /// Let's assume camera has the following properties
+    Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
+
+    /// We can get the pose of the cam using makeCameraPose
+    Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+
+* Obtain transform matrix knowing the axes of camera coordinate system.
+
+.. code-block:: cpp
+
+    /// We can get the transformation matrix from camera coordinate system to global using
+    /// - makeTransformToGlobal. We need the axes of the camera
+    Affine3f transform = viz::makeTransformToGlobal(Vec3f(0.0f,-1.0f,0.0f), Vec3f(-1.0f,0.0f,0.0f), Vec3f(0.0f,0.0f,-1.0f), cam_pos);
+
+* Create a cloud widget from bunny.ply file
+
+.. code-block:: cpp
+
+    /// Create a cloud widget.
+    Mat bunny_cloud = cvcloud_load();
+    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+
+* Given the pose in camera coordinate system, estimate the global pose.
+
+.. code-block:: cpp
+
+    /// Pose of the widget in camera frame
+    Affine3f cloud_pose = Affine3f().translate(Vec3f(0.0f,0.0f,3.0f));
+    /// Pose of the widget in global frame
+    Affine3f cloud_pose_global = transform * cloud_pose;
+
+* If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
+
+.. code-block:: cpp
+
+    /// Visualize camera frame
+    if (!camera_pov)
+    {
+        viz::WCameraPosition cpw(0.5); // Coordinate axes
+        viz::WCameraPosition cpw_frustum(Vec2f(0.889484, 0.523599)); // Camera frustum
+        myWindow.showWidget("CPW", cpw, cam_pose);
+        myWindow.showWidget("CPW_FRUSTUM", cpw_frustum, cam_pose);
+    }
+
+* Visualize the cloud widget with the estimated global pose
+
+.. code-block:: cpp
+
+    /// Visualize widget
+    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+* If the view point is set to be camera's, set viewer pose to **cam_pose**.
+
+.. code-block:: cpp
+
+    /// Set the viewer pose to that of camera
+    if (camera_pov)
+        myWindow.setViewerPose(cam_pose);
+
+Results
+=======
+
+#. Here is the result from the camera point of view.
+
+    .. image:: images/camera_view_point.png
+        :alt: Camera Viewpoint
+        :align: center
+
+#. Here is the result from global point of view.
+
+    .. image:: images/global_view_point.png
+        :alt: Global Viewpoint
+        :align: center

doc/tutorials/viz/widget_pose/widget_pose.rst

+.. _widget_pose:
+
+Pose of a widget
+****************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Add widgets to the visualization window
+  * Use Affine3 to set pose of a widget
+  * Rotating and translating a widget along an axis
+
+Code
+====
+
+You can download the code from :download:`here <../../../../samples/cpp/tutorial_code/viz/widget_pose.cpp>`.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz/vizcore.hpp>
+    #include <opencv2/calib3d/calib3d.hpp>
+    #include <iostream>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+     * @function main
+     */
+    int main()
+    {
+        /// Create a window
+        viz::Viz3d myWindow("Coordinate Frame");
+
+        /// Add coordinate axes
+        myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+        /// Add line to represent (1,1,1) axis
+        viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
+        axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+        myWindow.showWidget("Line Widget", axis);
+
+        /// Construct a cube widget
+        viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+        cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+
+        /// Display widget (update if already displayed)
+        myWindow.showWidget("Cube Widget", cube_widget);
+
+        /// Rodrigues vector
+        Mat rot_vec = Mat::zeros(1,3,CV_32F);
+        float translation_phase = 0.0, translation = 0.0;
+        while(!myWindow.wasStopped())
+        {
+            /* Rotation using rodrigues */
+            /// Rotate around (1,1,1)
+            rot_vec.at<float>(0,0) += CV_PI * 0.01f;
+            rot_vec.at<float>(0,1) += CV_PI * 0.01f;
+            rot_vec.at<float>(0,2) += CV_PI * 0.01f;
+
+            /// Shift on (1,1,1)
+            translation_phase += CV_PI * 0.01f;
+            translation = sin(translation_phase);
+
+            Mat rot_mat;
+            Rodrigues(rot_vec, rot_mat);
+
+            /// Construct pose
+            Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+
+            myWindow.setWidgetPose("Cube Widget", pose);
+
+            myWindow.spinOnce(1, true);
+        }
+
+        return 0;
+    }
+
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a visualization window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+* Show coordinate axes in the window using CoordinateSystemWidget.
+
+.. code-block:: cpp
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+* Display a line representing the axis (1,1,1).
+
+.. code-block:: cpp
+
+    /// Add line to represent (1,1,1) axis
+    viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
+    axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Line Widget", axis);
+
+* Construct a cube.
+
+.. code-block:: cpp
+
+    /// Construct a cube widget
+    viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+    cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Cube Widget", cube_widget);
+
+* Create rotation matrix from rodrigues vector
+
+.. code-block:: cpp
+
+    /// Rotate around (1,1,1)
+    rot_vec.at<float>(0,0) += CV_PI * 0.01f;
+    rot_vec.at<float>(0,1) += CV_PI * 0.01f;
+    rot_vec.at<float>(0,2) += CV_PI * 0.01f;
+
+    ...
+
+    Mat rot_mat;
+    Rodrigues(rot_vec, rot_mat);
+
+* Use Affine3f to set pose of the cube.
+
+.. code-block:: cpp
+
+    /// Construct pose
+    Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+    myWindow.setWidgetPose("Cube Widget", pose);
+
+* Animate the rotation using wasStopped and spinOnce
+
+.. code-block:: cpp
+
+    while(!myWindow.wasStopped())
+    {
+        ...
+
+        myWindow.spinOnce(1, true);
+    }
+
+Results
+=======
+
+Here is the result of the program.
+
+.. raw:: html
+
+  <div align="center">
+  <iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
+  </div>

modules/core/include/opencv2/core/core.hpp

@@ -892,6 +892,7 @@ public:
 typedef Point_<int> Point2i;
 typedef Point2i Point;
 typedef Size_<int> Size2i;
+typedef Size_<double> Size2d;
 typedef Size2i Size;
 typedef Rect_<int> Rect;
 typedef Point_<float> Point2f;

modules/viz/CMakeLists.txt

+if(NOT WITH_VTK OR NOT DEFINED HAVE_VTK OR NOT HAVE_VTK)
+  ocv_module_disable(viz)
+endif()
+
+include(${VTK_USE_FILE})
+set(the_description "Viz")
+ocv_define_module(viz opencv_core ${VTK_LIBRARIES})
+
+if(APPLE AND BUILD_opencv_viz)
+  target_link_libraries(opencv_viz "-framework Cocoa")
+endif()

modules/viz/doc/viz.rst

+***********************
+viz. 3D Visualizer
+***********************
+
+.. toctree::
+    :maxdepth: 2
+
+    viz3d.rst
+    widget.rst

modules/viz/include/opencv2/viz/viz3d.hpp

+/*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
+//
+//M*/
+
+#ifndef __OPENCV_VIZ_VIZ3D_HPP__
+#define __OPENCV_VIZ_VIZ3D_HPP__
+
+#if !defined YES_I_AGREE_THAT_VIZ_API_IS_NOT_STABLE_NOW_AND_BINARY_COMPARTIBILITY_WONT_BE_SUPPORTED && !defined CVAPI_EXPORTS
+    //#error "Viz is in beta state now. Please define macro above to use it"
+#endif
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/viz/types.hpp>
+#include <opencv2/viz/widgets.hpp>
+
+namespace cv
+{
+    namespace viz
+    {
+        class CV_EXPORTS Viz3d
+        {
+        public:
+            typedef cv::viz::Color Color;
+            typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
+            typedef void (*MouseCallback)(const MouseEvent&, void*);
+
+            Viz3d(const String& window_name = String());
+            Viz3d(const Viz3d&);
+            Viz3d& operator=(const Viz3d&);
+            ~Viz3d();
+
+            void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity());
+            void removeWidget(const String &id);
+            Widget getWidget(const String &id) const;
+            void removeAllWidgets();
+
+            void showImage(InputArray image, const Size& window_size = Size(-1, -1));
+
+            void setWidgetPose(const String &id, const Affine3d &pose);
+            void updateWidgetPose(const String &id, const Affine3d &pose);
+            Affine3d getWidgetPose(const String &id) const;
+
+            void setCamera(const Camera &camera);
+            Camera getCamera() const;
+            Affine3d getViewerPose();
+            void setViewerPose(const Affine3d &pose);
+
+            void resetCameraViewpoint(const String &id);
+            void resetCamera();
+
+            void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
+            void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
+
+            Size getWindowSize() const;
+            void setWindowSize(const Size &window_size);
+            String getWindowName() const;
+            void saveScreenshot(const String &file);
+            void setWindowPosition(const Point& window_position);
+            void setFullScreen(bool mode = true);
+            void setBackgroundColor(const Color& color = Color::black(), const Color& color2 = Color::not_set());
+            void setBackgroundTexture(InputArray image = noArray());
+            void setBackgroundMeshLab();
+
+            void spin();
+            void spinOnce(int time = 1, bool force_redraw = false);
+            bool wasStopped() const;
+            void close();
+
+            void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
+            void registerMouseCallback(MouseCallback callback, void* cookie = 0);
+
+            void setRenderingProperty(const String &id, int property, double value);
+            double getRenderingProperty(const String &id, int property);
+
+            void setRepresentation(int representation);
+        private:
+
+            struct VizImpl;
+            VizImpl* impl_;
+
+            void create(const String &window_name);
+            void release();
+
+            friend class VizStorage;
+        };
+
+    } /* namespace viz */
+} /* namespace cv */
+
+#endif

modules/viz/include/opencv2/viz/vizcore.hpp

+/*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
+//
+//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 Affine3d makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin = Vec3d::all(0));
+
+        //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation)
+        CV_EXPORTS Affine3d makeCameraPose(const Vec3d& position, const Vec3d& focal_point, const Vec3d& y_dir);
+
+        //! retrieves a window by its name. If no window with such name, then it creates new.
+        CV_EXPORTS Viz3d getWindowByName(const String &window_name);
+
+        //! Unregisters all Viz windows from internal database. After it 'getWindowByName()' will create new windows instead 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));
+
+        //! 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); }
+
+
+        ///////////////////////////////////////////////////////////////////////////////////////////////
+        /// Read/write clouds. Supported formats: ply, xyz, obj and stl (readonly)
+
+        CV_EXPORTS void writeCloud(const String& file, InputArray cloud, InputArray colors = noArray(), InputArray normals = noArray(), bool binary = false);
+        CV_EXPORTS 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 Mesh readMesh(const String& file);
+
+        ///////////////////////////////////////////////////////////////////////////////////////////////
+        /// Read/write poses and trajectories
+
+        CV_EXPORTS bool readPose(const String& file, Affine3d& pose, const String& tag = "pose");
+        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
+        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
+        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
+
+        CV_EXPORTS void computeNormals(const Mesh& mesh, OutputArray normals);
+
+    } /* namespace viz */
+} /* namespace cv */
+
+#endif /* __OPENCV_VIZ_HPP__ */

modules/viz/include/opencv2/viz/widget_accessor.hpp

+/*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
+//
+//M*/
+
+#ifndef __OPENCV_VIZ_WIDGET_ACCESSOR_HPP__
+#define __OPENCV_VIZ_WIDGET_ACCESSOR_HPP__
+
+#include <opencv2/core/types_c.h>
+#include <vtkSmartPointer.h>
+#include <vtkProp.h>
+
+namespace cv
+{
+    namespace viz
+    {
+        class Widget;
+
+        //The class is only that depends on VTK in its interface.
+        //It is indended for those users who want to develop own widgets system using VTK library API.
+        struct CV_EXPORTS WidgetAccessor
+        {
+            static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
+            static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
+        };
+    }
+}
+
+#endif

modules/viz/src/interactor_style.hpp

+/*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
+//
+//M*/
+
+#ifndef __OPENCV_VIZ_INTERACTOR_STYLE_H__
+#define __OPENCV_VIZ_INTERACTOR_STYLE_H__
+
+namespace cv
+{
+    namespace viz
+    {
+        class InteractorStyle : public vtkInteractorStyleTrackballCamera
+        {
+        public:
+            static InteractorStyle *New();
+            virtual ~InteractorStyle() {}
+
+            // this macro defines Superclass, the isA functionality and the safe downcast method
+            vtkTypeMacro(InteractorStyle, vtkInteractorStyleTrackballCamera)
+
+            /** \brief Initialization routine. Must be called before anything else. */
+            virtual void Initialize();
+
+            void setWidgetActorMap(const Ptr<WidgetActorMap>& actors) { widget_actor_map_ = actors; }
+            void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0);
+            void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void * cookie = 0);
+            void saveScreenshot(const String &file);
+            void exportScene(const String &file);
+
+        private:
+            /** \brief Set to true after initialization is complete. */
+            bool init_;
+
+            Ptr<WidgetActorMap> widget_actor_map_;
+
+            Vec2i win_size_;
+            Vec2i win_pos_;
+            Vec2i max_win_size_;
+
+            /** \brief Interactor style internal method. Gets called whenever a key is pressed. */
+            virtual void OnChar();
+
+            // Keyboard events
+            virtual void OnKeyDown();
+            virtual void OnKeyUp();
+
+            // mouse button events
+            virtual void OnMouseMove();
+            virtual void OnLeftButtonDown();
+            virtual void OnLeftButtonUp();
+            virtual void OnMiddleButtonDown();
+            virtual void OnMiddleButtonUp();
+            virtual void OnRightButtonDown();
+            virtual void OnRightButtonUp();
+            virtual void OnMouseWheelForward();
+            virtual void OnMouseWheelBackward();
+
+            /** \brief Interactor style internal method. Gets called periodically if a timer is set. */
+            virtual void OnTimer();
+
+            void zoomIn();
+            void zoomOut();
+
+            /** \brief True if we're using red-blue colors for anaglyphic stereo, false if magenta-green. */
+            bool stereo_anaglyph_mask_default_;
+
+            void (*keyboardCallback_)(const KeyboardEvent&, void*);
+            void *keyboard_callback_cookie_;
+
+            void (*mouseCallback_)(const MouseEvent&, void*);
+            void *mouse_callback_cookie_;
+
+            int getModifiers();
+        };
+    }
+}
+
+#endif

modules/viz/src/vizimpl.hpp

+/*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
+//
+//M*/
+
+#ifndef __OPENCV_VIZ_VIZ3D_IMPL_HPP__
+#define __OPENCV_VIZ_VIZ3D_IMPL_HPP__
+
+struct cv::viz::Viz3d::VizImpl
+{
+public:
+    typedef Viz3d::KeyboardCallback KeyboardCallback;
+    typedef Viz3d::MouseCallback MouseCallback;
+
+    int ref_counter;
+
+    VizImpl(const String &name);
+    virtual ~VizImpl() {};
+
+    bool wasStopped() const;
+    void close();
+
+    void spin();
+    void spinOnce(int time = 1, bool force_redraw = false);
+
+    void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity());
+    void removeWidget(const String &id);
+    Widget getWidget(const String &id) const;
+    void removeAllWidgets();
+
+    void showImage(InputArray image, const Size& window_size);
+
+    void setWidgetPose(const String &id, const Affine3d &pose);
+    void updateWidgetPose(const String &id, const Affine3d &pose);
+    Affine3d getWidgetPose(const String &id) const;
+
+    void setRepresentation(int representation);
+
+    void setCamera(const Camera &camera);
+    Camera getCamera() const;
+
+    /** \brief Reset the camera to a given widget */
+    void resetCameraViewpoint(const String& id);
+    void resetCamera();
+
+    void setViewerPose(const Affine3d &pose);
+    Affine3d getViewerPose();
+
+    void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
+    void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
+
+    void saveScreenshot(const String &file);
+    void setWindowPosition(const Point& position);
+    Size getWindowSize() const;
+    void setWindowSize(const Size& window_size);
+    void setFullScreen(bool mode);
+    String getWindowName() const;
+    void setBackgroundColor(const Color& color, const Color& color2);
+    void setBackgroundTexture(InputArray image);
+    void setBackgroundMeshLab();
+
+    void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
+    void registerMouseCallback(MouseCallback callback, void* cookie = 0);
+
+private:
+    struct TimerCallback : public vtkCommand
+    {
+        static TimerCallback* New() { return new TimerCallback; }
+        virtual void Execute(vtkObject* caller, unsigned long event_id, void* cookie);
+        int timer_id;
+    };
+
+    struct ExitCallback : public vtkCommand
+    {
+        static ExitCallback* New() { return new ExitCallback; }
+        virtual void Execute(vtkObject*, unsigned long event_id, void*);
+        VizImpl* viz;
+    };
+
+    mutable bool spin_once_state_;
+    vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
+
+    vtkSmartPointer<vtkRenderWindow> window_;
+    String window_name_;
+    Vec2i window_position_;
+
+    vtkSmartPointer<TimerCallback> timer_callback_;
+    vtkSmartPointer<ExitCallback> exit_callback_;
+
+    vtkSmartPointer<vtkRenderer> renderer_;
+    vtkSmartPointer<InteractorStyle> style_;
+    Ptr<WidgetActorMap> widget_actor_map_;
+
+    bool removeActorFromRenderer(vtkSmartPointer<vtkProp> actor);
+    void recreateRenderWindow();
+};
+
+#endif

modules/viz/test/test_main.cpp

+#include "test_precomp.hpp"
+
+CV_TEST_MAIN("viz")