Merge pull request #20 from ozantonkal/low_order_tasks

Low order tasks

doc/tutorials/viz/viz.rst

+.. _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 `here <../../../../samples/cpp/tutorial_code/viz/launching_viz.cpp>`_.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz.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::get("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

modules/viz/CMakeLists.txt

@@ -49,4 +49,3 @@ if(BUILD_opencv_viz)
       target_link_libraries(opencv_viz "-framework Cocoa")
   endif()
 endif()
-

modules/viz/doc/viz.rst

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

modules/viz/include/opencv2/viz.hpp

@@ -65,9 +65,10 @@ namespace cv
         //! 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));
 
-        //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation
+        //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation)
         CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& y_dir);
 
+        //! retrieves a window by its name
         CV_EXPORTS Viz3d get(const String &window_name);
 
         //! checks float value for Nan
@@ -92,6 +93,7 @@ namespace cv
         template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
         { return isNan(p.x) || isNan(p.y) || isNan(p.z); }
         
+        //! helper class that provides access by name infrastructure
         class CV_EXPORTS VizAccessor
         {
         public:
@@ -102,6 +104,7 @@ namespace cv
             void add(Viz3d window);
             void remove(const String &window_name);
             
+            //! window names automatically have Viz - prefix even though not provided by the users
             static void generateWindowName(const String &window_name, String &output);
             
         private:
@@ -112,8 +115,8 @@ namespace cv
             static bool is_instantiated_;
             static VizMap viz_map_;
         };
-    }
-}
+    } /* namespace viz */
+} /* namespace cv */
 
 
 #endif /* __OPENCV_VIZ_HPP__ */

modules/viz/include/opencv2/viz/types.hpp

@@ -39,6 +39,7 @@ namespace cv
             Mat cloud, colors;
             Mat polygons;
 
+            //! Loads mesh from a given ply file
             static cv::viz::Mesh3d loadMesh(const String& file);
             
         private:
@@ -52,14 +53,8 @@ namespace cv
             static const unsigned int Ctrl  = 2;
             static const unsigned int Shift = 4;
 
-            /** \brief Constructor
-              * \param[in] action    true for key was pressed, false for released
-              * \param[in] key_sym   the key-name that caused the action
-              * \param[in] key       the key code that caused the action
-              * \param[in] alt       whether the alt key was pressed at the time where this event was triggered
-              * \param[in] ctrl      whether the ctrl was pressed at the time where this event was triggered
-              * \param[in] shift     whether the shift was pressed at the time where this event was triggered
-              */
+            //! Create a keyboard event
+            //! - Note that action is true if key is pressed, false if released
             KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift);
 
             bool isAltPressed () const;

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

@@ -7,7 +7,6 @@
 #include <opencv2/core.hpp>
 #include <opencv2/viz/types.hpp>
 #include <opencv2/viz/widgets.hpp>
-#include <boost/concept_check.hpp>
 
 namespace cv
 {
@@ -25,18 +24,10 @@ namespace cv
             Viz3d& operator=(const Viz3d&);
             ~Viz3d();
 
-            void setBackgroundColor(const Color& color = Color::black());
-
-            //to refactor
-            bool addPolygonMesh(const Mesh3d& mesh, const String& id = "polygon");
-            bool updatePolygonMesh(const Mesh3d& mesh, const String& id = "polygon");
-            bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
-            bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon");
-
-
             void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
             void removeWidget(const String &id);
             Widget getWidget(const String &id) const;
+            void removeAllWidgets();
 
             void setWidgetPose(const String &id, const Affine3f &pose);
             void updateWidgetPose(const String &id, const Affine3f &pose);
@@ -47,13 +38,19 @@ namespace cv
             Affine3f getViewerPose();
             void setViewerPose(const Affine3f &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 (int x, int y);
+            void setFullScreen (bool mode);
+            void setBackgroundColor(const Color& color = Color::black());
 
             void spin();
             void spinOnce(int time = 1, bool force_redraw = false);
@@ -61,6 +58,16 @@ namespace cv
 
             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 setDesiredUpdateRate(double time);
+            double getDesiredUpdateRate();
+            
+            void setRepresentationToSurface();
+            void setRepresentationToWireframe();
+            void setRepresentationToPoints();
         private:
 
             struct VizImpl;

modules/viz/include/opencv2/viz/widgets.hpp

 #pragma once
 
 #include <opencv2/viz/types.hpp>
-#include <common.h>
-
 
 namespace cv
 {
@@ -14,19 +12,23 @@ namespace cv
         {
         public:
             Widget();
-            Widget(const Widget &other);
-            Widget& operator =(const Widget &other);
-
+            Widget(const Widget& other);
+            Widget& operator=(const Widget& other);
             ~Widget();
+            
+            //! Create a widget directly from ply file
+            static Widget fromPlyFile(const String &file_name);
+            
+            //! Rendering properties of this particular widget
+            void setRenderingProperty(int property, double value);
+            double getRenderingProperty(int property) const;
 
+            //! Casting between widgets
             template<typename _W> _W cast();
         private:
             class Impl;
             Impl *impl_;
             friend struct WidgetAccessor;
-
-            void create();
-            void release();
         };
 
         /////////////////////////////////////////////////////////////////////////////
@@ -41,7 +43,6 @@ namespace cv
             Affine3f getPose() const;
 
             void setColor(const Color &color);
-
         private:
             struct MatrixConverter;
 
@@ -61,9 +62,6 @@ namespace cv
         {
         public:
             LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
-
-            void setLineWidth(float line_width);
-            float getLineWidth();
         };
 
         class CV_EXPORTS PlaneWidget : public Widget3D
@@ -123,7 +121,9 @@ namespace cv
         class CV_EXPORTS GridWidget : public Widget3D
         {
         public:
+            //! Creates grid at the origin
             GridWidget(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
+            //! Creates grid based on the plane equation
             GridWidget(const Vec4f &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
             
         private:
@@ -160,7 +160,9 @@ namespace cv
         class CV_EXPORTS Image3DWidget : public Widget3D
         {
         public:
+            //! Creates 3D image at the origin
             Image3DWidget(const Mat &image, const Size &size);
+            //! Creates 3D image at a given position, pointing in the direction of the normal, and having the up_vector orientation
             Image3DWidget(const Vec3f &position, const Vec3f &normal, const Vec3f &up_vector, const Mat &image, const Size &size);
             
             void setImage(const Mat &image);
@@ -169,11 +171,14 @@ namespace cv
         class CV_EXPORTS CameraPositionWidget : public Widget3D
         {
         public:
+            //! Creates camera coordinate frame (axes) at the origin
             CameraPositionWidget(double scale = 1.0);
+            //! Creates frustum based on the intrinsic marix K at the origin
             CameraPositionWidget(const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+            //! Creates frustum based on the field of view at the origin
             CameraPositionWidget(const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
+            //! Creates frustum and display given image at the far plane
             CameraPositionWidget(const Matx33f &K, const Mat &img, double scale = 1.0, const Color &color = Color::white());
-            
         };
         
         class CV_EXPORTS TrajectoryWidget : public Widget3D
@@ -181,9 +186,12 @@ namespace cv
         public:
             enum {DISPLAY_FRAMES = 1, DISPLAY_PATH = 2};
             
+            //! Displays trajectory of the given path either by coordinate frames or polyline
             TrajectoryWidget(const std::vector<Affine3f> &path, int display_mode = TrajectoryWidget::DISPLAY_PATH, const Color &color = Color::white(), double scale = 1.0);
-            TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white()); // Camera frustums
-            TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white()); // Camera frustums
+            //! Displays trajectory of the given path by frustums
+            TrajectoryWidget(const std::vector<Affine3f> &path, const Matx33f &K, double scale = 1.0, const Color &color = Color::white());
+            //! Displays trajectory of the given path by frustums
+            TrajectoryWidget(const std::vector<Affine3f> &path, const Vec2f &fov, double scale = 1.0, const Color &color = Color::white());
             
         private:
             struct ApplyPath;
@@ -199,7 +207,9 @@ namespace cv
         class CV_EXPORTS CloudWidget : public Widget3D
         {
         public:
+            //! Each point in cloud is mapped to a color in colors
             CloudWidget(InputArray cloud, InputArray colors);
+            //! All points in cloud have the same color
             CloudWidget(InputArray cloud, const Color &color = Color::white());
 
         private:
@@ -211,7 +221,9 @@ namespace cv
         public:
             CloudCollectionWidget();
             
+            //! Each point in cloud is mapped to a color in colors
             void addCloud(InputArray cloud, InputArray colors, const Affine3f &pose = Affine3f::Identity());
+            //! All points in cloud have the same color
             void addCloud(InputArray cloud, const Color &color = Color::white(), const Affine3f &pose = Affine3f::Identity());
             
         private:

modules/viz/src/cloud_widgets.cpp

@@ -298,7 +298,7 @@ struct cv::viz::CloudCollectionWidget::CreateCloudWidget
         }
         
         vtkPolyData *data = vtkPolyData::SafeDownCast(mapper->GetInput());
-        CV_Assert(data);
+        CV_Assert("Cloud Widget without data" && data);
         
         vtkSmartPointer<vtkAppendPolyData> appendFilter = vtkSmartPointer<vtkAppendPolyData>::New();
         appendFilter->AddInputConnection(mapper->GetInput()->GetProducerPort());
@@ -357,7 +357,7 @@ void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, InputArray _col
     transform_filter->Update();
     
     vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert(actor);
+    CV_Assert("Incompatible widget type." && actor);
     
     Vec3d minmax(scalars->GetRange());
     CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);
@@ -392,7 +392,7 @@ void cv::viz::CloudCollectionWidget::addCloud(InputArray _cloud, const Color &co
     transform_filter->Update();
     
     vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert(actor);
+    CV_Assert("Incompatible widget type." && actor);
     
     Vec3d minmax(scalars->GetRange());
     CreateCloudWidget::createMapper(actor, transform_filter->GetOutput(), minmax);

modules/viz/src/common.h

@@ -8,20 +8,6 @@ namespace cv
 {
     namespace viz
     {
-        //CV_EXPORTS Eigen::Matrix4d vtkToEigen (vtkMatrix4x4* vtk_matrix);
-        //CV_EXPORTS Eigen::Vector2i worldToView (const Eigen::Vector4d &world_pt, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
-        //CV_EXPORTS void getViewFrustum (const Eigen::Matrix4d &view_projection_matrix, double planes[24]);
-
-    //    enum FrustumCull
-    //    {
-    //        PCL_INSIDE_FRUSTUM,
-    //        PCL_INTERSECT_FRUSTUM,
-    //        PCL_OUTSIDE_FRUSTUM
-    //    };
-
-        //CV_EXPORTS int cullFrustum (double planes[24], const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb);
-        //CV_EXPORTS float viewScreenArea (const Eigen::Vector3d &eye, const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Matrix4d &view_projection_matrix, int width, int height);
-
         enum RenderingProperties
         {
             VIZ_POINT_SIZE,

modules/viz/src/interactor_style.cpp

 #include "precomp.hpp"
-
 #include "interactor_style.h"
 
-//#include <q/visualization/vtk/vtkVertexBufferObjectMapper.h>
-
 using namespace cv;
 
 //////////////////////////////////////////////////////////////////////////////////////////////
@@ -152,17 +149,9 @@ void cv::viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const K
 void
 cv::viz::InteractorStyle::OnKeyDown ()
 {
-    if (!init_)
-    {
-        std::cout << "Interactor style not initialized. Please call Initialize () before continuing" << std::endl;
-        return;
-    }
-
-    if (!renderer_)
-    {
-        std::cout << "No renderer given! Use SetRendererCollection () before continuing." << std::endl;
-        return;
-    }
+    
+    CV_Assert("Interactor style not initialized. Please call Initialize () before continuing" && init_);
+    CV_Assert("No renderer given! Use SetRendererCollection () before continuing." && renderer_);
 
     FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
 
@@ -235,7 +224,7 @@ cv::viz::InteractorStyle::OnKeyDown ()
         {
             for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
             {
-                vtkSmartPointer<vtkActor> apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
+                vtkActor* apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
                 apart->GetProperty ()->SetRepresentationToPoints ();
             }
         }
@@ -258,15 +247,12 @@ cv::viz::InteractorStyle::OnKeyDown ()
         cam->GetFocalPoint (focal);
         cam->GetPosition (pos);
         cam->GetViewUp (view);
-#ifndef M_PI
-        # define M_PI   3.14159265358979323846     // pi
-#endif
 
         int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
         int *win_size = Interactor->GetRenderWindow ()->GetSize ();
         ofs_cam << clip[0]  << "," << clip[1]  << "/" << focal[0] << "," << focal[1] << "," << focal[2] << "/" <<
                                pos[0]   << "," << pos[1]   << "," << pos[2]   << "/" << view[0]  << "," << view[1]  << "," << view[2] << "/" <<
-                               cam->GetViewAngle () / 180.0 * M_PI  << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
+                               cam->GetViewAngle () / 180.0 * CV_PI  << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
                             << endl;
         ofs_cam.close ();
 
@@ -310,7 +296,7 @@ cv::viz::InteractorStyle::OnKeyDown ()
             {
                 for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
                 {
-                    vtkSmartPointer<vtkActor> apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
+                    vtkActor* apart = reinterpret_cast <vtkActor*> (path->GetLastNode ()->GetViewProp ());
                     float psize = apart->GetProperty ()->GetPointSize ();
                     if (psize < 63.0f)
                         apart->GetProperty ()->SetPointSize (psize + 1.0f);
@@ -331,7 +317,7 @@ cv::viz::InteractorStyle::OnKeyDown ()
             {
                 for (actor->InitPathTraversal (); vtkAssemblyPath* path = actor->GetNextPath (); )
                 {
-                    vtkSmartPointer<vtkActor> apart = static_cast<vtkActor*> (path->GetLastNode ()->GetViewProp ());
+                    vtkActor* apart = static_cast<vtkActor*> (path->GetLastNode ()->GetViewProp ());
                     float psize = apart->GetProperty ()->GetPointSize ();
                     if (psize > 1.0f)
                         apart->GetProperty ()->SetPointSize (psize - 1.0f);
@@ -432,17 +418,17 @@ cv::viz::InteractorStyle::OnKeyDown ()
 
         vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
 
-        static CloudActorMap::iterator it = actors_->begin ();
+        static WidgetActorMap::iterator it = widget_actor_map_->begin ();
         // it might be that some actors don't have a valid transformation set -> we skip them to avoid a seg fault.
         bool found_transformation = false;
 
-        for (size_t idx = 0; idx < actors_->size (); ++idx, ++it)
+        for (size_t idx = 0; idx < widget_actor_map_->size (); ++idx, ++it)
         {
-            if (it == actors_->end ())
-                it = actors_->begin ();
-
-            const CloudActor& actor = it->second;
-            if (actor.viewpoint_transformation_.GetPointer ())
+            if (it == widget_actor_map_->end ())
+                it = widget_actor_map_->begin ();
+            
+            vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second);
+            if (actor && actor->GetUserMatrix())
             {
                 found_transformation = true;
                 break;
@@ -452,18 +438,18 @@ cv::viz::InteractorStyle::OnKeyDown ()
         // if a valid transformation was found, use it otherwise fall back to default view point.
         if (found_transformation)
         {
-            const CloudActor& actor = it->second;
-            cam->SetPosition (actor.viewpoint_transformation_->GetElement (0, 3),
-                              actor.viewpoint_transformation_->GetElement (1, 3),
-                              actor.viewpoint_transformation_->GetElement (2, 3));
-
-            cam->SetFocalPoint (actor.viewpoint_transformation_->GetElement (0, 3) - actor.viewpoint_transformation_->GetElement (0, 2),
-                                actor.viewpoint_transformation_->GetElement (1, 3) - actor.viewpoint_transformation_->GetElement (1, 2),
-                                actor.viewpoint_transformation_->GetElement (2, 3) - actor.viewpoint_transformation_->GetElement (2, 2));
-
-            cam->SetViewUp (actor.viewpoint_transformation_->GetElement (0, 1),
-                            actor.viewpoint_transformation_->GetElement (1, 1),
-                            actor.viewpoint_transformation_->GetElement (2, 1));
+            vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second);
+            cam->SetPosition (actor->GetUserMatrix()->GetElement (0, 3),
+                              actor->GetUserMatrix()->GetElement (1, 3),
+                              actor->GetUserMatrix()->GetElement (2, 3));
+
+            cam->SetFocalPoint (actor->GetUserMatrix()->GetElement (0, 3) - actor->GetUserMatrix()->GetElement (0, 2),
+                                actor->GetUserMatrix()->GetElement (1, 3) - actor->GetUserMatrix()->GetElement (1, 2),
+                                actor->GetUserMatrix()->GetElement (2, 3) - actor->GetUserMatrix()->GetElement (2, 2));
+
+            cam->SetViewUp (actor->GetUserMatrix()->GetElement (0, 1),
+                            actor->GetUserMatrix()->GetElement (1, 1),
+                            actor->GetUserMatrix()->GetElement (2, 1));
         }
         else
         {
@@ -473,10 +459,10 @@ cv::viz::InteractorStyle::OnKeyDown ()
         }
 
         // go to the next actor for the next key-press event.
-        if (it != actors_->end ())
+        if (it != widget_actor_map_->end ())
             ++it;
         else
-            it = actors_->begin ();
+            it = widget_actor_map_->begin ();
 
         CurrentRenderer->SetActiveCamera (cam);
         CurrentRenderer->ResetCameraClippingRange ();
@@ -659,17 +645,8 @@ void cv::viz::InteractorStyle::OnMouseWheelBackward ()
 //////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::InteractorStyle::OnTimer ()
 {
-    if (!init_)
-    {
-        std::cout << "[PCLVisualizerInteractorStyle] Interactor style not initialized. Please call Initialize () before continuing.\n" << std::endl;
-        return;
-    }
-
-    if (!renderer_)
-    {
-        std::cout <<  "[PCLVisualizerInteractorStyle] No renderer collection given! Use SetRendererCollection () before continuing." << std::endl;
-        return;
-    }
+    CV_Assert("Interactor style not initialized." && init_);
+    CV_Assert("Renderer has not been set." && renderer_);
     renderer_->Render ();
     Interactor->Render ();
 }

modules/viz/src/interactor_style.h

@@ -50,7 +50,7 @@ namespace cv
             /** \brief Initialization routine. Must be called before anything else. */
             virtual void Initialize ();
 
-            inline void setCloudActorMap (const Ptr<CloudActorMap>& actors) { actors_ = actors; }
+            inline void setWidgetActorMap (const Ptr<WidgetActorMap>& actors) { widget_actor_map_ = actors; }
             void setRenderer (vtkSmartPointer<vtkRenderer>& ren) { renderer_ = ren; }
             void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0);
             void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void * cookie = 0);
@@ -73,8 +73,8 @@ namespace cv
             vtkSmartPointer<vtkRenderer> renderer_;
 
             /** \brief Actor map stored internally. */
-            cv::Ptr<CloudActorMap> actors_;
-
+            cv::Ptr<WidgetActorMap> widget_actor_map_;
+            
             /** \brief The current window width/height. */
             Vec2i win_size_;
 

modules/viz/src/precomp.hpp

@@ -5,8 +5,6 @@
 #include <list>
 #include <vector>
 
-#include <Eigen/Geometry>
-
 #if defined __GNUC__
 #pragma GCC system_header
 #ifdef __DEPRECATED
@@ -17,34 +15,19 @@
 
 #include <vtkAppendPolyData.h>
 #include <vtkAssemblyPath.h>
-#include <vtkAxesActor.h>
-#include <vtkActor.h>
-#include <vtkBoxRepresentation.h>
-#include <vtkBoxWidget.h>
-#include <vtkBoxWidget2.h>
 #include <vtkCellData.h>
-#include <vtkMath.h>
-#include <vtkLoopSubdivisionFilter.h>
 #include <vtkLineSource.h>
-#include <vtkLegendScaleActor.h>
-#include <vtkLightKit.h>
-#include <vtkPlatonicSolidSource.h>
 #include <vtkPropPicker.h>
-#include <vtkGeneralTransform.h>
 #include <vtkSmartPointer.h>
 #include <vtkDataSet.h>
-#include <vtkDataSetSurfaceFilter.h>
-#include <vtkExecutive.h>
 #include <vtkPolygon.h>
 #include <vtkPointPicker.h>
 #include <vtkUnstructuredGrid.h>
-#include <vtkConeSource.h>
 #include <vtkDiskSource.h>
 #include <vtkPlaneSource.h>
 #include <vtkSphereSource.h>
 #include <vtkArrowSource.h>
 #include <vtkOutlineSource.h>
-#include <vtkIdentityTransform.h>
 #include <vtkTransform.h>
 #include <vtkTransformPolyDataFilter.h>
 #include <vtkTubeFilter.h>
@@ -59,18 +42,12 @@
 #include <vtkDataSetMapper.h>
 #include <vtkCellArray.h>
 #include <vtkCommand.h>
-#include <vtkCellLocator.h>
 #include <vtkPLYReader.h>
-#include <vtkTransformFilter.h>
 #include <vtkPolyLine.h>
 #include <vtkVectorText.h>
 #include <vtkFollower.h>
-#include <vtkCallbackCommand.h>
 #include <vtkInteractorStyle.h>
-#include <vtkInformationVector.h>
-#include <vtkDataArray.h>
 #include <vtkUnsignedCharArray.h>
-#include <vtkPoints.h>
 #include <vtkRendererCollection.h>
 #include <vtkPNGWriter.h>
 #include <vtkWindowToImageFilter.h>
@@ -78,78 +55,22 @@
 #include <vtkProperty.h>
 #include <vtkCamera.h>
 #include <vtkObjectFactory.h>
-#include <vtkScalarBarActor.h>
-#include <vtkScalarsToColors.h>
-#include <vtkClipPolyData.h>
 #include <vtkPlanes.h>
-#include <vtkImageImport.h>
 #include <vtkImageViewer.h>
-#include <vtkInteractorStyleImage.h>
 #include <vtkImageFlip.h>
-#include <vtkTIFFWriter.h>
-#include <vtkBMPWriter.h>
-#include <vtkJPEGWriter.h>
-#include <vtkImageViewer2.h>
 #include <vtkRenderWindow.h>
-#include <vtkXYPlotActor.h>
 #include <vtkTextProperty.h>
 #include <vtkProperty2D.h>
-#include <vtkFieldData.h>
-#include <vtkDoubleArray.h>
 #include <vtkLODActor.h>
-#include <vtkPolyDataWriter.h>
 #include <vtkTextActor.h>
-#include <vtkCleanPolyData.h>
-#include <vtkRenderer.h>
-#include <vtkObject.h>
-#include <vtkOrientationMarkerWidget.h>
-#include <vtkImageReslice.h>
-#include <vtkImageChangeInformation.h>
-#include <vtkImageCanvasSource2D.h>
-#include <vtkImageBlend.h>
-#include <vtkImageStencilData.h>
-#include <vtkImageActor.h>
-
 #include <vtkRenderWindowInteractor.h>
-#include <vtkChartXY.h>
-#include <vtkPlot.h>
-#include <vtkTable.h>
-#include <vtkContextView.h>
-#include <vtkContextScene.h>
-#include <vtkColorSeries.h>
-#include <vtkAxis.h>
-#include <vtkSelection.h>
-#include <vtkHardwareSelector.h>
-#include <vtkTriangle.h>
-#include <vtkWorldPointPicker.h>
-#include <vtkInteractorStyleRubberBandPick.h>
-#include <vtkInteractorStyleTrackballActor.h>
-#include <vtkAreaPicker.h>
-#include <vtkExtractGeometry.h>
-#include <vtkExtractPolyDataGeometry.h>
-#include <vtkVertexGlyphFilter.h>
-#include <vtkIdFilter.h>
-#include <vtkIdTypeArray.h>
-#include <vtkImageReader2Factory.h>
-#include <vtkImageReader2.h>
-#include <vtkImageData.h>
+#include <vtkMath.h>
 #include <vtkExtractEdges.h>
 #include <vtkFrustumSource.h>
 #include <vtkTextureMapToPlane.h>
-
 #include <vtkPolyDataNormals.h>
-#include <vtkMapper.h>
-#include <vtkSelectionNode.h>
-#include <vtkAbstractPicker.h>
-#include <vtkAbstractPropPicker.h>
-#include <vtkMatrix4x4.h>
-#include <vtkInteractorObserver.h>
-#include <vtkMapper2D.h>
-#include <vtkLeaderActor2D.h>
 #include <vtkAlgorithmOutput.h>
 
-
-
 #if defined __GNUC__ && defined __DEPRECATED_DISABLED__
 #define __DEPRECATED
 #undef __DEPRECATED_DISABLED__

modules/viz/src/shape_widgets.cpp

@@ -27,20 +27,6 @@ cv::viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Co
     setColor(color);
 }
 
-void cv::viz::LineWidget::setLineWidth(float line_width)
-{
-    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert(actor);
-    actor->GetProperty()->SetLineWidth(line_width);
-}
-
-float cv::viz::LineWidget::getLineWidth()
-{
-    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert(actor);
-    return actor->GetProperty()->GetLineWidth();
-}
-
 template<> cv::viz::LineWidget cv::viz::Widget::cast<cv::viz::LineWidget>()
 {
     Widget3D widget = this->cast<Widget3D>();
@@ -556,12 +542,12 @@ cv::viz::Text3DWidget::Text3DWidget(const String &text, const Point3f &position,
 void cv::viz::Text3DWidget::setText(const String &text)
 {
     vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert(actor);
+    CV_Assert("This widget does not support text." && actor);
     
     // Update text source
     vtkPolyDataMapper *mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
     vtkVectorText * textSource = vtkVectorText::SafeDownCast(mapper->GetInputConnection(0,0)->GetProducer());
-    CV_Assert(textSource);
+    CV_Assert("This widget does not support text." && textSource);
     
     textSource->SetText(text.c_str());
     textSource->Update();
@@ -570,11 +556,11 @@ void cv::viz::Text3DWidget::setText(const String &text)
 cv::String cv::viz::Text3DWidget::getText() const
 {
     vtkFollower *actor = vtkFollower::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert(actor);
+    CV_Assert("This widget does not support text." && actor);
     
     vtkPolyDataMapper *mapper = vtkPolyDataMapper::SafeDownCast(actor->GetMapper());
     vtkVectorText * textSource = vtkVectorText::SafeDownCast(mapper->GetInputConnection(0,0)->GetProducer());
-    CV_Assert(textSource);
+    CV_Assert("This widget does not support text." && textSource);
     
     return textSource->GetText();
 }
@@ -615,14 +601,14 @@ template<> cv::viz::TextWidget cv::viz::Widget::cast<cv::viz::TextWidget>()
 void cv::viz::TextWidget::setText(const String &text)
 {
     vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert(actor);
+    CV_Assert("This widget does not support text." && actor);
     actor->SetInput(text.c_str());
 }
 
 cv::String cv::viz::TextWidget::getText() const
 {
     vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert(actor);
+    CV_Assert("This widget does not support text." && actor);
     return actor->GetInput();
 }
 
@@ -671,10 +657,10 @@ void cv::viz::ImageOverlayWidget::setImage(const Mat &image)
     CV_Assert(!image.empty() && image.depth() == CV_8U);
     
     vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert(actor);
+    CV_Assert("This widget does not support overlay image." && actor);
     
     vtkImageMapper *mapper = vtkImageMapper::SafeDownCast(actor->GetMapper());
-    CV_Assert(mapper);
+    CV_Assert("This widget does not support overlay image." && mapper);
     
     // Create the vtk image and set its parameters based on input image
     vtkSmartPointer<vtkImageData> vtk_image = vtkSmartPointer<vtkImageData>::New();
@@ -821,7 +807,7 @@ void cv::viz::Image3DWidget::setImage(const Mat &image)
     CV_Assert(!image.empty() && image.depth() == CV_8U);
     
     vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
-    CV_Assert(actor);
+    CV_Assert("This widget does not support 3D image." && actor);
     
     // Create the vtk image and set its parameters based on input image
     vtkSmartPointer<vtkImageData> vtk_image = vtkSmartPointer<vtkImageData>::New();
@@ -969,7 +955,6 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Mat
     
     // Create a camera
     vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
-    float f_x = K(0,0);
     float f_y = K(1,1);
     float c_y = K(1,2);
     float aspect_ratio = float(image.cols)/float(image.rows);

modules/viz/src/types.cpp

@@ -14,8 +14,8 @@ cv::viz::Color cv::viz::Color::blue()    { return Color(255,   0, 0); }
 cv::viz::Color cv::viz::Color::cyan()    { return Color(255, 255, 0); }
 
 cv::viz::Color cv::viz::Color::red()     { return Color(  0,   0, 255); }
-cv::viz::Color cv::viz::Color::magenta() { return Color(  0, 255, 255); }
-cv::viz::Color cv::viz::Color::yellow()  { return Color(255,   0, 255); }
+cv::viz::Color cv::viz::Color::yellow() { return Color(  0, 255, 255); }
+cv::viz::Color cv::viz::Color::magenta()  { return Color(255,   0, 255); }
 cv::viz::Color cv::viz::Color::white()   { return Color(255, 255, 255); }
 
 cv::viz::Color cv::viz::Color::gray()    { return Color(128, 128, 128); }
@@ -72,11 +72,12 @@ struct cv::viz::Mesh3d::loadMeshImpl
         vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
         reader->SetFileName(file.c_str());
         reader->Update();
+        
         vtkSmartPointer<vtkPolyData> poly_data = reader->GetOutput ();
+        CV_Assert("File does not exist or file format is not supported." && poly_data);
         
         vtkSmartPointer<vtkPoints> mesh_points = poly_data->GetPoints ();
         vtkIdType nr_points = mesh_points->GetNumberOfPoints ();
-        //vtkIdType nr_polygons = poly_data->GetNumberOfPolys ();
 
         mesh.cloud.create(1, nr_points, CV_32FC3);
 
@@ -89,18 +90,10 @@ struct cv::viz::Mesh3d::loadMeshImpl
         }
 
         // Then the color information, if any
-        vtkUnsignedCharArray* poly_colors = NULL;
-        if (poly_data->GetPointData() != NULL)
-            poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("Colors"));
-
-        // some applications do not save the name of scalars (including PCL's native vtk_io)
-        if (!poly_colors && poly_data->GetPointData () != NULL)
-            poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("scalars"));
-
-        if (!poly_colors && poly_data->GetPointData () != NULL)
-            poly_colors = vtkUnsignedCharArray::SafeDownCast (poly_data->GetPointData ()->GetScalars ("RGB"));
-
-        // TODO: currently only handles rgb values with 3 components
+        vtkUnsignedCharArray* poly_colors = 0;
+        if (poly_data->GetPointData())
+            poly_colors = vtkUnsignedCharArray::SafeDownCast(poly_data->GetPointData()->GetScalars());
+              
         if (poly_colors && (poly_colors->GetNumberOfComponents () == 3))
         {
             mesh.colors.create(1, nr_points, CV_8UC3);

modules/viz/src/viz3d.cpp

@@ -33,7 +33,9 @@ void cv::viz::Viz3d::create(const String &window_name)
 
 void cv::viz::Viz3d::release()
 {
-    if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
+    // If the current referene count is equal to 2, we can delete it
+    // - 2 : because minimum there will be two instances, one of which is in the map
+    if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 2)
     {
         // Erase the window
         cv::viz::VizAccessor::getInstance().remove(getWindowName());
@@ -42,28 +44,6 @@ void cv::viz::Viz3d::release()
     }
 }
 
-void cv::viz::Viz3d::setBackgroundColor(const Color& color) { impl_->setBackgroundColor(color); }
-
-bool cv::viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id)
-{
-    return impl_->addPolygonMesh(mesh, Mat(), id);
-}
-
-bool cv::viz::Viz3d::updatePolygonMesh (const Mesh3d& mesh, const String& id)
-{
-    return impl_->updatePolygonMesh(mesh, Mat(), id);
-}
-
-bool cv::viz::Viz3d::addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id)
-{
-    return impl_->addPolylineFromPolygonMesh(mesh, id);
-}
-
-bool cv::viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const String& id)
-{
-    return impl_->addPolygon(cloud, color, id);
-}
-
 void cv::viz::Viz3d::spin() { impl_->spin(); }
 void cv::viz::Viz3d::spinOnce (int time, bool force_redraw) { impl_->spinOnce(time, force_redraw); }
 bool cv::viz::Viz3d::wasStopped() const { return impl_->wasStopped(); }
@@ -74,11 +54,10 @@ void cv::viz::Viz3d::registerKeyboardCallback(KeyboardCallback callback, void* c
 void cv::viz::Viz3d::registerMouseCallback(MouseCallback callback, void* cookie)
 { impl_->registerMouseCallback(callback, cookie); }
 
-
-
 void cv::viz::Viz3d::showWidget(const String &id, const Widget &widget, const Affine3f &pose) { impl_->showWidget(id, widget, pose); }
 void cv::viz::Viz3d::removeWidget(const String &id) { impl_->removeWidget(id); }
 cv::viz::Widget cv::viz::Viz3d::getWidget(const String &id) const { return impl_->getWidget(id); }
+void cv::viz::Viz3d::removeAllWidgets() { impl_->removeAllWidgets(); }
 void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose) { impl_->setWidgetPose(id, pose); }
 void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose) { impl_->updateWidgetPose(id, pose); }
 cv::Affine3f cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); }
@@ -88,9 +67,26 @@ cv::viz::Camera cv::viz::Viz3d::getCamera() const { return impl_->getCamera(); }
 void cv::viz::Viz3d::setViewerPose(const Affine3f &pose) { impl_->setViewerPose(pose); }
 cv::Affine3f cv::viz::Viz3d::getViewerPose() { return impl_->getViewerPose(); }
 
+void cv::viz::Viz3d::resetCameraViewpoint (const String &id) { impl_->resetCameraViewpoint(id); }
+void cv::viz::Viz3d::resetCamera() { impl_->resetCamera(); }
+
 void cv::viz::Viz3d::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord) { impl_->convertToWindowCoordinates(pt, window_coord); }
 void cv::viz::Viz3d::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction) { impl_->converTo3DRay(window_coord, origin, direction); }
 
 cv::Size cv::viz::Viz3d::getWindowSize() const { return impl_->getWindowSize(); }
 void cv::viz::Viz3d::setWindowSize(const Size &window_size) { impl_->setWindowSize(window_size.width, window_size.height); }
-cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); }
\ No newline at end of file
+cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); }
+void cv::viz::Viz3d::saveScreenshot (const String &file) { impl_->saveScreenshot(file); }
+void cv::viz::Viz3d::setWindowPosition (int x, int y) { impl_->setWindowPosition(x,y); }
+void cv::viz::Viz3d::setFullScreen (bool mode) { impl_->setFullScreen(mode); }
+void cv::viz::Viz3d::setBackgroundColor(const Color& color) { impl_->setBackgroundColor(color); }
+
+void cv::viz::Viz3d::setRenderingProperty(const String &id, int property, double value) { getWidget(id).setRenderingProperty(property, value); }
+double cv::viz::Viz3d::getRenderingProperty(const String &id, int property) { return getWidget(id).getRenderingProperty(property); }
+
+void cv::viz::Viz3d::setDesiredUpdateRate(double time) { impl_->setDesiredUpdateRate(time); }
+double cv::viz::Viz3d::getDesiredUpdateRate() { return impl_->getDesiredUpdateRate(); }
+
+void cv::viz::Viz3d::setRepresentationToSurface() { impl_->setRepresentationToSurface(); }
+void cv::viz::Viz3d::setRepresentationToWireframe() { impl_->setRepresentationToWireframe(); }
+void cv::viz::Viz3d::setRepresentationToPoints() { impl_->setRepresentationToPoints(); }
\ No newline at end of file

modules/viz/src/viz3d_impl.hpp

@@ -16,48 +16,18 @@ public:
 
     VizImpl (const String &name);
     virtual ~VizImpl ();
+    
+    void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
+    void removeWidget(const String &id);
+    Widget getWidget(const String &id) const;
+    void removeAllWidgets();
+    
+    void setWidgetPose(const String &id, const Affine3f &pose);
+    void updateWidgetPose(const String &id, const Affine3f &pose);
+    Affine3f getWidgetPose(const String &id) const; 
 
-
-
-
-
-
-
-
-
-    //to refactor
-    bool removePointCloud (const String& id = "cloud");
-    inline bool removePolygonMesh (const String& id = "polygon") { return removePointCloud (id); }
-    bool removeShape (const String& id = "cloud");
-    bool removeText3D (const String& id = "cloud");
-    bool removeAllPointClouds ();
-
-    //create Viz3d::removeAllWidgets()
-    bool removeAllShapes ();
-
-    //to refactor
-    bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
-    bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
-    bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
-
-    // to refactor: Widget3D:: & Viz3d::
-    bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud");
-    bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud");
-    bool setShapeRenderingProperties (int property, double value, const String& id);
-
-    /** \brief Set whether the point cloud is selected or not
-         *  \param[in] selected whether the cloud is selected or not (true = selected)
-         *  \param[in] id the point cloud object id (default: cloud)
-         */
-    // probably should just remove
-    bool setPointCloudSelected (const bool selected, const String& id = "cloud" );
-
-
-
-
-
-
-
+    void setDesiredUpdateRate(double time);
+    double getDesiredUpdateRate();
 
     /** \brief Returns true when the user tried to close the window */
     bool wasStopped () const { if (interactor_ != NULL) return (stopped_); else return true; }
@@ -76,78 +46,29 @@ public:
         }
     }
 
-
-
-
-
-
-
-
-
-
-    
-    // to refactor
-    bool addPolygon(const cv::Mat& cloud, const Color& color, const String& id = "polygon");
-    bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color, bool display_length, const String& id = "arrow");
-    bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color_line, const Color& color_text, const String& id = "arrow");
-
-    // Probably remove this
-    bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const String& id = "PolyData");
-    bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, vtkSmartPointer<vtkTransform> transform, const String& id = "PolyData");
-
-    // I think this should be moved to 'static Widget Widget::fromPlyFile(const String&)';
-    bool addModelFromPLYFile (const String &filename, const String& id = "PLYModel");
-    bool addModelFromPLYFile (const String &filename, vtkSmartPointer<vtkTransform> transform, const String& id = "PLYModel");
-
-
-    // to implement in Viz3d with shorter name
-    void setRepresentationToSurfaceForAllActors();
-    void setRepresentationToPointsForAllActors();
-    void setRepresentationToWireframeForAllActors();
-
-
-
-
-
-
-
-
-    // ////////////////////////////////////////////////////////////////////////////////////
-    // All camera methods to refactor into set/getViewwerPose, setCamera()
-    // and 'Camera' class itself with various constructors/fields
+    void setRepresentationToSurface();
+    void setRepresentationToPoints();
+    void setRepresentationToWireframe();
     
     void setCamera(const Camera &camera);
     Camera getCamera() const;
 
-    void initCameraParameters (); /** \brief Initialize camera parameters with some default values. */
-    bool cameraParamsSet () const; /** \brief Checks whether the camera parameters were manually loaded from file.*/
-    void updateCamera (); /** \brief Update camera parameters and render. */
-    void resetCamera (); /** \brief Reset camera parameters and render. */
-
     /** \brief Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset.
       * \param[in] id the point cloud object id (default: cloud) */
-    void resetCameraViewpoint (const String& id = "cloud");
+    void resetCameraViewpoint(const String& id);
+    void resetCamera();
     
-    //to implement Viz3d set/getViewerPose()
     void setViewerPose(const Affine3f &pose);
     Affine3f getViewerPose();
 
     void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
     void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
 
-
-
-
-
-
-
-    //to implemnt in Viz3d
     void saveScreenshot (const String &file);
     void setWindowPosition (int x, int y);
     Size getWindowSize() const;
     void setWindowSize (int xw, int yw);
     void setFullScreen (bool mode);
-    void setWindowName (const String &name);
     String getWindowName() const;
     void setBackgroundColor (const Color& color);
 
@@ -157,22 +78,6 @@ public:
     void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
     void registerMouseCallback(MouseCallback callback, void* cookie = 0);
 
-
-
-
-
-
-
-
-    //declare above (to move to up)
-    void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
-    void removeWidget(const String &id);
-    Widget getWidget(const String &id) const;
-    
-    void setWidgetPose(const String &id, const Affine3f &pose);
-    void updateWidgetPose(const String &id, const Affine3f &pose);
-    Affine3f getWidgetPose(const String &id) const; 
-
 private:
     vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
 
@@ -209,6 +114,7 @@ private:
             if (event_id == vtkCommand::ExitEvent)
             {
                 viz_->stopped_ = true;
+                viz_->interactor_->GetRenderWindow()->Finalize();
                 viz_->interactor_->TerminateApp ();
             }
         }
@@ -232,12 +138,6 @@ private:
 
     /** \brief The render window interactor style. */
     vtkSmartPointer<InteractorStyle> style_;
-
-    /** \brief Internal list with actor pointers and name IDs for point clouds. */
-    cv::Ptr<CloudActorMap> cloud_actor_map_;
-
-    /** \brief Internal list with actor pointers and name IDs for shapes. */
-    cv::Ptr<ShapeActorMap> shape_actor_map_;
     
     /** \brief Internal list with actor pointers and name IDs for all widget actors */
     cv::Ptr<WidgetActorMap> widget_actor_map_;
@@ -245,13 +145,8 @@ private:
     /** \brief Boolean that holds whether or not the camera parameters were manually initialized*/
     bool camera_set_;
 
-    bool removeActorFromRenderer (const vtkSmartPointer<vtkLODActor> &actor);
-    bool removeActorFromRenderer (const vtkSmartPointer<vtkActor> &actor);
     bool removeActorFromRenderer (const vtkSmartPointer<vtkProp> &actor);
 
-    //void addActorToRenderer (const vtkSmartPointer<vtkProp> &actor);
-
-
     /** \brief Internal method. Creates a vtk actor from a vtk polydata object.
           * \param[in] data the vtk polydata object to create an actor for
           * \param[out] actor the resultant vtk actor object
@@ -268,10 +163,6 @@ private:
           * generate
           */
     void updateCells (vtkSmartPointer<vtkIdTypeArray> &cells, vtkSmartPointer<vtkIdTypeArray> &initcells, vtkIdType nr_points);
-
-    void allocVtkPolyData (vtkSmartPointer<vtkAppendPolyData> &polydata);
-    void allocVtkPolyData (vtkSmartPointer<vtkPolyData> &polydata);
-    void allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata);
 };
 
 
@@ -280,17 +171,9 @@ namespace cv
 {
     namespace viz
     {
-        //void getTransformationMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternionf& orientation, Eigen::Matrix4f &transformation);
         vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f &m);
         cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix);
 
-        /** \brief Convert origin and orientation to vtkMatrix4x4
-              * \param[in] origin the point cloud origin
-              * \param[in] orientation the point cloud orientation
-              * \param[out] vtk_matrix the resultant VTK 4x4 matrix
-              */
-        void convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<float> &orientation, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix);
-
         struct NanFilter
         {
             template<typename _Tp, typename _Msk>

modules/viz/src/viz_types.h

@@ -6,29 +6,7 @@ namespace cv
 {
     namespace viz
     {
-        struct CV_EXPORTS CloudActor
-        {
-            /** \brief The actor holding the data to render. */
-            vtkSmartPointer<vtkLODActor> actor;
-
-            /** \brief The viewpoint transformation matrix. */
-            vtkSmartPointer<vtkMatrix4x4> viewpoint_transformation_;
-
-            /** \brief Internal cell array. Used for optimizing updatePointCloud. */
-            vtkSmartPointer<vtkIdTypeArray> cells;
-        };
-
-        // TODO This will be used to contain both cloud and shape actors
-        struct CV_EXPORTS WidgetActor
-        {
-            vtkSmartPointer<vtkProp> actor;
-            vtkSmartPointer<vtkMatrix4x4> viewpoint_transformation_;
-            vtkSmartPointer<vtkIdTypeArray> cells;
-        };
-
-        typedef std::map<std::string, CloudActor> CloudActorMap;
-        typedef std::map<std::string, vtkSmartPointer<vtkProp> > ShapeActorMap;
-        typedef std::map<std::string, WidgetActor> WidgetActorMap;
+        typedef std::map<std::string, vtkSmartPointer<vtkProp> > WidgetActorMap;
     }
 }
 

samples/cpp/tutorial_code/viz/creating_widgets.cpp

+/**
+ * @file creating_widgets.cpp
+ * @brief Creating custom widgets using VTK
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz.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;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------"   << endl
+    << "This program shows how to create a custom widget. You can create your own "
+    << "widgets by extending Widget2D/Widget3D, and with the help of WidgetAccessor." << endl
+    << "Usage:"                                                                       << endl
+    << "./creating_widgets"                                                           << endl
+    << endl;
+}
+
+/**
+ * @class TriangleWidget
+ * @brief Defining our own 3D Triangle widget
+ */
+class TriangleWidget : public viz::Widget3D
+{
+    public:
+        TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); 
+};
+
+/**
+ * @function TriangleWidget::TriangleWidget
+ * @brief Constructor
+ */
+TriangleWidget::TriangleWidget(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();
+    mapper->SetInput(polyData);
+    
+    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);
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+    
+    /// Create a window
+    viz::Viz3d myWindow("Creating Widgets");
+    
+    /// Create a triangle widget
+    TriangleWidget tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0));
+    
+    /// Show widget in the visualizer window
+    myWindow.showWidget("TRIANGLE", tw);
+    
+    /// Start event loop
+    myWindow.spin();
+    
+    return 0;
+}

samples/cpp/tutorial_code/viz/launching_viz.cpp

+/**
+ * @file launching_viz.cpp
+ * @brief Launching visualization window
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz.hpp>
+#include <iostream>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------" << endl
+    << "This program shows how to launch a 3D visualization window. You can stop event loop to continue executing. "
+    << "You can access the same window via its name. You can run event loop for a given period of time. " << endl
+    << "Usage:"                                                                     << endl
+    << "./launching_viz"                                                            << endl
+    << endl;
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+    /// 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::get("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;
+}