added comments with future work for VizImpl

added authors to license header

modules/viz/CMakeLists.txt

+set(BUILD_opencv_viz_INIT OFF)
+
+
 ###############################################################################
 # Find qvtk
 # This sets the following variables:
@@ -36,18 +39,21 @@ macro(find_vtk)
   endif()
 endmacro()
 
-find_vtk()
 
 
-find_package(OpenGL)
-if (OPENGL_FOUND)
-  if(OPENGL_INCLUDE_DIR)
-    include_directories("${OPENGL_INCLUDE_DIR}")
-  endif()
-  if(OPENGL_DEFINITIONS)
-    add_definitions("${OPENGL_DEFINITIONS}")
-  endif()
-endif()
+
+#find_package(OpenGL)
+#if (OPENGL_FOUND)
+#  if(OPENGL_INCLUDE_DIR)
+#    include_directories("${OPENGL_INCLUDE_DIR}")
+#  endif()
+#  if(OPENGL_DEFINITIONS)
+#    add_definitions("${OPENGL_DEFINITIONS}")
+#  endif()
+#endif()
+
+
+find_vtk()
 
 
 if(NOT HAVE_VTK)
@@ -65,14 +71,13 @@ endif()
 add_definitions(-DHAVE_VTK)
 
 
+set(the_description "Viz")
 set(BUILD_opencv_viz_INIT OFF)
-
 include_directories(src)
-set(the_description "Viz")
-ocv_define_module(viz opencv_core opencv_calib3d)
-#${PCL_LIBRARIES}
+ocv_define_module(viz opencv_core)
 
-target_link_libraries(opencv_viz vtkCommon vtkWidgets vtkHybrid vtkCharts vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
+target_link_libraries(opencv_viz vtkCommon vtkWidgets vtkFiltering vtkRendering)
+#${OPENGL_LIBRARIES})
 
 if(APPLE)
     target_link_libraries(opencv_viz "-framework Cocoa")

modules/viz/include/opencv2/viz.hpp

@@ -38,9 +38,12 @@
 // 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.
 //
-//  * Point Cloud Library (PCL) - www.pointclouds.org
-//  During implementation if OpenCV Viz module, similar module
-//  from PCL was used as reference implementation.
+// Authors:
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//  * Ozan Tonkal
+//
+//  During implementation of OpenCV Viz module, similar module
+//  from PCL (www.pointclouds.org) was used as reference implementation.
 //
 //M*/
 
@@ -60,9 +63,10 @@ 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 posiont, 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& up_vector);
 
+
         //! checks float value for Nan
         inline bool isNan(float x)
         {

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

 #pragma once
 
 #include <string>
-#include <opencv2/core/cvdef.h>
 #include <opencv2/core.hpp>
 #include <opencv2/core/affine.hpp>
 

modules/viz/src/viz.cpp

@@ -18,3 +18,22 @@ cv::Affine3f cv::viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& ax
 
     return Affine3f(R, origin);
 }
+
+
+vtkSmartPointer<vtkMatrix4x4> cv::viz::convertToVtkMatrix (const cv::Matx44f &m)
+{
+    vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
+    for (int i = 0; i < 4; i++)
+        for (int k = 0; k < 4; k++)
+            vtk_matrix->SetElement(i, k, m(i, k));
+    return vtk_matrix;
+}
+
+cv::Matx44f cv::viz::convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
+{
+    cv::Matx44f m;
+    for (int i = 0; i < 4; i++)
+        for (int k = 0; k < 4; k++)
+            m(i, k) = vtk_matrix->GetElement (i, k);
+    return m;
+}

modules/viz/src/viz3d_impl.cpp

@@ -626,11 +626,9 @@ void cv::viz::Viz3d::VizImpl::resetCamera ()
     renderer_->ResetCamera ();
 }
 
-
 /////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::Viz3d::VizImpl::setCameraPosition (const cv::Vec3d& pos, const cv::Vec3d& view, const cv::Vec3d& up)
 {
-
     vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
     cam->SetPosition (pos[0], pos[1], pos[2]);
     cam->SetFocalPoint (view[0], view[1], view[2]);
@@ -642,13 +640,10 @@ void cv::viz::Viz3d::VizImpl::setCameraPosition (const cv::Vec3d& pos, const cv:
 void cv::viz::Viz3d::VizImpl::setCameraPosition (double pos_x, double pos_y, double pos_z, double up_x, double up_y, double up_z)
 {
     //rens_->InitTraversal ();
-
-
     vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
     cam->SetPosition (pos_x, pos_y, pos_z);
     cam->SetViewUp (up_x, up_y, up_z);
     renderer_->Render ();
-
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
@@ -980,20 +975,13 @@ void cv::viz::Viz3d::VizImpl::updateCells (vtkSmartPointer<vtkIdTypeArray> &cell
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::Viz3d::VizImpl::allocVtkPolyData (vtkSmartPointer<vtkAppendPolyData> &polydata)
-{
-    polydata = vtkSmartPointer<vtkAppendPolyData>::New ();
-}
-//////////////////////////////////////////////////////////////////////////////////////////////
+{polydata = vtkSmartPointer<vtkAppendPolyData>::New (); }
+
 void cv::viz::Viz3d::VizImpl::allocVtkPolyData (vtkSmartPointer<vtkPolyData> &polydata)
-{
-    polydata = vtkSmartPointer<vtkPolyData>::New ();
-}
-//////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata)
-{
-    polydata = vtkSmartPointer<vtkUnstructuredGrid>::New ();
-}
+{ polydata = vtkSmartPointer<vtkPolyData>::New (); }
 
+void cv::viz::Viz3d::VizImpl::allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata)
+{ polydata = vtkSmartPointer<vtkUnstructuredGrid>::New (); }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<float> &orientation, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix)
@@ -1011,23 +999,6 @@ void cv::viz::convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Qu
     vtk_matrix->SetElement (3, 3, 1.0f);
 }
 
-vtkSmartPointer<vtkMatrix4x4> cv::viz::convertToVtkMatrix (const cv::Matx44f &m)
-{
-    vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
-    for (int i = 0; i < 4; i++)
-        for (int k = 0; k < 4; k++)
-            vtk_matrix->SetElement(i, k, m(i, k));
-    return vtk_matrix;
-}
-
-cv::Matx44f cv::viz::convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
-{
-    cv::Matx44f m;
-    for (int i = 0; i < 4; i++)
-        for (int k = 0; k < 4; k++)
-            m(i, k) = vtk_matrix->GetElement (i, k);
-    return m;
-}
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -1043,8 +1014,8 @@ void cv::viz::Viz3d::VizImpl::setWindowName (const std::string &name)
         window_->SetWindowName (name.c_str ());
 }
 
-void cv::viz::Viz3d::VizImpl::setPosition (int x, int y) { window_->SetPosition (x, y); }
-void cv::viz::Viz3d::VizImpl::setSize (int xw, int yw) { window_->SetSize (xw, yw); }
+void cv::viz::Viz3d::VizImpl::setWindowPosition (int x, int y) { window_->SetPosition (x, y); }
+void cv::viz::Viz3d::VizImpl::setWindowSize (int xw, int yw) { window_->SetSize (xw, yw); }
 
 bool cv::viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& mesh, const Mat& mask, const std::string &id)
 {