renamed Mesh3d -> Mesh

modules/viz/doc/viz3d.rst

@@ -468,31 +468,31 @@ This class a represents BGR color. ::
         static Color gray();
     };
 
-viz::Mesh3d
+viz::Mesh
 -----------
-.. ocv:class:: Mesh3d
+.. ocv:class:: Mesh
 
 This class wraps mesh attributes, and it can load a mesh from a ``ply`` file. ::
 
-    class CV_EXPORTS Mesh3d
+    class CV_EXPORTS Mesh
     {
     public:
 
-        Mat cloud, colors;
+        Mat cloud, colors, normals;
+        
+        //! Raw integer list of the form: (n,id1,id2,...,idn, n,id1,id2,...,idn, ...)
+        //! where n is the number of points in the poligon, and id is a zero-offset index into an associated cloud.
         Mat polygons;
 
         //! Loads mesh from a given ply file
-        static Mesh3d load(const String& file);
-
-    private:
-        /* hidden */
+        static Mesh load(const String& file);
     };
 
-viz::Mesh3d::load
+viz::Mesh::load
 ---------------------
 Loads a mesh from a ``ply`` file.
 
-.. ocv:function:: static Mesh3d load(const String& file)
+.. ocv:function:: static Mesh load(const String& file)
 
     :param file: File name (for no only PLY is supported)
 

modules/viz/doc/widget.rst

@@ -264,8 +264,6 @@ This 3D Widget defines a finite plane. ::
     public:
         WPlane(const Vec4d& coefs, double size = 1.0, const Color &color = Color::white());
         WPlane(const Vec4d& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
-    private:
-        /* hidden */
     };
 
 viz::WPlane::WPlane
@@ -437,9 +435,6 @@ This 3D Widget defines a poly line. ::
     {
     public:
         WPolyLine(InputArray points, const Color &color = Color::white());
-
-    private:
-        /* hidden */
     };
 
 viz::WPolyLine::WPolyLine
@@ -464,8 +459,6 @@ This 3D Widget defines a grid. ::
         WGrid(const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
         //! Creates grid based on the plane equation
         WGrid(const Vec4d &coeffs, const Vec2i &dimensions, const Vec2d &spacing, const Color &color = Color::white());
-    private:
-        /* hidden */
     };
 
 viz::WGrid::WGrid
@@ -732,14 +725,14 @@ This 3D Widget represents a trajectory. ::
         enum {FRAMES = 1, PATH = 2, BOTH = FRAMES + PATH};
 
         //! Displays trajectory of the given path either by coordinate frames or polyline
-        WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, const Color &color = Color::white(),;
+        WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white(),;
     };
 
 viz::WTrajectory::WTrajectory
 -----------------------------
 Constructs a WTrajectory.
 
-.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.f, const Color &color = Color::white())
+.. ocv:function:: WTrajectory(InputArray path, int display_mode = WTrajectory::PATH, double scale = 1.0, const Color &color = Color::white())
 
     :param path: List of poses on a trajectory. Takes std::vector<Affine<T>> with T == [float | double]
     :param display_mode: Display mode. This can be PATH, FRAMES, and BOTH.
@@ -828,9 +821,6 @@ This 3D Widget defines a point cloud. ::
         WCloud(InputArray cloud, InputArray colors);
         //! All points in cloud have the same color
         WCloud(InputArray cloud, const Color &color = Color::white());
-
-    private:
-        /* hidden */
     };
 
 viz::WCloud::WCloud
@@ -868,9 +858,6 @@ This 3D Widget defines a collection of clouds. ::
         void addCloud(InputArray cloud, InputArray colors, const Affine3d &pose = Affine3d::Identity());
         //! All points in cloud have the same color
         void addCloud(InputArray cloud, const Color &color = Color::white(), Affine3d &pose = Affine3d::Identity());
-
-    private:
-        /* hidden */
     };
 
 viz::WCloudCollection::WCloudCollection
@@ -911,9 +898,6 @@ This 3D Widget represents normals of a point cloud. ::
     {
     public:
         WCloudNormals(InputArray cloud, InputArray normals, int level = 100, double scale = 0.02f, const Color &color = Color::white());
-
-    private:
-        /* hidden */
     };
 
 viz::WCloudNormals::WCloudNormals
@@ -939,16 +923,22 @@ This 3D Widget defines a mesh. ::
     class CV_EXPORTS WMesh : public Widget3D
     {
     public:
-        WMesh(const Mesh3d &mesh);
-
-    private:
-        /* hidden */
+        WMesh(const Mesh &mesh);
+		WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray());
     };
 
 viz::WMesh::WMesh
 -----------------
 Constructs a WMesh.
 
-.. ocv:function:: WMesh(const Mesh3d &mesh)
+.. ocv:function:: WMesh(const Mesh &mesh)
+
+    :param mesh: :ocv:class:`Mesh` object that will be displayed.
+	
+.. ocv:function:: WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray());
+
+    :param cloud: Points of the mesh object.
+	:param polygons: Points of the mesh object.
+	:param colors: Point colors.
+	:param normals: Point normals.
 	
-    :param mesh: :ocv:class:`Mesh3d` object that will be displayed.

modules/viz/include/opencv2/viz.hpp

@@ -111,7 +111,7 @@ namespace cv
         ///////////////////////////////////////////////////////////////////////////////////////////////
         /// Computing normals for mesh
 
-        CV_EXPORTS void computeNormals(const Mesh3d& mesh, OutputArray normals);
+        CV_EXPORTS void computeNormals(const Mesh& mesh, OutputArray normals);
 
     } /* namespace viz */
 } /* namespace cv */

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

@@ -104,15 +104,17 @@ namespace cv
             static Color amethyst();
         };
 
-        class CV_EXPORTS Mesh3d
+        class CV_EXPORTS Mesh
         {
         public:
-
             Mat cloud, colors, normals;
+
+            //! Raw integer list of the form: (n,id1,id2,...,idn, n,id1,id2,...,idn, ...)
+            //! where n is the number of points in the poligon, and id is a zero-offset index into an associated cloud.
             Mat polygons;
 
             //! Loads mesh from a given ply file
-            static Mesh3d load(const String& file);
+            static Mesh load(const String& file);
         };
 
         class CV_EXPORTS Camera
@@ -123,17 +125,17 @@ namespace cv
             explicit Camera(const Matx33d &K, const Size &window_size);
             explicit Camera(const Matx44d &proj, const Size &window_size);
 
-            inline const Vec2d & getClip() const { return clip_; }
-            inline void setClip(const Vec2d &clip) { clip_ = clip; }
+            const Vec2d & getClip() const { return clip_; }
+            void setClip(const Vec2d &clip) { clip_ = clip; }
 
-            inline const Size & getWindowSize() const { return window_size_; }
+            const Size & getWindowSize() const { return window_size_; }
             void setWindowSize(const Size &window_size);
 
-            inline const Vec2d& getFov() const { return fov_; }
-            inline void setFov(const Vec2d& fov) { fov_ = fov; }
+            const Vec2d& getFov() const { return fov_; }
+            void setFov(const Vec2d& fov) { fov_ = fov; }
 
-            inline const Vec2d& getPrincipalPoint() const { return principal_point_; }
-            inline const Vec2d& getFocalLength() const { return focal_; }
+            const Vec2d& getPrincipalPoint() const { return principal_point_; }
+            const Vec2d& getFocalLength() const { return focal_; }
 
             void computeProjectionMatrix(Matx44d &proj) const;
 

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

@@ -316,7 +316,8 @@ namespace cv
         class CV_EXPORTS WMesh : public Widget3D
         {
         public:
-            WMesh(const Mesh3d &mesh);
+            WMesh(const Mesh &mesh);
+            WMesh(InputArray cloud, InputArray polygons, InputArray colors = noArray(), InputArray normals = noArray());
         };
 
         /////////////////////////////////////////////////////////////////////////////

modules/viz/src/clouds.cpp

@@ -257,7 +257,7 @@ template<> cv::viz::WCloudNormals cv::viz::Widget::cast<cv::viz::WCloudNormals>(
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// Mesh Widget implementation
 
-cv::viz::WMesh::WMesh(const Mesh3d &mesh)
+cv::viz::WMesh::WMesh(const Mesh &mesh)
 {
     CV_Assert(mesh.cloud.rows == 1 && mesh.polygons.type() == CV_32SC1);
 
@@ -300,8 +300,8 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
     vtkSmartPointer<vtkCellArray> cell_array = vtkSmartPointer<vtkCellArray>::New();
 
     int idx = 0;
-    int poly_size = mesh.polygons.total();
-    for (int i = 0; i < poly_size; ++idx)
+    size_t polygons_size = mesh.polygons.total();
+    for (size_t i = 0; i < polygons_size; ++idx)
     {
         int n_points = polygons[i++];
 
@@ -330,6 +330,16 @@ cv::viz::WMesh::WMesh(const Mesh3d &mesh)
     WidgetAccessor::setProp(*this, actor);
 }
 
+cv::viz::WMesh::WMesh(InputArray cloud, InputArray polygons, InputArray colors, InputArray normals)
+{
+    Mesh mesh;
+    mesh.cloud = cloud.getMat();
+    mesh.colors = colors.getMat();
+    mesh.normals = normals.getMat();
+    mesh.polygons = polygons.getMat();
+    *this = WMesh(mesh);
+}
+
 template<> CV_EXPORTS cv::viz::WMesh cv::viz::Widget::cast<cv::viz::WMesh>()
 {
     Widget3D widget = this->cast<Widget3D>();

modules/viz/src/types.cpp

@@ -61,9 +61,9 @@ namespace cv { namespace viz { namespace
 {
     struct MeshUtils
     {
-        static Mesh3d loadMesh(const String &file)
+        static Mesh loadMesh(const String &file)
         {
-            Mesh3d mesh;
+            Mesh mesh;
 
             vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
             reader->SetFileName(file.c_str());
@@ -128,7 +128,7 @@ namespace cv { namespace viz { namespace
     };
 }}}
 
-cv::viz::Mesh3d cv::viz::Mesh3d::load(const String& file)
+cv::viz::Mesh cv::viz::Mesh::load(const String& file)
 {
     return MeshUtils::loadMesh(file);
 }

modules/viz/src/vizcore.cpp

@@ -282,7 +282,7 @@ void cv::viz::writeTrajectory(InputArray _traj, const String& files_format, int
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// Computing normals for mesh
 
-void cv::viz::computeNormals(const Mesh3d& mesh, OutputArray _normals)
+void cv::viz::computeNormals(const Mesh& mesh, OutputArray _normals)
 {
     vtkSmartPointer<vtkPolyData> polydata = getPolyData(WMesh(mesh));
     vtkSmartPointer<vtkPolyData> with_normals = VtkUtils::ComputeNormals(polydata);

modules/viz/test/tests_simple.cpp

@@ -106,7 +106,7 @@ TEST(Viz, DISABLED_show_cloud_collection)
 
 TEST(Viz, DISABLED_show_mesh)
 {
-    Mesh3d mesh = Mesh3d::load(get_dragon_ply_file_path());
+    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
 
     Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
 
@@ -118,7 +118,7 @@ TEST(Viz, DISABLED_show_mesh)
 
 TEST(Viz, DISABLED_show_mesh_random_colors)
 {
-    Mesh3d mesh = Mesh3d::load(get_dragon_ply_file_path());
+    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
     theRNG().fill(mesh.colors, RNG::UNIFORM, 0, 255);
 
     Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
@@ -144,7 +144,7 @@ TEST(Viz, DISABLED_show_polyline)
 
 TEST(Viz, DISABLED_show_sampled_normals)
 {
-    Mesh3d mesh = Mesh3d::load(get_dragon_ply_file_path());
+    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
     computeNormals(mesh, mesh.normals);
 
     Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
@@ -201,7 +201,7 @@ TEST(Viz, DISABLED_show_trajectory_reposition)
 
 TEST(Viz, DISABLED_spin_twice_____________________________TODO_UI_BUG)
 {
-    Mesh3d mesh = Mesh3d::load(get_dragon_ply_file_path());
+    Mesh mesh = Mesh::load(get_dragon_ply_file_path());
 
     Viz3d viz("spin_twice");
     viz.showWidget("coosys", WCoordinateSystem());