fix conversion functions to use appropriate vtk function

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

@@ -44,8 +44,8 @@ namespace cv
             Affine3f getViewerPose();
             void setViewerPose(const Affine3f &pose);
             
-            void convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord);
-            void converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction);
+            void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
+            void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
 
             void spin();
             void spinOnce(int time = 1, bool force_redraw = false);

modules/viz/src/viz3d.cpp

@@ -51,5 +51,5 @@ 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::convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord) { impl_->convertToWindowCoordinates(pt, window_coord); }
-void cv::viz::Viz3d::converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction) { impl_->converTo3DRay(window_coord, origin, direction); }
\ No newline at end of file
+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); }
\ No newline at end of file

modules/viz/src/viz3d_impl.cpp

@@ -642,32 +642,24 @@ cv::Affine3f cv::viz::Viz3d::VizImpl::getViewerPose ()
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord)
+void cv::viz::Viz3d::VizImpl::convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord)
 {
-    // Use the built in function of renderer
-    double point_wcs[3] = {pt.x, pt.y, pt.z};
-    renderer_->WorldToView(point_wcs[0], point_wcs[1], point_wcs[2]);
-    window_coord.x = point_wcs[0];
-    window_coord.y = point_wcs[1];
-    window_coord.z = point_wcs[2];
+    Vec3d window_pt;
+    vtkInteractorObserver::ComputeWorldToDisplay(renderer_, pt.x, pt.y, pt.z, window_pt.val);
+    window_coord = window_pt;
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction)
-{
-    // Use the built in function of renderer
-    double point_view[3] = {window_coord.x, window_coord.y, window_coord.z};
-    renderer_->ViewToWorld(point_view[0], point_view[1], point_view[2]);
-    
+void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction)
+{    
+    Vec4d world_pt;
+    vtkInteractorObserver::ComputeDisplayToWorld(renderer_, window_coord.x, window_coord.y, window_coord.z, world_pt.val);
+     
     vtkCamera &active_camera = *renderer_->GetActiveCamera();
-    double *cam_pos = active_camera.GetPosition();
-    origin.x = cam_pos[0];
-    origin.y = cam_pos[1];
-    origin.z = cam_pos[2];
-    direction[0] = point_view[0] - cam_pos[0];
-    direction[1] = point_view[1] - cam_pos[1];
-    direction[2] = point_view[2] - cam_pos[2];
-    normalize(direction);
+    Vec3d cam_pos;
+    active_camera.GetPosition(cam_pos.val);
+    origin = cam_pos;
+    direction = normalize(Vec3d(world_pt.val) - cam_pos);
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////

modules/viz/src/viz3d_impl.hpp

@@ -126,8 +126,8 @@ public:
     void setViewerPose(const Affine3f &pose);
     Affine3f getViewerPose();
 
-    void convertToWindowCoordinates(const Point3f &pt, Point3f &window_coord);
-    void converTo3DRay(const Point3f &window_coord, Point3f &origin, Vec3f &direction);
+    void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
+    void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);