Merge pull request #13069 from alalek:move_viz_contrib

doc/tutorials/tutorials.markdown

@@ -87,7 +87,3 @@ As always, we would be happy to hear your comments and receive your contribution
 -   @subpage tutorial_table_of_content_ios
 
     Run OpenCV and your vision apps on an iDevice
-
--   @subpage tutorial_table_of_content_viz
-
-    These tutorials show how to use Viz module effectively.

doc/tutorials/viz/creating_widgets/creating_widgets.markdown

-Creating Widgets {#tutorial_creating_widgets}
-================
-
-Goal
-----
-
-In this tutorial you will learn how to
-
--   Create your own widgets using WidgetAccessor and VTK.
--   Show your widget in the visualization window.
-
-Code
-----
-
-You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/creating_widgets.cpp).
-@include samples/cpp/tutorial_code/viz/creating_widgets.cpp
-
-Explanation
------------
-
-Here is the general structure of the program:
-
--   Extend Widget3D class to create a new 3D widget.
-    @code{.cpp}
-    class WTriangle : public viz::Widget3D
-    {
-        public:
-            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
-    };
-    @endcode
--   Assign a VTK actor to the widget.
-    @code{.cpp}
-    // Store this actor in the widget in order that visualizer can access it
-    viz::WidgetAccessor::setProp(*this, actor);
-    @endcode
--   Set color of the widget.
-    @code{.cpp}
-    // Set the color of the widget. This has to be called after WidgetAccessor.
-    setColor(color);
-    @endcode
--   Construct a triangle widget and display it in the window.
-    @code{.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);
-    @endcode
-
-Results
--------
-
-Here is the result of the program.
-
-![](images/red_triangle.png)

doc/tutorials/viz/histo3D/histo3D.markdown

-Creating a 3D histogram {#tutorial_histo3D}
-================
-
-Goal
-----
-
-In this tutorial you will learn how to
-
--   Create your own callback keyboard function for viz window.
--   Show your 3D histogram in a viz window.
-
-Code
-----
-
-You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/histo3D.cpp).
-@include samples/cpp/tutorial_code/viz/histo3D.cpp
-
-Explanation
------------
-
-Here is the general structure of the program:
-
--   You can give full path to an image in command line
-    @snippet histo3D.cpp command_line_parser
-
-    or without path, a synthetic image is generated with pixel values are a gaussian distribution @ref cv::RNG::fill center(60+/-10,40+/-5,50+/-20) in first quadrant,
-    (160+/-20,10+/-5,50+/-10) in second quadrant, (90+/-10,100+/-20,50+/-20) in third quadrant, (100+/-10,10+/-5,150+/-40) in last quadrant.
-    @snippet histo3D.cpp synthetic_image
-    Image tridimensional histogram is calculated using opencv @ref cv::calcHist and @ref cv::normalize between 0 and 100.
-    @snippet histo3D.cpp calchist_for_histo3d
-    channel are 2, 1 and 0 to synchronise color with Viz axis color in objetc cv::viz::WCoordinateSystem.
-
-    A slidebar is inserted in image window. Init slidebar value is 90, it means that only histogram cell greater than 9/100000.0 (23 pixels for an 512X512 pixels) will be display.
-    @snippet histo3D.cpp slide_bar_for_thresh
-    We are ready to open a viz window with a callback function to capture keyboard event in viz window. Using @ref cv::viz::Viz3d::spinOnce enable keyboard event to be capture in @ref cv::imshow window too.
-    @snippet histo3D.cpp manage_viz_imshow_window
-    The function DrawHistogram3D processes histogram Mat to display it in a Viz window. Number of plan, row and column in [three dimensional Mat](@ref CVMat_Details ) can be found using  this code :
-    @snippet histo3D.cpp get_cube_size
-    To get histogram value at a specific location we use @ref cv::Mat::at(int i0,int i1, int i2)  method with three arguments k, i and j where k is plane number, i row number and j column number.
-    @snippet histo3D.cpp get_cube_values
-
--   Callback function
-    Principle are as mouse callback function. Key code pressed is in field code of class @ref cv::viz::KeyboardEvent.
-    @snippet histo3D.cpp viz_keyboard_callback
-
-Results
--------
-
-Here is the result of the program with no argument and threshold equal to 50.
-
-![](images/histo50.png)

doc/tutorials/viz/launching_viz/launching_viz.markdown

-Launching Viz {#tutorial_launching_viz}
-=============
-
-Goal
-----
-
-In this tutorial you will learn how to
-
--   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 ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/launching_viz.cpp).
-@include samples/cpp/tutorial_code/viz/launching_viz.cpp
-
-Explanation
------------
-
-Here is the general structure of the program:
-
--   Create a window.
-    @code{.cpp}
-    /// Create a window
-    viz::Viz3d myWindow("Viz Demo");
-    @endcode
--   Start event loop. This event loop will run until user terminates it by pressing **e**, **E**,
-    **q**, **Q**.
-    @code{.cpp}
-    /// Start event loop
-    myWindow.spin();
-    @endcode
--   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{.cpp}
-    /// Access window via its name
-    viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
-    @endcode
--   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{.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);
-    }
-    @endcode
-
-Results
--------
-
-Here is the result of the program.
-
-![](images/window_demo.png)

doc/tutorials/viz/table_of_content_viz.markdown

-OpenCV Viz {#tutorial_table_of_content_viz}
-==========
-
--   @subpage tutorial_launching_viz
-
-    *Compatibility:* \> OpenCV 3.0.0
-
-    *Author:* Ozan Tonkal
-
-    You will learn how to launch a viz window.
-
--   @subpage tutorial_widget_pose
-
-    *Compatibility:* \> OpenCV 3.0.0
-
-    *Author:* Ozan Tonkal
-
-    You will learn how to change pose of a widget.
-
--   @subpage tutorial_transformations
-
-    *Compatibility:* \> OpenCV 3.0.0
-
-    *Author:* Ozan Tonkal
-
-    You will learn how to transform between global and camera frames.
-
--   @subpage tutorial_creating_widgets
-
-    *Compatibility:* \> OpenCV 3.0.0
-
-    *Author:* Ozan Tonkal
-
-    You will learn how to create your own widgets.
-
--   @subpage tutorial_histo3D
-
-    *Compatibility:* \> OpenCV 3.0.0
-
-    *Author:* Laurent Berger
-
-    You will learn how to plot a 3D histogram.

doc/tutorials/viz/transformations/transformations.markdown

-Transformations {#tutorial_transformations}
-===============
-
-Goal
-----
-
-In this tutorial you will learn how to
-
--   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 [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/transformations.cpp).
-@include samples/cpp/tutorial_code/viz/transformations.cpp
-
-Explanation
------------
-
-Here is the general structure of the program:
-
--   Create a visualization window.
-    @code{.cpp}
-    /// Create a window
-    viz::Viz3d myWindow("Transformations");
-    @endcode
--   Get camera pose from camera position, camera focal point and y direction.
-    @code{.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);
-    @endcode
--   Obtain transform matrix knowing the axes of camera coordinate system.
-    @code{.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);
-    @endcode
--   Create a cloud widget from bunny.ply file
-    @code{.cpp}
-    /// Create a cloud widget.
-    Mat bunny_cloud = cvcloud_load();
-    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
-    @endcode
--   Given the pose in camera coordinate system, estimate the global pose.
-    @code{.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;
-    @endcode
--   If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
-    @code{.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);
-    }
-    @endcode
--   Visualize the cloud widget with the estimated global pose
-    @code{.cpp}
-    /// Visualize widget
-    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
-    @endcode
--   If the view point is set to be camera's, set viewer pose to **cam_pose**.
-    @code{.cpp}
-    /// Set the viewer pose to that of camera
-    if (camera_pov)
-        myWindow.setViewerPose(cam_pose);
-    @endcode
-
-Results
--------
-
--#  Here is the result from the camera point of view.
-
-    ![](images/camera_view_point.png)
-
--#  Here is the result from global point of view.
-
-    ![](images/global_view_point.png)

doc/tutorials/viz/widget_pose/widget_pose.markdown

-Pose of a widget {#tutorial_widget_pose}
-================
-
-Goal
-----
-
-In this tutorial you will learn how to
-
--   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 [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/widget_pose.cpp).
-@include samples/cpp/tutorial_code/viz/widget_pose.cpp
-
-Explanation
------------
-
-Here is the general structure of the program:
-
--   Create a visualization window.
-    @code{.cpp}
-    /// Create a window
-    viz::Viz3d myWindow("Coordinate Frame");
-    @endcode
--   Show coordinate axes in the window using CoordinateSystemWidget.
-    @code{.cpp}
-    /// Add coordinate axes
-    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
-    @endcode
--   Display a line representing the axis (1,1,1).
-    @code{.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);
-    @endcode
--   Construct a cube.
-    @code{.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);
-    @endcode
--   Create rotation matrix from rodrigues vector
-    @code{.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);
-    @endcode
--   Use Affine3f to set pose of the cube.
-    @code{.cpp}
-    /// Construct pose
-    Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
-    myWindow.setWidgetPose("Cube Widget", pose);
-    @endcode
--   Animate the rotation using wasStopped and spinOnce
-    @code{.cpp}
-    while(!myWindow.wasStopped())
-    {
-        ...
-
-        myWindow.spinOnce(1, true);
-    }
-    @endcode
-
-Results
--------
-
-Here is the result of the program.
-
-\htmlonly
-<div align="center">
-<iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
-</div>
-\endhtmlonly

modules/viz/CMakeLists.txt

-if(NOT HAVE_VTK)
-  ocv_module_disable(viz)
-endif()
-
-set(the_description "Viz")
-include(${VTK_USE_FILE})
-
-if(NOT BUILD_SHARED_LIBS)
-  # We observed conflict between builtin 3rdparty libraries and
-  # system-wide similar libraries (but with different versions) from VTK dependencies
-  set(_conflicts "")
-  foreach(dep ${VTK_LIBRARIES})
-    if(("${dep}" MATCHES "libz\\." AND BUILD_ZLIB)
-      OR ("${dep}" MATCHES "libjpeg\\." AND BUILD_JPEG)
-      OR ("${dep}" MATCHES "libpng\\." AND BUILD_PNG)
-      OR ("${dep}" MATCHES "libtiff\\." AND BUILD_TIFF)
-    )
-      list(APPEND _conflicts "${dep}")
-    endif()
-  endforeach()
-  if(_conflicts)
-    message(STATUS "Disabling VIZ module due to conflicts with VTK dependencies: ${_conflicts}")
-    ocv_module_disable(viz)
-  endif()
-endif()
-
-ocv_warnings_disable(CMAKE_CXX_FLAGS -Winconsistent-missing-override -Wsuggest-override)
-
-ocv_define_module(viz opencv_core WRAP python)
-ocv_target_link_libraries(${the_module} LINK_PRIVATE ${VTK_LIBRARIES})
-
-if(APPLE AND BUILD_opencv_viz)
-  ocv_target_link_libraries(${the_module} LINK_PRIVATE "-framework Cocoa")
-endif()
-
-if(TARGET opencv_test_viz)
-  set_target_properties(opencv_test_viz PROPERTIES MACOSX_BUNDLE TRUE)
-endif()

modules/viz/include/opencv2/viz.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>
-#include <opencv2/viz/vizcore.hpp>
-
-/**
-  @defgroup viz 3D Visualizer
-
-This section describes 3D visualization window as well as classes and methods that are used to
-interact with it.
-
-3D visualization window (see Viz3d) is used to display widgets (see Widget), and it provides several
-methods to interact with scene and widgets.
-
-  @{
-    @defgroup viz_widget Widget
-
-In this section, the widget framework is explained. Widgets represent 2D or 3D objects, varying from
-simple ones such as lines to complex ones such as point clouds and meshes.
-
-Widgets are **implicitly shared**. Therefore, one can add a widget to the scene, and modify the
-widget without re-adding the widget.
-
-@code
-// Create a cloud widget
-viz::WCloud cw(cloud, viz::Color::red());
-// Display it in a window
-myWindow.showWidget("CloudWidget1", cw);
-// Modify it, and it will be modified in the window.
-cw.setColor(viz::Color::yellow());
-@endcode
-
-  @}
-*/
-
-#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/cvdef.h>
-#include <vtkSmartPointer.h>
-#include <vtkProp.h>
-
-namespace cv
-{
-    namespace viz
-    {
-
-//! @addtogroup viz_widget
-//! @{
-
-        class Widget;
-
-        /** @brief This class is for users who want to develop their own widgets using VTK library API. :
-        */
-        struct CV_EXPORTS WidgetAccessor
-        {
-            /** @brief Returns vtkProp of a given widget.
-
-            @param widget Widget whose vtkProp is to be returned.
-
-            @note vtkProp has to be down cast appropriately to be modified.
-                @code
-                vtkActor * actor = vtkActor::SafeDownCast(viz::WidgetAccessor::getProp(widget));
-                @endcode
-             */
-            static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
-            /** @brief Sets vtkProp of a given widget.
-
-            @param widget Widget whose vtkProp is to be set. @param prop A vtkProp.
-             */
-            static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
-        };
-
-//! @}
-
-    }
-}
-
-#endif

modules/viz/src/types.cpp

-/*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*/
-
-#include "precomp.hpp"
-
-////////////////////////////////////////////////////////////////////
-/// Events
-
-cv::viz::KeyboardEvent::KeyboardEvent(Action _action, const String& _symbol, unsigned char _code, int _modifiers)
-  : action(_action), symbol(_symbol), code(_code), modifiers(_modifiers) {}
-
-cv::viz::MouseEvent::MouseEvent(const Type& _type, const MouseButton& _button, const Point& _pointer, int _modifiers)
-    : type(_type), button(_button), pointer(_pointer), modifiers(_modifiers) {}
-
-////////////////////////////////////////////////////////////////////
-/// cv::viz::Mesh3d
-
-cv::viz::Mesh cv::viz::Mesh::load(const String& file, int type)
-{
-    vtkSmartPointer<vtkPolyDataAlgorithm> reader = vtkSmartPointer<vtkPolyDataAlgorithm>::New();
-    switch (type) {
-      case LOAD_AUTO:
-      {
-        CV_Error(Error::StsError, "cv::viz::Mesh::LOAD_AUTO: Not implemented yet");
-      }
-      case LOAD_PLY:
-      {
-        vtkSmartPointer<vtkPLYReader> ply_reader = vtkSmartPointer<vtkPLYReader>::New();
-        ply_reader->SetFileName(file.c_str());
-        ply_reader->Update();
-        reader = ply_reader;
-        break;
-      }
-      case LOAD_OBJ:
-      {
-        vtkSmartPointer<vtkOBJReader> obj_reader = vtkSmartPointer<vtkOBJReader>::New();
-        obj_reader->SetFileName(file.c_str());
-        obj_reader->Update();
-        reader = obj_reader;
-        break;
-      }
-      default:
-        CV_Error(Error::StsError, "cv::viz::Mesh::load: Unknown file type");
-    }
-
-    vtkSmartPointer<vtkPolyData> polydata = reader->GetOutput();
-    CV_Assert("File does not exist or file format is not supported." && polydata);
-
-    Mesh mesh;
-    vtkSmartPointer<vtkCloudMatSink> sink = vtkSmartPointer<vtkCloudMatSink>::New();
-    sink->SetOutput(mesh.cloud, mesh.colors, mesh.normals, mesh.tcoords);
-    sink->SetInputConnection(reader->GetOutputPort());
-    sink->Write();
-
-    // Now handle the polygons
-    vtkSmartPointer<vtkCellArray> polygons = polydata->GetPolys();
-    mesh.polygons.create(1, polygons->GetSize(), CV_32SC1);
-    int* poly_ptr = mesh.polygons.ptr<int>();
-
-    polygons->InitTraversal();
-    vtkIdType nr_cell_points, *cell_points;
-    while (polygons->GetNextCell(nr_cell_points, cell_points))
-    {
-        *poly_ptr++ = nr_cell_points;
-        for (vtkIdType i = 0; i < nr_cell_points; ++i)
-            *poly_ptr++ = (int)cell_points[i];
-    }
-
-    return mesh;
-}
-
-////////////////////////////////////////////////////////////////////
-/// Camera implementation
-
-cv::viz::Camera::Camera(double fx, double fy, double cx, double cy, const Size &window_size)
-{
-    init(fx, fy, cx, cy, window_size);
-}
-
-cv::viz::Camera::Camera(const Vec2d &fov, const Size &window_size)
-{
-    CV_Assert(window_size.width > 0 && window_size.height > 0);
-    setClip(Vec2d(0.01, 1000.01)); // Default clipping
-    setFov(fov);
-    window_size_ = window_size;
-    // Principal point at the center
-    principal_point_ = Vec2f(static_cast<float>(window_size.width)*0.5f, static_cast<float>(window_size.height)*0.5f);
-    focal_ = Vec2f(principal_point_[0] / tan(fov_[0]*0.5f), principal_point_[1] / tan(fov_[1]*0.5f));
-}
-
-cv::viz::Camera::Camera(const cv::Matx33d & K, const Size &window_size)
-{
-    double f_x = K(0,0);
-    double f_y = K(1,1);
-    double c_x = K(0,2);
-    double c_y = K(1,2);
-    init(f_x, f_y, c_x, c_y, window_size);
-}
-
-cv::viz::Camera::Camera(const Matx44d &proj, const Size &window_size)
-{
-    CV_Assert(window_size.width > 0 && window_size.height > 0);
-
-    double near = proj(2,3) / (proj(2,2) - 1.0);
-    double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0);
-    double left = near * (proj(0,2)-1) / proj(0,0);
-    double right = 2.0 * near / proj(0,0) + left;
-    double bottom = near * (proj(1,2)-1) / proj(1,1);
-    double top = 2.0 * near / proj(1,1) + bottom;
-
-    double epsilon = 2.2204460492503131e-16;
-
-    principal_point_[0] = fabs(left-right) < epsilon ? window_size.width  * 0.5 : (left * window_size.width) / (left - right);
-    principal_point_[1] = fabs(top-bottom) < epsilon ? window_size.height * 0.5 : (top * window_size.height) / (top - bottom);
-
-    focal_[0] = -near * principal_point_[0] / left;
-    focal_[1] =  near * principal_point_[1] / top;
-
-    setClip(Vec2d(near, far));
-    fov_[0] = atan2(principal_point_[0], focal_[0]) + atan2(window_size.width-principal_point_[0],  focal_[0]);
-    fov_[1] = atan2(principal_point_[1], focal_[1]) + atan2(window_size.height-principal_point_[1], focal_[1]);
-
-    window_size_ = window_size;
-}
-
-void cv::viz::Camera::init(double fx, double fy, double cx, double cy, const Size &window_size)
-{
-    CV_Assert(window_size.width > 0 && window_size.height > 0);
-    setClip(Vec2d(0.01, 1000.01));// Default clipping
-
-    fov_[0] = atan2(cx, fx) + atan2(window_size.width  - cx, fx);
-    fov_[1] = atan2(cy, fy) + atan2(window_size.height - cy, fy);
-
-    principal_point_[0] = cx;
-    principal_point_[1] = cy;
-
-    focal_[0] = fx;
-    focal_[1] = fy;
-
-    window_size_ = window_size;
-}
-
-void cv::viz::Camera::setWindowSize(const Size &window_size)
-{
-    CV_Assert(window_size.width > 0 && window_size.height > 0);
-
-    // Get the scale factor and update the principal points
-    float scalex = static_cast<float>(window_size.width) / static_cast<float>(window_size_.width);
-    float scaley = static_cast<float>(window_size.height) / static_cast<float>(window_size_.height);
-
-    principal_point_[0] *= scalex;
-    principal_point_[1] *= scaley;
-    focal_ *= scaley;
-    // Vertical field of view is fixed!  Update horizontal field of view
-    fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0]));
-
-    window_size_ = window_size;
-}
-
-void cv::viz::Camera::computeProjectionMatrix(Matx44d &proj) const
-{
-    double top = clip_[0] * principal_point_[1] / focal_[1];
-    double left = -clip_[0] * principal_point_[0] / focal_[0];
-    double right = clip_[0] * (window_size_.width - principal_point_[0]) / focal_[0];
-    double bottom = -clip_[0] * (window_size_.height - principal_point_[1]) / focal_[1];
-
-    double temp1 = 2.0 * clip_[0];
-    double temp2 = 1.0 / (right - left);
-    double temp3 = 1.0 / (top - bottom);
-    double temp4 = 1.0 / (clip_[0] - clip_[1]);
-
-    proj = Matx44d::zeros();
-    proj(0,0) = temp1 * temp2;
-    proj(1,1) = temp1 * temp3;
-    proj(0,2) = (right + left) * temp2;
-    proj(1,2) = (top + bottom) * temp3;
-    proj(2,2) = (clip_[1]+clip_[0]) * temp4;
-    proj(3,2) = -1.0;
-    proj(2,3) = (temp1 * clip_[1]) * temp4;
-}
-
-cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size)
-{
-    Matx33d K(525.0, 0.0, 320.0, 0.0, 525.0, 240.0, 0.0, 0.0, 1.0);
-    return Camera(K, window_size);
-}

modules/viz/src/viz3d.cpp

-/*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*/
-
-#include "precomp.hpp"
-
-cv::viz::Viz3d::Viz3d(const String& window_name) : impl_(0) { create(window_name); }
-
-cv::viz::Viz3d::Viz3d(const Viz3d& other) : impl_(other.impl_)
-{
-    if (impl_)
-        CV_XADD(&impl_->ref_counter, 1);
-}
-
-cv::viz::Viz3d& cv::viz::Viz3d::operator=(const Viz3d& other)
-{
-    if (this != &other)
-    {
-        release();
-        impl_ = other.impl_;
-        if (impl_)
-            CV_XADD(&impl_->ref_counter, 1);
-    }
-    return *this;
-}
-
-cv::viz::Viz3d::~Viz3d() { release(); }
-
-void cv::viz::Viz3d::create(const String &window_name)
-{
-    if (impl_)
-        release();
-
-    if (VizStorage::windowExists(window_name))
-        *this = VizStorage::get(window_name);
-    else
-    {
-        impl_ = new VizImpl(window_name);
-        impl_->ref_counter = 1;
-
-        // Register the window
-        VizStorage::add(*this);
-    }
-}
-
-void cv::viz::Viz3d::release()
-{
-    if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
-    {
-        delete impl_;
-        impl_ = 0;
-    }
-
-    if (impl_ && impl_->ref_counter == 1)
-        VizStorage::removeUnreferenced();
-
-    impl_ = 0;
-}
-
-void cv::viz::Viz3d::spin() { impl_->spin(); }
-void cv::viz::Viz3d::spinOnce(int time, bool force_redraw) { impl_->spinOnce(time, force_redraw); }
-void cv::viz::Viz3d::setOffScreenRendering() { impl_->setOffScreenRendering(); }
-void cv::viz::Viz3d::removeAllLights() { impl_->removeAllLights(); }
-void cv::viz::Viz3d::addLight(const Vec3d &position, const Vec3d &focalPoint, const Color &color,
-                              const Color &diffuseColor, const Color &ambientColor, const Color &specularColor)
-{  impl_->addLight(position, focalPoint, color, diffuseColor, ambientColor, specularColor);  }
-bool cv::viz::Viz3d::wasStopped() const { return impl_->wasStopped(); }
-void cv::viz::Viz3d::close() { impl_->close(); }
-
-void cv::viz::Viz3d::registerKeyboardCallback(KeyboardCallback callback, void* cookie)
-{ impl_->registerKeyboardCallback(callback, cookie); }
-
-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 Affine3d &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::showImage(InputArray image, const Size& window_size) { impl_->showImage(image, window_size); }
-
-void cv::viz::Viz3d::setWidgetPose(const String &id, const Affine3d &pose) { impl_->setWidgetPose(id, pose); }
-void cv::viz::Viz3d::updateWidgetPose(const String &id, const Affine3d &pose) { impl_->updateWidgetPose(id, pose); }
-cv::Affine3d cv::viz::Viz3d::getWidgetPose(const String &id) const { return impl_->getWidgetPose(id); }
-
-void cv::viz::Viz3d::setCamera(const Camera &camera) { impl_->setCamera(camera); }
-cv::viz::Camera cv::viz::Viz3d::getCamera() const { return impl_->getCamera(); }
-void cv::viz::Viz3d::setViewerPose(const Affine3d &pose) { impl_->setViewerPose(pose); }
-cv::Affine3d cv::viz::Viz3d::getViewerPose() const { 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); }
-cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); }
-cv::Mat cv::viz::Viz3d::getScreenshot() const { return impl_->getScreenshot(); }
-void cv::viz::Viz3d::saveScreenshot(const String &file) { impl_->saveScreenshot(file); }
-void cv::viz::Viz3d::setWindowPosition(const Point& window_position) { impl_->setWindowPosition(window_position); }
-void cv::viz::Viz3d::setFullScreen(bool mode) { impl_->setFullScreen(mode); }
-void cv::viz::Viz3d::setBackgroundColor(const Color& color, const Color& color2) { impl_->setBackgroundColor(color, color2); }
-
-void cv::viz::Viz3d::setBackgroundTexture(InputArray image) { impl_->setBackgroundTexture(image); }
-void cv::viz::Viz3d::setBackgroundMeshLab() {impl_->setBackgroundMeshLab(); }
-
-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::setRepresentation(int representation) { impl_->setRepresentation(representation); }
-
-void cv::viz::Viz3d::setGlobalWarnings(bool enabled) { vtkObject::SetGlobalWarningDisplay(enabled ? 1 : 0); }

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 setOffScreenRendering();
-
-    void removeAllLights();
-    void addLight(Vec3d position, Vec3d focalPoint, const Color &color, const Color &diffuseColor,
-                  const Color &ambientColor, const Color &specularColor);
-
-    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() const;
-
-    void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
-    void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
-
-    Mat getScreenshot() const;
-    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<vtkVizInteractorStyle> style_;
-    Ptr<WidgetActorMap> widget_actor_map_;
-
-    bool offScreenMode_;
-
-    bool removeActorFromRenderer(vtkSmartPointer<vtkProp> actor);
-    void recreateRenderWindow();
-};
-
-#endif

modules/viz/test/test_common.cpp

-// This file is part of OpenCV project.
-// It is subject to the license terms in the LICENSE file found in the top-level directory
-// of this distribution and at http://opencv.org/license.html.
-#include "test_precomp.hpp"
-
-cv::String cv::Path::combine(const String& item1, const String& item2)
-{
-    if (item1.empty())
-        return item2;
-
-    if (item2.empty())
-        return item1;
-
-    char last = item1[item1.size()-1];
-
-    bool need_append = last != '/' && last != '\\';
-    return item1 + (need_append ? "/" : "") + item2;
-}
-
-cv::String cv::Path::combine(const String& item1, const String& item2, const String& item3)
-{ return combine(combine(item1, item2), item3); }
-
-cv::String cv::Path::change_extension(const String& file, const String& ext)
-{
-    String::size_type pos = file.find_last_of('.');
-    return pos == String::npos ? file : file.substr(0, pos+1) + ext;
-}

modules/viz/test/test_main.cpp

-// This file is part of OpenCV project.
-// It is subject to the license terms in the LICENSE file found in the top-level directory
-// of this distribution and at http://opencv.org/license.html.
-#include "test_precomp.hpp"
-
-CV_TEST_MAIN("viz")

modules/viz/test/test_precomp.hpp

-// This file is part of OpenCV project.
-// It is subject to the license terms in the LICENSE file found in the top-level directory
-// of this distribution and at http://opencv.org/license.html.
-#include "opencv2/ts.hpp"
-#include "test_common.hpp"
-
-namespace opencv_test
-{
-using namespace cv::viz;
-}