Merge pull request #1881 from alalek:move_viz_contrib

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: ${_conflicts}")
+    ocv_module_disable(viz)
+  endif()
+endif()
+
+ocv_warnings_disable(CMAKE_CXX_FLAGS -Winconsistent-missing-override -Wsuggest-override)
+
+ocv_add_module(viz opencv_core WRAP python)
+ocv_glob_module_sources()
+ocv_module_include_directories()
+ocv_create_module()
+
+ocv_add_accuracy_tests()
+ocv_add_perf_tests()
+ocv_add_samples(opencv_imgproc opencv_calib3d opencv_features2d opencv_flann)
+
+ocv_target_link_libraries(${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/samples/creating_widgets.cpp

+/**
+ * @file creating_widgets.cpp
+ * @brief Creating custom widgets using VTK
+ * @author Ozan Cagri Tonkal
+ */
+
+#ifndef USE_VTK
+#include <iostream>
+int main()
+{
+    std::cout << "This sample requires direct compilation with VTK. Stop" << std::endl;
+    return 0;
+}
+#else
+#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
+ */
+static 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 WTriangle : public viz::Widget3D
+{
+    public:
+        WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
+};
+
+/**
+ * @function TriangleWidget::TriangleWidget
+ * @brief Constructor
+ */
+WTriangle::WTriangle(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();
+#if VTK_MAJOR_VERSION <= 5
+    mapper->SetInput(polyData);
+#else
+    mapper->SetInputData(polyData);
+#endif
+
+    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);
+
+    // Set the color of the widget. This has to be called after WidgetAccessor.
+    setColor(color);
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+
+    /// Create a window
+    viz::Viz3d myWindow("Creating Widgets");
+
+    /// 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);
+
+    /// Start event loop
+    myWindow.spin();
+
+    return 0;
+}
+#endif

modules/viz/samples/histo3D.cpp

+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui.hpp>
+#include <iostream>
+
+using namespace std;
+using namespace cv;
+
+#ifdef HAVE_OPENCV_VIZ
+
+#include <opencv2/viz.hpp>
+
+const String keys =
+"{Aide h usage ? help  |     | print this message   }"
+"{@arg1                |     | Full path to color imag (3 channels)}"
+;
+
+
+struct Histo3DData {
+    Mat histogram;
+    int seuil;
+    double threshold;
+    Ptr<viz::Viz3d> fen3D;
+    int nbWidget;
+    bool status;
+    double maxH;
+    int code;
+};
+
+void DrawHistogram3D(Histo3DData &);
+void AddSlidebar(String sliderName, String windowName, int sliderMin, int sliderMax, int valeurDefaut, int *sliderVal, void(*f)(int, void *), void *r);
+void UpdateThreshold(int , void * r);
+void  KeyboardViz3d(const viz::KeyboardEvent &w, void *t);
+
+
+void DrawHistogram3D(Histo3DData &h)
+{
+    //! [get_cube_size]
+    int planSize = (int)h.histogram.step1(0);
+    int cols = (int)h.histogram.step1(1);
+    int rows = (int)planSize / cols;
+    int plans = (int)h.histogram.total() / planSize;
+    h.fen3D->removeAllWidgets();
+    h.nbWidget=0;
+    if (h.nbWidget==0)
+        h.fen3D->showWidget("Axis", viz::WCoordinateSystem(10));
+    //! [get_cube_size]
+    //! [get_cube_values]
+    for (int k = 0; k < plans; k++)
+    {
+        for (int i = 0; i < rows; i++)
+        {
+            for (int j = 0; j < cols; j++)
+            {
+                double x = h.histogram.at<float>(k, i, j);
+                if (x >= h.threshold)
+                {
+                    double r=std::max(x/h.maxH,0.1);
+                    viz::WCube s(Point3d(k - r / 2, i - r / 2, j - r / 2), Point3d(k + r / 2, i + r / 2, j + r / 2), false, viz::Color(j / double(plans) * 255, i / double(rows) * 255, k / double(cols) * 255));
+                    h.fen3D->showWidget(format("I3d%d", h.nbWidget++), s);
+                }
+            }
+        }
+    }
+    //! [get_cube_values]
+    h.status = false;
+}
+//! [viz_keyboard_callback]
+void  KeyboardViz3d(const viz::KeyboardEvent &w, void *t)
+{
+   Histo3DData *x=(Histo3DData *)t;
+   if (w.action)
+       cout << "you pressed "<< w.symbol<< " in viz window "<<x->fen3D->getWindowName()<<"\n";
+   x->code= w.code;
+   switch (w.code) {
+   case '/':
+           x->status=true;
+           x->threshold *= 0.9;
+       break;
+   case '*':
+       x->status = true;
+           x->threshold *= 1.1;
+       break;
+    }
+   if (x->status)
+   {
+       cout <<  x->threshold << "\n";
+       DrawHistogram3D(*x);
+   }
+}
+//! [viz_keyboard_callback]
+
+
+void AddSlidebar(String sliderName, String windowName, int sliderMin, int sliderMax, int defaultSlider, int *sliderVal, void(*f)(int, void *), void *r)
+{
+    createTrackbar(sliderName, windowName, sliderVal, 1, f, r);
+    setTrackbarMin(sliderName, windowName, sliderMin);
+    setTrackbarMax(sliderName, windowName, sliderMax);
+    setTrackbarPos(sliderName, windowName, defaultSlider);
+}
+
+
+void UpdateThreshold(int , void * r)
+{
+    Histo3DData *h = (Histo3DData *)r;
+    h->status=true;
+    h->threshold = h->seuil/1000000.0;
+    cout<<"Widget : "<<h->nbWidget<<","<< h->threshold<<"\n";
+}
+
+int main (int argc,char **argv)
+{
+    //! [command_line_parser]
+    CommandLineParser parser(argc, argv, keys);
+
+    if (parser.has("help"))
+    {
+        parser.printMessage();
+        return 0;
+    }
+    String nomFic = parser.get<String>(0);
+    Mat img;
+    if (nomFic.length() != 0)
+    {
+        img = imread(nomFic, IMREAD_COLOR);
+        if (img.empty())
+        {
+            cout << "Image does not exist!";
+            return 0;
+        }
+    }
+    //! [command_line_parser]
+    //! [synthetic_image]
+    else
+    {
+        img = Mat(512,512,CV_8UC3);
+        parser.printMessage();
+        RNG r;
+        r.fill(img(Rect(0, 0, 256, 256)), RNG::NORMAL, Vec3b(60, 40, 50), Vec3b(10, 5, 20));
+        r.fill(img(Rect(256, 0, 256, 256)), RNG::NORMAL, Vec3b(160, 10, 50), Vec3b(20, 5, 10));
+        r.fill(img(Rect(0, 256, 256, 256)), RNG::NORMAL, Vec3b(90, 100, 50), Vec3b(10, 20, 20));
+        r.fill(img(Rect(256, 256, 256, 256)), RNG::NORMAL, Vec3b(100, 10, 150), Vec3b(10, 5, 40));
+    }
+    //! [synthetic_image]
+    //! [calchist_for_histo3d]
+    Histo3DData h;
+    h.status=true;
+    h.seuil=90;
+    h.threshold= h.seuil/1000000.0;
+    float hRange[] = { 0, 256 };
+    const float* etendu[] = { hRange, hRange,hRange };
+    int hBins = 32;
+    int histSize[] = { hBins, hBins , hBins  };
+    int channel[] = { 2, 1,0 };
+    calcHist(&img, 1, channel, Mat(), h.histogram, 3, histSize, etendu, true, false);
+    normalize(h.histogram, h.histogram, 100.0/(img.total()), 0, NORM_MINMAX, -1, Mat());
+    minMaxIdx(h.histogram,NULL,&h.maxH,NULL,NULL);
+    //! [calchist_for_histo3d]
+    //! [slide_bar_for_thresh]
+    namedWindow("Image");
+    imshow("Image",img);
+    AddSlidebar("threshold","Image",0,100,h.seuil,&h.seuil, UpdateThreshold,&h);
+    waitKey(30);
+    //! [slide_bar_for_thresh]
+    //! [manage_viz_imshow_window]
+    h.fen3D = makePtr<viz::Viz3d>("3D Histogram");
+    h.nbWidget=0;
+    h.fen3D->registerKeyboardCallback(KeyboardViz3d,&h);
+    DrawHistogram3D(h);
+    while (h.code!=27)
+    {
+        h.fen3D->spinOnce(1);
+        if (h.status)
+            DrawHistogram3D(h);
+        if (h.code!=27)
+            h.code= waitKey(30);
+    }
+    //! [manage_viz_imshow_window]
+    return 0;
+}
+#else
+
+int main(int argc, char **argv)
+{
+cout << " you need VIZ module\n";
+return 0;
+}
+#endif

modules/viz/samples/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
+ */
+static 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::getWindowByName("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;
+}

modules/viz/samples/transformations.cpp

+/**
+ * @file transformations.cpp
+ * @brief Visualizing cloud in different positions, coordinate frames, camera frustums
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz.hpp>
+#include <iostream>
+#include <fstream>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+static void help()
+{
+    cout
+    << "--------------------------------------------------------------------------"   << endl
+    << "This program shows how to use makeTransformToGlobal() to compute required pose,"
+    << "how to use makeCameraPose and Viz3d::setViewerPose. You can observe the scene "
+    << "from camera point of view (C) or global point of view (G)"                    << endl
+    << "Usage:"                                                                       << endl
+    << "./transformations [ G | C ]"                                                 << endl
+    << endl;
+}
+
+/**
+ * @function cvcloud_load
+ * @brief load bunny.ply
+ */
+static Mat cvcloud_load()
+{
+    Mat cloud(1, 1889, CV_32FC3);
+    ifstream ifs("bunny.ply");
+
+    string str;
+    for(size_t i = 0; i < 12; ++i)
+        getline(ifs, str);
+
+    Point3f* data = cloud.ptr<cv::Point3f>();
+    float dummy1, dummy2;
+    for(size_t i = 0; i < 1889; ++i)
+        ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
+
+    cloud *= 5.0f;
+    return cloud;
+}
+
+/**
+ * @function main
+ */
+int main(int argn, char **argv)
+{
+    help();
+
+    if (argn < 2)
+    {
+        cout << "Missing arguments." << endl;
+        return 1;
+    }
+
+    bool camera_pov = (argv[1][0] == 'C');
+
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+    /// Let's assume camera has the following properties
+    Vec3f 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);
+
+    /// 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);
+
+    /// Create a cloud widget.
+    Mat bunny_cloud = cvcloud_load();
+    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
+
+    /// 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;
+
+    /// 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);
+    }
+
+    /// Visualize widget
+    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
+
+    /// Set the viewer pose to that of camera
+    if (camera_pov)
+        myWindow.setViewerPose(cam_pose);
+
+    /// Start event loop.
+    myWindow.spin();
+
+    return 0;
+}

modules/viz/samples/widget_pose.cpp

+/**
+ * @file widget_pose.cpp
+ * @brief Setting pose of a widget
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz.hpp>
+#include <opencv2/calib3d.hpp>
+#include <iostream>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+static void help()
+{
+    cout
+    << "--------------------------------------------------------------------------"   << endl
+    << "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
+    << "using Rodrigues vector."                                                      << endl
+    << "Usage:"                                                                       << endl
+    << "./widget_pose"                                                                << endl
+    << endl;
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+    /// 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);
+
+    /// 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);
+
+    /// Rodrigues vector
+    Mat rot_vec = Mat::zeros(1,3,CV_32F);
+    float translation_phase = 0.0, translation = 0.0;
+    while(!myWindow.wasStopped())
+    {
+        /* Rotation using rodrigues */
+        /// Rotate around (1,1,1)
+        rot_vec.at<float>(0,0) += (float)CV_PI * 0.01f;
+        rot_vec.at<float>(0,1) += (float)CV_PI * 0.01f;
+        rot_vec.at<float>(0,2) += (float)CV_PI * 0.01f;
+
+        /// Shift on (1,1,1)
+        translation_phase += (float)CV_PI * 0.01f;
+        translation = sin(translation_phase);
+
+        Mat rot_mat;
+        Rodrigues(rot_vec, rot_mat);
+
+        /// Construct pose
+        Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+
+        myWindow.setWidgetPose("Cube Widget", pose);
+
+        myWindow.spinOnce(1, true);
+    }
+
+    return 0;
+}

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/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;
+}