refactoring

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

@@ -112,10 +112,7 @@ namespace cv
             Mat polygons;
 
             //! Loads mesh from a given ply file
-            static cv::viz::Mesh3d loadMesh(const String& file);
+            static Mesh3d loadMesh(const String& file);
-
-        private:
-            struct loadMeshImpl;
         };
 
         class CV_EXPORTS Camera
@@ -123,8 +120,8 @@ namespace cv
         public:
             Camera(float fx, float fy, float cx, float cy, const Size &window_size);
             explicit Camera(const Vec2f &fov, const Size &window_size);
-            explicit Camera(const cv::Matx33f &K, const Size &window_size);
+            explicit Camera(const Matx33f &K, const Size &window_size);
-            explicit Camera(const cv::Matx44f &proj, const Size &window_size);
+            explicit Camera(const Matx44f &proj, const Size &window_size);
 
             inline const Vec2d & getClip() const { return clip_; }
             inline void setClip(const Vec2d &clip) { clip_ = clip; }

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

@@ -94,8 +94,8 @@ namespace cv
             void setWindowSize(const Size &window_size);
             String getWindowName() const;
             void saveScreenshot(const String &file);
-            void setWindowPosition(int x, int y);
+            void setWindowPosition(const Point& window_position);
-            void setFullScreen(bool mode);
+            void setFullScreen(bool mode = true);
             void setBackgroundColor(const Color& color = Color::black());
 
             void spin();

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

@@ -245,13 +245,13 @@ namespace cv
             //! Creates camera coordinate frame (axes) at the origin
             WCameraPosition(float scale = 1.f);
             //! Creates frustum based on the intrinsic marix K at the origin
-            explicit WCameraPosition(const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
+            WCameraPosition(const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
             //! Creates frustum based on the field of view at the origin
-            explicit WCameraPosition(const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
+            WCameraPosition(const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
             //! Creates frustum and display given image at the far plane
-            explicit WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.f, const Color &color = Color::white());
+            WCameraPosition(const Matx33f &K, const Mat &img, float scale = 1.f, const Color &color = Color::white());
             //! Creates frustum and display given image at the far plane
-            explicit WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.f, const Color &color = Color::white());
+            WCameraPosition(const Vec2f &fov, const Mat &img, float scale = 1.f, const Color &color = Color::white());
         };
 
         /////////////////////////////////////////////////////////////////////////////
@@ -270,9 +270,9 @@ namespace cv
         {
         public:
             //! Displays trajectory of the given path by frustums
-            explicit WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
+            WTrajectoryFrustums(const std::vector<Affine3f> &path, const Matx33f &K, float scale = 1.f, const Color &color = Color::white());
             //! Displays trajectory of the given path by frustums
-            explicit WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
+            WTrajectoryFrustums(const std::vector<Affine3f> &path, const Vec2f &fov, float scale = 1.f, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WTrajectorySpheres: public Widget3D

modules/viz/src/clouds.cpp

@@ -41,9 +41,6 @@
 //  * Ozan Tonkal, ozantonkal@gmail.com
 //  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
 //
-//  OpenCV Viz module is complete rewrite of
-//  PCL visualization module (www.pointclouds.org)
-//
 //M*/
 
 #include "precomp.hpp"
@@ -61,6 +58,8 @@ namespace cv
 
 cv::viz::WCloud::WCloud(InputArray _cloud, InputArray _colors)
 {
+    CV_Assert(!_cloud.empty() && !_colors.empty());
+
     Mat cloud = _cloud.getMat();
     Mat colors = _colors.getMat();
 
@@ -74,7 +73,7 @@ cv::viz::WCloud::WCloud(InputArray _cloud, InputArray _colors)
     cloud_source->SetCloud(cloud);
     cloud_source->SetColors(colors, cloud);
 
-    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
     mapper->SetInputConnection(cloud_source->GetOutputPort());
     mapper->SetScalarModeToUsePointData();
     mapper->ImmediateModeRenderingOff();
@@ -96,7 +95,7 @@ cv::viz::WCloud::WCloud(InputArray _cloud, const Color &color)
     vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
     cloud_source->SetCloud(cloud);
 
-    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
     mapper->SetInputConnection(cloud_source->GetOutputPort());
     mapper->ImmediateModeRenderingOff();
     mapper->ScalarVisibilityOff();
@@ -213,7 +212,7 @@ namespace cv { namespace viz { namespace
             if (!mapper)
             {
                 // This is the first cloud
-                vtkSmartPointer<vtkDataSetMapper> mapper_new = vtkSmartPointer<vtkDataSetMapper>::New();
+                vtkSmartPointer<vtkPolyDataMapper> mapper_new = vtkSmartPointer<vtkPolyDataMapper>::New();
 #if VTK_MAJOR_VERSION <= 5
                 mapper_new->SetInputConnection(poly_data->GetProducerPort());
 #else
@@ -309,7 +308,6 @@ void cv::viz::WCloudCollection::addCloud(InputArray _cloud, InputArray _colors,
     CV_Assert("Incompatible widget type." && actor);
 
     CloudCollectionUtils::createMapper(actor, transform_filter->GetOutput());
-
 }
 
 void cv::viz::WCloudCollection::addCloud(InputArray _cloud, const Color &color, const Affine3f &pose)

modules/viz/src/interactor_style.cpp

@@ -48,6 +48,13 @@
 
 #include "precomp.hpp"
 
+
+namespace cv { namespace viz
+{
+    vtkStandardNewMacro(InteractorStyle)
+}}
+
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::InteractorStyle::Initialize()
 {
@@ -173,10 +180,6 @@ void cv::viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const K
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
-bool cv::viz::InteractorStyle::getAltKey() { return Interactor->GetAltKey() != 0; }
-bool cv::viz::InteractorStyle::getShiftKey() { return Interactor->GetShiftKey()!= 0; }
-bool cv::viz::InteractorStyle::getControlKey() { return Interactor->GetControlKey()!= 0; }
-
 int cv::viz::InteractorStyle::getModifiers()
 {
     int modifiers = KeyboardEvent::NONE;
@@ -212,7 +215,7 @@ cv::viz::InteractorStyle::OnKeyDown()
     if (win_size_[0] == -1 || win_size_[1] == -1)
         win_size_ = Vec2i(Interactor->GetRenderWindow()->GetSize());
 
-    bool alt = getAltKey();
+    bool alt = Interactor->GetAltKey() != 0;
 
     std::string key(Interactor->GetKeySym());
     if (key.find("XF86ZoomIn") != std::string::npos)
@@ -245,7 +248,7 @@ cv::viz::InteractorStyle::OnKeyDown()
                      "    ALT + s, S   : turn stereo mode on/off\n"
                      "    ALT + f, F   : switch between maximized window mode and original size\n"
                      "\n"
-                     << std::endl;
+                  << std::endl;
         break;
     }
 
@@ -287,8 +290,8 @@ cv::viz::InteractorStyle::OnKeyDown()
         double angle = cam->GetViewAngle () / 180.0 * CV_PI;
 
         String data = cv::format("clip(%f,%f) focal(%f,%f,%f) pos(%f,%f,%f) view(%f,%f,%f) angle(%f) winsz(%d,%d) winpos(%d,%d)",
-            clip[0], clip[1], focal[0], focal[1], focal[2], pos[0], pos[1], pos[2], view[0], view[1], view[2],
+                                 clip[0], clip[1], focal[0], focal[1], focal[2], pos[0], pos[1], pos[2], view[0], view[1], view[2],
-                angle, win_size[0], win_size[1], win_pos[0], win_pos[1]);
+                                 angle, win_size[0], win_size[1], win_pos[0], win_pos[1]);
 
         std::cout << data.c_str() << std::endl;
 
@@ -416,7 +419,7 @@ cv::viz::InteractorStyle::OnKeyDown()
         break;
     }
 
-    // Overwrite the camera reset
+        // Overwrite the camera reset
     case 'r': case 'R':
     {
         if (!alt)
@@ -425,8 +428,6 @@ cv::viz::InteractorStyle::OnKeyDown()
             break;
         }
 
-        vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera();
-
         static WidgetActorMap::iterator it = widget_actor_map_->begin();
         // it might be that some actors don't have a valid transformation set -> we skip them to avoid a seg fault.
         bool found_transformation = false;
@@ -444,6 +445,8 @@ cv::viz::InteractorStyle::OnKeyDown()
             }
         }
 
+        vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera();
+
         // if a valid transformation was found, use it otherwise fall back to default view point.
         if (found_transformation)
         {
@@ -487,11 +490,10 @@ cv::viz::InteractorStyle::OnKeyDown()
     }
     }
 
-
     KeyboardEvent event(KeyboardEvent::KEY_DOWN, Interactor->GetKeySym(), Interactor->GetKeyCode(), getModifiers());
     // Check if there is a keyboard callback registered
     if (keyboardCallback_)
-      keyboardCallback_(event, keyboard_callback_cookie_);
+        keyboardCallback_(event, keyboard_callback_cookie_);
 
     renderer_->Render();
     Interactor->Render();
@@ -503,7 +505,7 @@ void cv::viz::InteractorStyle::OnKeyUp()
     KeyboardEvent event(KeyboardEvent::KEY_UP, Interactor->GetKeySym(), Interactor->GetKeyCode(), getModifiers());
     // Check if there is a keyboard callback registered
     if (keyboardCallback_)
-      keyboardCallback_(event, keyboard_callback_cookie_);
+        keyboardCallback_(event, keyboard_callback_cookie_);
 
     Superclass::OnKeyUp();
 }
@@ -514,7 +516,7 @@ void cv::viz::InteractorStyle::OnMouseMove()
     Vec2i p(Interactor->GetEventPosition());
     MouseEvent event(MouseEvent::MouseMove, MouseEvent::NoButton, p, getModifiers());
     if (mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnMouseMove();
 }
 
@@ -525,7 +527,7 @@ void cv::viz::InteractorStyle::OnLeftButtonDown()
     MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
     MouseEvent event(type, MouseEvent::LeftButton, p, getModifiers());
     if (mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnLeftButtonDown();
 }
 
@@ -535,7 +537,7 @@ void cv::viz::InteractorStyle::OnLeftButtonUp()
     Vec2i p(Interactor->GetEventPosition());
     MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::LeftButton, p, getModifiers());
     if (mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnLeftButtonUp();
 }
 
@@ -547,7 +549,7 @@ void cv::viz::InteractorStyle::OnMiddleButtonDown()
     MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
     MouseEvent event(type, MouseEvent::MiddleButton, p, getModifiers());
     if (mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnMiddleButtonDown();
 }
 
@@ -557,7 +559,7 @@ void cv::viz::InteractorStyle::OnMiddleButtonUp()
     Vec2i p(Interactor->GetEventPosition());
     MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::MiddleButton, p, getModifiers());
     if (mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnMiddleButtonUp();
 }
 
@@ -569,7 +571,7 @@ void cv::viz::InteractorStyle::OnRightButtonDown()
     MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
     MouseEvent event(type, MouseEvent::RightButton, p, getModifiers());
     if (mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnRightButtonDown();
 }
 
@@ -579,7 +581,7 @@ void cv::viz::InteractorStyle::OnRightButtonUp()
     Vec2i p(Interactor->GetEventPosition());
     MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::RightButton, p, getModifiers());
     if (mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnRightButtonUp();
 }
 
@@ -590,9 +592,9 @@ void cv::viz::InteractorStyle::OnMouseWheelForward()
     MouseEvent event(MouseEvent::MouseScrollUp, MouseEvent::VScroll, p, getModifiers());
     // If a mouse callback registered, call it!
     if (mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
     if (Interactor->GetRepeatCount() && mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
 
     if (Interactor->GetAltKey())
     {
@@ -622,10 +624,10 @@ void cv::viz::InteractorStyle::OnMouseWheelBackward()
     MouseEvent event(MouseEvent::MouseScrollDown, MouseEvent::VScroll, p, getModifiers());
     // If a mouse callback registered, call it!
     if (mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
 
     if (Interactor->GetRepeatCount() && mouseCallback_)
-      mouseCallback_(event, mouse_callback_cookie_);
+        mouseCallback_(event, mouse_callback_cookie_);
 
     if (Interactor->GetAltKey())
     {
@@ -656,9 +658,3 @@ void cv::viz::InteractorStyle::OnTimer()
     renderer_->Render();
     Interactor->Render();
 }
-
-namespace cv { namespace viz
-{
-    //Standard VTK macro for *New()
-    vtkStandardNewMacro(InteractorStyle)
-}}

modules/viz/src/interactor_style.hpp

@@ -41,9 +41,6 @@
 //  * Ozan Tonkal, ozantonkal@gmail.com
 //  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
 //
-//  OpenCV Viz module is complete rewrite of
-//  PCL visualization module (www.pointclouds.org)
-//
 //M*/
 
 #ifndef __OPENCV_VIZ_INTERACTOR_STYLE_H__
@@ -121,9 +118,6 @@ namespace cv
             void (*mouseCallback_)(const MouseEvent&, void*);
             void *mouse_callback_cookie_;
 
-            bool getAltKey();
-            bool getControlKey();
-            bool getShiftKey();
             int getModifiers();
         };
     }

modules/viz/src/shapes.cpp

@@ -41,9 +41,6 @@
 //  * Ozan Tonkal, ozantonkal@gmail.com
 //  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
 //
-//  OpenCV Viz module is complete rewrite of
-//  PCL visualization module (www.pointclouds.org)
-//
 //M*/
 
 #include "precomp.hpp"
@@ -63,7 +60,6 @@ cv::viz::WLine::WLine(const Point3f &pt1, const Point3f &pt2, const Color &color
     vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
     line->SetPoint1(pt1.x, pt1.y, pt1.z);
     line->SetPoint2(pt2.x, pt2.y, pt2.z);
-    line->Update();
 
     vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
     mapper->SetInputConnection(line->GetOutputPort());
@@ -165,7 +161,6 @@ cv::viz::WSphere::WSphere(const Point3f &center, float radius, int sphere_resolu
     sphere->SetPhiResolution(sphere_resolution);
     sphere->SetThetaResolution(sphere_resolution);
     sphere->LatLongTessellationOff();
-    sphere->Update();
 
     vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
     mapper->SetInputConnection(sphere->GetOutputPort());
@@ -194,44 +189,27 @@ cv::viz::WArrow::WArrow(const Point3f& pt1, const Point3f& pt2, float thickness,
     arrowSource->SetTipRadius(thickness * 3.0);
     arrowSource->SetTipLength(thickness * 10.0);
 
-    float startPoint[3], endPoint[3];
+    Vec3f startPoint(pt1.x, pt1.y, pt1.z), endPoint(pt2.x, pt2.y, pt2.z);
-    startPoint[0] = pt1.x;
+    Vec3f arbitrary(theRNG().uniform(-10.f, 10.f), theRNG().uniform(-10.f, 10.f), theRNG().uniform(-10.f, 10.f));
-    startPoint[1] = pt1.y;
+    double length = cv::norm(endPoint - startPoint);
-    startPoint[2] = pt1.z;
-    endPoint[0] = pt2.x;
-    endPoint[1] = pt2.y;
-    endPoint[2] = pt2.z;
-    float normalizedX[3], normalizedY[3], normalizedZ[3];
 
-    // The X axis is a vector from start to end
+    Vec3f xvec = normalized(endPoint - startPoint);
-    vtkMath::Subtract(endPoint, startPoint, normalizedX);
+    Vec3f zvec = normalized(xvec.cross(arbitrary));
-    float length = vtkMath::Norm(normalizedX);
+    Vec3f yvec = zvec.cross(xvec);
-    vtkMath::Normalize(normalizedX);
-
-    // The Z axis is an arbitrary vecotr cross X
-    float arbitrary[3];
-    arbitrary[0] = vtkMath::Random(-10,10);
-    arbitrary[1] = vtkMath::Random(-10,10);
-    arbitrary[2] = vtkMath::Random(-10,10);
-    vtkMath::Cross(normalizedX, arbitrary, normalizedZ);
-    vtkMath::Normalize(normalizedZ);
-
-    // The Y axis is Z cross X
-    vtkMath::Cross(normalizedZ, normalizedX, normalizedY);
-    vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New();
 
     // Create the direction cosine matrix
+    vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New();
     matrix->Identity();
-    for (unsigned int i = 0; i < 3; i++)
+    for (int i = 0; i < 3; ++i)
     {
-        matrix->SetElement(i, 0, normalizedX[i]);
+        matrix->SetElement(i, 0, xvec[i]);
-        matrix->SetElement(i, 1, normalizedY[i]);
+        matrix->SetElement(i, 1, yvec[i]);
-        matrix->SetElement(i, 2, normalizedZ[i]);
+        matrix->SetElement(i, 2, zvec[i]);
     }
 
     // Apply the transforms
     vtkSmartPointer<vtkTransform> transform = vtkSmartPointer<vtkTransform>::New();
-    transform->Translate(startPoint);
+    transform->Translate(startPoint.val);
     transform->Concatenate(matrix);
     transform->Scale(length, length, length);
 

modules/viz/src/types.cpp

@@ -41,9 +41,6 @@
 //  * Ozan Tonkal, ozantonkal@gmail.com
 //  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
 //
-//  OpenCV Viz module is complete rewrite of
-//  PCL visualization module (www.pointclouds.org)
-//
 //M*/
 
 #include "precomp.hpp"
@@ -60,77 +57,80 @@ cv::viz::MouseEvent::MouseEvent(const Type& _type, const MouseButton& _button, c
 ////////////////////////////////////////////////////////////////////
 /// cv::viz::Mesh3d
 
-struct cv::viz::Mesh3d::loadMeshImpl
+namespace cv { namespace viz { namespace
 {
-    static cv::viz::Mesh3d loadMesh(const String &file)
+    struct MeshUtils
     {
-        Mesh3d mesh;
+        static Mesh3d loadMesh(const String &file)
-
-        vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
-        reader->SetFileName(file.c_str());
-        reader->Update();
-
-        vtkSmartPointer<vtkPolyData> poly_data = reader->GetOutput();
-        CV_Assert("File does not exist or file format is not supported." && poly_data);
-
-        vtkSmartPointer<vtkPoints> mesh_points = poly_data->GetPoints();
-        vtkIdType nr_points = mesh_points->GetNumberOfPoints();
-
-        mesh.cloud.create(1, nr_points, CV_32FC3);
-
-        Vec3f *mesh_cloud = mesh.cloud.ptr<Vec3f>();
-        for (vtkIdType i = 0; i < mesh_points->GetNumberOfPoints(); i++)
         {
-            Vec3d point;
+            Mesh3d mesh;
-            mesh_points->GetPoint(i, point.val);
-            mesh_cloud[i] = point;
-        }
 
-        // Then the color information, if any
+            vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
-        vtkUnsignedCharArray* poly_colors = 0;
+            reader->SetFileName(file.c_str());
-        if (poly_data->GetPointData())
+            reader->Update();
-            poly_colors = vtkUnsignedCharArray::SafeDownCast(poly_data->GetPointData()->GetScalars());
 
-        if (poly_colors && (poly_colors->GetNumberOfComponents() == 3))
+            vtkSmartPointer<vtkPolyData> poly_data = reader->GetOutput();
-        {
+            CV_Assert("File does not exist or file format is not supported." && poly_data);
-            mesh.colors.create(1, nr_points, CV_8UC3);
-            Vec3b *mesh_colors = mesh.colors.ptr<cv::Vec3b>();
 
+            vtkSmartPointer<vtkPoints> mesh_points = poly_data->GetPoints();
+            vtkIdType nr_points = mesh_points->GetNumberOfPoints();
+
+            mesh.cloud.create(1, nr_points, CV_32FC3);
+
+            Vec3f *mesh_cloud = mesh.cloud.ptr<Vec3f>();
             for (vtkIdType i = 0; i < mesh_points->GetNumberOfPoints(); i++)
             {
-                Vec3b point_color;
+                Vec3d point;
-                poly_colors->GetTupleValue(i, point_color.val);
+                mesh_points->GetPoint(i, point.val);
-
+                mesh_cloud[i] = point;
-                std::swap(point_color[0], point_color[2]); // RGB -> BGR
-                mesh_colors[i] = point_color;
             }
+
+            // Then the color information, if any
+            vtkUnsignedCharArray* poly_colors = 0;
+            if (poly_data->GetPointData())
+                poly_colors = vtkUnsignedCharArray::SafeDownCast(poly_data->GetPointData()->GetScalars());
+
+            if (poly_colors && (poly_colors->GetNumberOfComponents() == 3))
+            {
+                mesh.colors.create(1, nr_points, CV_8UC3);
+                Vec3b *mesh_colors = mesh.colors.ptr<cv::Vec3b>();
+
+                for (vtkIdType i = 0; i < mesh_points->GetNumberOfPoints(); i++)
+                {
+                    Vec3b point_color;
+                    poly_colors->GetTupleValue(i, point_color.val);
+
+                    std::swap(point_color[0], point_color[2]); // RGB -> BGR
+                    mesh_colors[i] = point_color;
+                }
+            }
+            else
+                mesh.colors.release();
+
+            // Now handle the polygons
+            vtkIdType* cell_points;
+            vtkIdType nr_cell_points;
+            vtkCellArray * mesh_polygons = poly_data->GetPolys();
+            mesh_polygons->InitTraversal();
+
+            mesh.polygons.create(1, mesh_polygons->GetSize(), CV_32SC1);
+
+            int* polygons = mesh.polygons.ptr<int>();
+            while (mesh_polygons->GetNextCell(nr_cell_points, cell_points))
+            {
+                *polygons++ = nr_cell_points;
+                for (int i = 0; i < nr_cell_points; ++i)
+                    *polygons++ = static_cast<int>(cell_points[i]);
+            }
+
+            return mesh;
         }
-        else
+    };
-            mesh.colors.release();
+}}}
-
-        // Now handle the polygons
-        vtkIdType* cell_points;
-        vtkIdType nr_cell_points;
-        vtkCellArray * mesh_polygons = poly_data->GetPolys();
-        mesh_polygons->InitTraversal();
-
-        mesh.polygons.create(1, mesh_polygons->GetSize(), CV_32SC1);
-
-        int* polygons = mesh.polygons.ptr<int>();
-        while (mesh_polygons->GetNextCell(nr_cell_points, cell_points))
-        {
-            *polygons++ = nr_cell_points;
-            for (int i = 0; i < nr_cell_points; ++i)
-                *polygons++ = static_cast<int>(cell_points[i]);
-        }
-
-        return mesh;
-    }
-};
 
 cv::viz::Mesh3d cv::viz::Mesh3d::loadMesh(const String& file)
 {
-    return loadMeshImpl::loadMesh(file);
+    return MeshUtils::loadMesh(file);
 }
 
 ////////////////////////////////////////////////////////////////////

modules/viz/src/viz3d.cpp

@@ -41,9 +41,6 @@
 //  * Ozan Tonkal, ozantonkal@gmail.com
 //  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
 //
-//  OpenCV Viz module is complete rewrite of
-//  PCL visualization module (www.pointclouds.org)
-//
 //M*/
 
 #include "precomp.hpp"
@@ -131,10 +128,10 @@ void cv::viz::Viz3d::convertToWindowCoordinates(const Point3d &pt, Point3d &wind
 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.width, window_size.height); }
+void cv::viz::Viz3d::setWindowSize(const Size &window_size) { impl_->setWindowSize(window_size); }
 cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); }
 void cv::viz::Viz3d::saveScreenshot(const String &file) { impl_->saveScreenshot(file); }
-void cv::viz::Viz3d::setWindowPosition(int x, int y) { impl_->setWindowPosition(x,y); }
+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) { impl_->setBackgroundColor(color); }
 

modules/viz/src/vizimpl.cpp

@@ -41,9 +41,6 @@
 //  * Ozan Tonkal, ozantonkal@gmail.com
 //  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
 //
-//  OpenCV Viz module is complete rewrite of
-//  PCL visualization module (www.pointclouds.org)
-//
 //M*/
 
 #include "precomp.hpp"
@@ -62,14 +59,11 @@ cv::viz::Viz3d::VizImpl::VizImpl(const String &name)
     :  s_lastDone_(0.0), style_(vtkSmartPointer<cv::viz::InteractorStyle>::New()), widget_actor_map_(new WidgetActorMap)
 {
     renderer_ = vtkSmartPointer<vtkRenderer>::New();
-
-    // Create a RendererWindow
     window_ = vtkSmartPointer<vtkRenderWindow>::New();
 
     // Set the window size as 1/2 of the screen size
     cv::Vec2i window_size = cv::Vec2i(window_->GetScreenSize()) / 2;
     window_->SetSize(window_size.val);
-
     window_->AddRenderer(renderer_);
 
     // Create the interactor style
@@ -100,11 +94,6 @@ cv::viz::Viz3d::VizImpl::VizImpl(const String &name)
     interactor_->Initialize();
     timer_id_ = interactor_->CreateRepeatingTimer(5000L);
 
-    // Set a simple PointPicker
-    //vtkSmartPointer<vtkPointPicker> pp = vtkSmartPointer<vtkPointPicker>::New();
-    //pp->SetTolerance(pp->GetTolerance() * 2);
-    //interactor_->SetPicker(pp);
-
     exit_main_loop_timer_callback_ = vtkSmartPointer<ExitMainLoopTimerCallback>::New();
     exit_main_loop_timer_callback_->viz_ = this;
     exit_main_loop_timer_callback_->right_timer_id = -1;
@@ -116,7 +105,6 @@ cv::viz::Viz3d::VizImpl::VizImpl(const String &name)
 
     resetStoppedFlag();
 
-
     //////////////////////////////
     String window_name = VizStorage::generateWindowName(name);
     window_->SetWindowName(window_name.c_str());
@@ -521,6 +509,6 @@ cv::String cv::viz::Viz3d::VizImpl::getWindowName() const
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::setWindowPosition(int x, int y) { window_->SetPosition(x, y); }
+void cv::viz::Viz3d::VizImpl::setWindowPosition(const Point& position) { window_->SetPosition(position.x, position.y); }
-void cv::viz::Viz3d::VizImpl::setWindowSize(int xw, int yw) { window_->SetSize(xw, yw); }
+void cv::viz::Viz3d::VizImpl::setWindowSize(const Size& window_size) { window_->SetSize(window_size.width, window_size.height); }
 cv::Size cv::viz::Viz3d::VizImpl::getWindowSize() const { return Size(window_->GetSize()[0], window_->GetSize()[1]); }

modules/viz/src/vizimpl.hpp

@@ -41,9 +41,6 @@
 //  * Ozan Tonkal, ozantonkal@gmail.com
 //  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
 //
-//  OpenCV Viz module is complete rewrite of
-//  PCL visualization module (www.pointclouds.org)
-//
 //M*/
 
 #ifndef __OPENCV_VIZ_VIZ3D_IMPL_HPP__
@@ -105,9 +102,9 @@ public:
     void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
 
     void saveScreenshot(const String &file);
-    void setWindowPosition(int x, int y);
+    void setWindowPosition(const Point& position);
     Size getWindowSize() const;
-    void setWindowSize(int xw, int yw);
+    void setWindowSize(const Size& window_size);
     void setFullScreen(bool mode);
     String getWindowName() const;
     void setBackgroundColor(const Color& color);

modules/viz/src/widget.cpp

@@ -41,9 +41,6 @@
 //  * Ozan Tonkal, ozantonkal@gmail.com
 //  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
 //
-//  OpenCV Viz module is complete rewrite of
-//  PCL visualization module (www.pointclouds.org)
-//
 //M*/
 
 #include "precomp.hpp"
@@ -55,7 +52,6 @@ class cv::viz::Widget::Impl
 {
 public:
     vtkSmartPointer<vtkProp> prop;
-
     Impl() : prop(0) {}
 };
 
@@ -63,13 +59,17 @@ cv::viz::Widget::Widget() : impl_( new Impl() ) { }
 
 cv::viz::Widget::Widget(const Widget& other) : impl_( new Impl() )
 {
-    if (other.impl_ && other.impl_->prop) impl_->prop = other.impl_->prop;
+    if (other.impl_ && other.impl_->prop)
+        impl_->prop = other.impl_->prop;
 }
 
 cv::viz::Widget& cv::viz::Widget::operator=(const Widget& other)
 {
-    if (!impl_) impl_ = new Impl();
+    if (!impl_)
-    if (other.impl_) impl_->prop = other.impl_->prop;
+        impl_ = new Impl();
+
+    if (other.impl_)
+        impl_->prop = other.impl_->prop;
     return *this;
 }
 
@@ -84,45 +84,22 @@ cv::viz::Widget::~Widget()
 
 cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
 {
+    CV_Assert(vtkPLYReader::CanReadFile(file_name.c_str()));
+
     vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
     reader->SetFileName(file_name.c_str());
 
-    vtkSmartPointer<vtkDataSet> data = reader->GetOutput();
-    CV_Assert("File does not exist or file format is not supported." && data);
-
-    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
-
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
-#if VTK_MAJOR_VERSION <= 5
+    mapper->SetInputConnection( reader->GetOutputPort() );
-    mapper->SetInput(data);
-#else
-    mapper->SetInputData(data);
-#endif
-
-    vtkSmartPointer<vtkDataArray> scalars = data->GetPointData()->GetScalars();
-    if (scalars)
-    {
-        cv::Vec2d minmax(scalars->GetRange());
-        mapper->SetScalarRange(minmax.val);
-        mapper->SetScalarModeToUsePointData();
-
-        // interpolation OFF, if data is a vtkPolyData that contains only vertices, ON for anything else.
-        vtkPolyData* polyData = vtkPolyData::SafeDownCast(data);
-        bool interpolation = (polyData && polyData->GetNumberOfCells() != polyData->GetNumberOfVerts());
-
-        mapper->SetInterpolateScalarsBeforeMapping(interpolation);
-        mapper->ScalarVisibilityOn();
-    }
     mapper->ImmediateModeRenderingOff();
 
-    actor->SetNumberOfCloudPoints(int(std::max<vtkIdType>(1, data->GetNumberOfPoints() / 10)));
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
     actor->GetProperty()->SetInterpolationToFlat();
     actor->GetProperty()->BackfaceCullingOn();
-
     actor->SetMapper(mapper);
 
     Widget widget;
-    widget.impl_->prop = actor;
+    WidgetAccessor::setProp(widget, actor);
     return widget;
 }
 
@@ -133,37 +110,15 @@ void cv::viz::Widget::setRenderingProperty(int property, double value)
 
     switch (property)
     {
-        case POINT_SIZE:
+        case POINT_SIZE:          actor->GetProperty()->SetPointSize(float(value)); break;
-        {
+        case OPACITY:             actor->GetProperty()->SetOpacity(value);          break;
-            actor->GetProperty()->SetPointSize(float(value));
+        case LINE_WIDTH:          actor->GetProperty()->SetLineWidth(float(value)); break;
-            actor->Modified();
+        case IMMEDIATE_RENDERING: actor->GetMapper()->SetImmediateModeRendering(int(value)); break;
-            break;
-        }
-        case OPACITY:
-        {
-            actor->GetProperty()->SetOpacity(value);
-            actor->Modified();
-            break;
-        }
-        case IMMEDIATE_RENDERING:
-        {
-            actor->GetMapper()->SetImmediateModeRendering(int(value));
-            actor->Modified();
-            break;
-        }
-        case LINE_WIDTH:
-        {
-            actor->GetProperty()->SetLineWidth(float(value));
-            actor->Modified();
-            break;
-        }
         case FONT_SIZE:
         {
             vtkTextActor* text_actor = vtkTextActor::SafeDownCast(actor);
             CV_Assert("Widget does not have text content." && text_actor);
-            vtkSmartPointer<vtkTextProperty> tprop = text_actor->GetTextProperty();
+            text_actor->GetTextProperty()->SetFontSize(int(value));
-            tprop->SetFontSize(int(value));
-            text_actor->Modified();
             break;
         }
         case REPRESENTATION:
@@ -174,7 +129,6 @@ void cv::viz::Widget::setRenderingProperty(int property, double value)
                 case REPRESENTATION_WIREFRAME: actor->GetProperty()->SetRepresentationToWireframe(); break;
                 case REPRESENTATION_SURFACE:   actor->GetProperty()->SetRepresentationToSurface();  break;
             }
-            actor->Modified();
             break;
         }
         case SHADING:
@@ -215,14 +169,12 @@ void cv::viz::Widget::setRenderingProperty(int property, double value)
                     break;
                 }
             }
-            actor->Modified();
             break;
         }
-
-
         default:
             CV_Assert("setPointCloudRenderingProperties: Unknown property");
     }
+    actor->Modified();
 }
 
 double cv::viz::Widget::getRenderingProperty(int property) const
@@ -233,32 +185,16 @@ double cv::viz::Widget::getRenderingProperty(int property) const
     double value = 0.0;
     switch (property)
     {
-        case POINT_SIZE:
+        case POINT_SIZE: value = actor->GetProperty()->GetPointSize(); break;
-        {
+        case OPACITY:    value = actor->GetProperty()->GetOpacity();   break;
-            value = actor->GetProperty()->GetPointSize();
+        case LINE_WIDTH: value = actor->GetProperty()->GetLineWidth(); break;
-            break;
+        case IMMEDIATE_RENDERING:  value = actor->GetMapper()->GetImmediateModeRendering();  break;
-        }
+
-        case OPACITY:
-        {
-            value = actor->GetProperty()->GetOpacity();
-            break;
-        }
-        case IMMEDIATE_RENDERING:
-        {
-            value = actor->GetMapper()->GetImmediateModeRendering();
-            break;
-        }
-        case LINE_WIDTH:
-        {
-            value = actor->GetProperty()->GetLineWidth();
-            break;
-        }
         case FONT_SIZE:
         {
             vtkTextActor* text_actor = vtkTextActor::SafeDownCast(actor);
             CV_Assert("Widget does not have text content." && text_actor);
-            vtkSmartPointer<vtkTextProperty> tprop = text_actor->GetTextProperty();
+            value = text_actor->GetTextProperty()->GetFontSize();;
-            value = tprop->GetFontSize();
             break;
         }
         case REPRESENTATION:
@@ -322,7 +258,7 @@ void cv::viz::Widget3D::updatePose(const Affine3f &pose)
     if (!matrix)
     {
         setPose(pose);
-        return ;
+        return;
     }
 
     Affine3f updated_pose = pose * Affine3f(convertToMatx(matrix));