First version of 'viz' module

modules/viz/include/opencv2/viz.hpp

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+#pragma once
+
+#include <opencv2/viz/viz3d.hpp>

modules/viz/include/opencv2/viz/events.hpp

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+#pragma once
+
+#include <string>
+#include <opencv2/viz/types.hpp>
+
+namespace cv
+{
+    class KeyboardEvent
+    {
+    public:
+        static const unsigned int Alt   = 1;
+        static const unsigned int Ctrl  = 2;
+        static const unsigned int Shift = 4;
+
+        /** \brief Constructor
+              * \param[in] action    true for key was pressed, false for released
+              * \param[in] key_sym   the key-name that caused the action
+              * \param[in] key       the key code that caused the action
+              * \param[in] alt       whether the alt key was pressed at the time where this event was triggered
+              * \param[in] ctrl      whether the ctrl was pressed at the time where this event was triggered
+              * \param[in] shift     whether the shift was pressed at the time where this event was triggered
+              */
+        KeyboardEvent (bool action, const std::string& key_sym, unsigned char key, bool alt, bool ctrl, bool shift);
+
+        bool isAltPressed () const;
+        bool isCtrlPressed () const;
+        bool isShiftPressed () const;
+
+        unsigned char getKeyCode () const;
+
+        const std::string& getKeySym () const;
+        bool keyDown () const;
+        bool keyUp () const;
+
+    protected:
+
+        bool action_;
+        unsigned int modifiers_;
+        unsigned char key_code_;
+        std::string key_sym_;
+    };
+
+    class MouseEvent
+    {
+    public:
+        enum Type
+        {
+            MouseMove = 1,
+            MouseButtonPress,
+            MouseButtonRelease,
+            MouseScrollDown,
+            MouseScrollUp,
+            MouseDblClick
+        } ;
+
+        enum MouseButton
+        {
+            NoButton      = 0,
+            LeftButton,
+            MiddleButton,
+            RightButton,
+            VScroll /*other buttons, scroll wheels etc. may follow*/
+        } ;
+
+        MouseEvent (const Type& type, const MouseButton& button, const Point& p, bool alt, bool ctrl, bool shift);
+
+
+        Type type;
+        MouseButton button;
+        Point pointer;
+        unsigned int key_state;
+    };
+}
+
+////////////////////////////////////////////////////////////////////
+/// Implementation
+
+inline cv::KeyboardEvent::KeyboardEvent (bool _action, const std::string& _key_sym, unsigned char key, bool alt, bool ctrl, bool shift)
+  : action_ (_action), modifiers_ (0), key_code_(key), key_sym_ (_key_sym)
+{
+  if (alt)
+    modifiers_ = Alt;
+
+  if (ctrl)
+    modifiers_ |= Ctrl;
+
+  if (shift)
+    modifiers_ |= Shift;
+}
+
+inline bool cv::KeyboardEvent::isAltPressed () const { return (modifiers_ & Alt) != 0; }
+inline bool cv::KeyboardEvent::isCtrlPressed () const { return (modifiers_ & Ctrl) != 0; }
+inline bool cv::KeyboardEvent::isShiftPressed () const { return (modifiers_ & Shift) != 0; }
+inline unsigned char cv::KeyboardEvent::getKeyCode () const { return key_code_; }
+inline const std::string& cv::KeyboardEvent::getKeySym () const { return (key_sym_); }
+inline bool cv::KeyboardEvent::keyDown () const { return action_; }
+inline bool cv::KeyboardEvent::keyUp () const { return !action_; }
+
+inline cv::MouseEvent::MouseEvent (const Type& _type, const MouseButton& _button, const Point& _p,  bool alt, bool ctrl, bool shift)
+    : type(_type), button(_button), pointer(_p), key_state(0)
+{
+    if (alt)
+        key_state = KeyboardEvent::Alt;
+
+    if (ctrl)
+        key_state |= KeyboardEvent::Ctrl;
+
+    if (shift)
+        key_state |= KeyboardEvent::Shift;
+}

modules/viz/include/opencv2/viz/mesh_load.hpp

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+#pragma once
+
+#include <opencv2/core.hpp>
+#include <opencv2/viz/types.hpp>
+#include <vector>
+
+namespace temp_viz
+{
+    CV_EXPORTS Mesh3d::Ptr mesh_load(const String& file);
+}

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

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+#pragma once
+
+#include <vector>
+#include <opencv2/core/cvdef.h>
+#include <opencv2/core.hpp>
+#include <opencv2/core/affine.hpp>
+
+namespace temp_viz
+{
+    //qt creator hack
+    typedef cv::Scalar Scalar;
+    typedef cv::Mat Mat;
+    typedef std::string String;
+
+    typedef cv::Vec3d Vec3d;
+    typedef cv::Vec4d Vec4d;
+    typedef cv::Vec2d Vec2d;
+    typedef cv::Vec2i Vec2i;
+    typedef cv::Matx33d Matx33d;
+    typedef cv::Affine3f Affine3f;
+    typedef cv::Affine3d Affine3d;
+    typedef cv::Point3f Point3f;
+    typedef cv::Matx44d Matx44d;
+    typedef cv::Matx44f Matx44f;
+    typedef cv::Size Size;
+    typedef cv::Point Point;
+
+
+
+    struct CV_EXPORTS ModelCoefficients
+    {
+        std::vector<float> values;
+    };
+
+
+    class CV_EXPORTS Color : public Scalar
+    {
+    public:
+        Color();
+        Color(double gray);
+        Color(double blue, double green, double red);
+
+        Color(const Scalar& color);
+
+        static Color black();
+        static Color blue();
+        static Color green();
+        static Color cyan();
+
+        static Color red();
+        static Color magenta();
+        static Color yellow();
+        static Color white();
+
+        static Color gray();
+    };
+
+
+    struct CV_EXPORTS Vertices
+    {
+        std::vector<unsigned int> vertices;
+    };
+
+    class CV_EXPORTS Mesh3d
+    {
+    public:
+        typedef cv::Ptr<Mesh3d> Ptr;
+
+        Mat cloud, colors;
+        std::vector<Vertices> polygons;
+    };
+
+
+    inline Color vtkcolor(const Color& color)
+    {
+        Color scaled_color = color * (1.0/255.0);
+        std::swap(scaled_color[0], scaled_color[2]);
+        return scaled_color;
+    }
+
+    inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); }
+
+    template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); }
+}

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

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+#pragma once
+
+#if !defined YES_I_AGREE_THAT_VIZ_API_IS_NOT_STABLE_NOW_AND_BINARY_COMPARTIBILITY_WONT_BE_SUPPORTED
+    //#error "Viz is in beta state now. Please define macro above to use it"
+#endif
+
+#include <opencv2/core/cvdef.h>
+#include <opencv2/core.hpp>
+
+
+#include <string>
+#include <opencv2/viz/types.hpp>
+
+namespace temp_viz
+{
+    class CV_EXPORTS Viz3d
+    {
+    public:
+
+        typedef cv::Ptr<Viz3d> Ptr;
+
+        Viz3d(const String& window_name = String());
+        ~Viz3d();
+
+        void setBackgroundColor(const Color& color = Color::black());
+
+        void addCoordinateSystem(double scale, const Affine3f& t, const String &id = "coordinate");
+
+        void addPointCloud(const Mat& cloud, const Mat& colors, const String& id = "cloud", const Mat& mask = Mat());
+
+        bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String &id = "cloud");
+
+
+
+
+        bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
+        bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");
+        bool removeCoordinateSystem (const String &id = "coordinate");
+
+
+        bool updatePointCloud (const Mat& cloud, const Mat& colors, const String& id = "cloud", const Mat& mask = Mat());
+
+
+        bool addPolygonMesh (const Mesh3d& mesh, const String &id = "polygon");
+        bool updatePolygonMesh (const Mesh3d& mesh, const String &id = "polygon");
+
+        bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String &id = "polyline");
+
+
+        bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String &id = "");
+
+
+        bool addPolygon(const Mat& cloud, const Color& color, const String &id = "polygon");
+
+        bool addSphere (const Point3f &center, double radius, const Color& color, const String &id = "sphere");
+
+
+        void spin ();
+        void spinOnce (int time = 1, bool force_redraw = false);
+
+    private:
+        Viz3d(const Viz3d&);
+        Viz3d& operator=(const Viz3d&);
+
+        struct VizImpl;
+        VizImpl* impl_;
+    };
+}
+
+
+