added comments with future work for VizImpl

added authors to license header

modules/viz/CMakeLists.txt

@@ -1,3 +1,6 @@
+set(BUILD_opencv_viz_INIT OFF)
+
+
 ###############################################################################
 # Find qvtk
 # This sets the following variables:
@@ -36,20 +39,23 @@ macro(find_vtk)
   endif()
 endmacro()
 
+
+
+
+#find_package(OpenGL)
+#if (OPENGL_FOUND)
+#  if(OPENGL_INCLUDE_DIR)
+#    include_directories("${OPENGL_INCLUDE_DIR}")
+#  endif()
+#  if(OPENGL_DEFINITIONS)
+#    add_definitions("${OPENGL_DEFINITIONS}")
+#  endif()
+#endif()
+
+
 find_vtk()
 
 
-find_package(OpenGL)
-if (OPENGL_FOUND)
-  if(OPENGL_INCLUDE_DIR)
-    include_directories("${OPENGL_INCLUDE_DIR}")
-  endif()
-  if(OPENGL_DEFINITIONS)
-    add_definitions("${OPENGL_DEFINITIONS}")
-  endif()
-endif()
-
-
 if(NOT HAVE_VTK)
   set(DEFAULT FALSE)
   set(REASON "VTK was not found.")
@@ -65,14 +71,13 @@ endif()
 add_definitions(-DHAVE_VTK)
 
 
-set(BUILD_opencv_viz_INIT OFF)
-
-include_directories(src)
 set(the_description "Viz")
-ocv_define_module(viz opencv_core opencv_calib3d)
+set(BUILD_opencv_viz_INIT OFF)
-#${PCL_LIBRARIES}
+include_directories(src)
+ocv_define_module(viz opencv_core)
 
-target_link_libraries(opencv_viz vtkCommon vtkWidgets vtkHybrid vtkCharts vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
+target_link_libraries(opencv_viz vtkCommon vtkWidgets vtkFiltering vtkRendering)
+#${OPENGL_LIBRARIES})
 
 if(APPLE)
     target_link_libraries(opencv_viz "-framework Cocoa")

modules/viz/include/opencv2/viz.hpp

@@ -38,9 +38,12 @@
 // 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.
 //
-//  * Point Cloud Library (PCL) - www.pointclouds.org
+// Authors:
-//  During implementation if OpenCV Viz module, similar module
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
-//  from PCL was used as reference implementation.
+//  * Ozan Tonkal
+//
+//  During implementation of OpenCV Viz module, similar module
+//  from PCL (www.pointclouds.org) was used as reference implementation.
 //
 //M*/
 
@@ -60,9 +63,10 @@ namespace cv
         //! takes coordiante frame data and builds transfrom to global coordinate frame
         CV_EXPORTS Affine3f makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin = Vec3f::all(0));
 
-        //! constructs camera pose from posiont, focal_point and up_vector (see gluLookAt() for more infromation
+        //! constructs camera pose from position, focal_point and up_vector (see gluLookAt() for more infromation
         CV_EXPORTS Affine3f makeCameraPose(const Vec3f& position, const Vec3f& focal_point, const Vec3f& up_vector);
 
+
         //! checks float value for Nan
         inline bool isNan(float x)
         {

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

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <string>
-#include <opencv2/core/cvdef.h>
 #include <opencv2/core.hpp>
 #include <opencv2/core/affine.hpp>
 

modules/viz/src/viz.cpp

@@ -18,3 +18,22 @@ cv::Affine3f cv::viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& ax
 
     return Affine3f(R, origin);
 }
+
+
+vtkSmartPointer<vtkMatrix4x4> cv::viz::convertToVtkMatrix (const cv::Matx44f &m)
+{
+    vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
+    for (int i = 0; i < 4; i++)
+        for (int k = 0; k < 4; k++)
+            vtk_matrix->SetElement(i, k, m(i, k));
+    return vtk_matrix;
+}
+
+cv::Matx44f cv::viz::convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
+{
+    cv::Matx44f m;
+    for (int i = 0; i < 4; i++)
+        for (int k = 0; k < 4; k++)
+            m(i, k) = vtk_matrix->GetElement (i, k);
+    return m;
+}

modules/viz/src/viz3d_impl.cpp

@@ -626,11 +626,9 @@ void cv::viz::Viz3d::VizImpl::resetCamera ()
     renderer_->ResetCamera ();
 }
 
-
 /////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::Viz3d::VizImpl::setCameraPosition (const cv::Vec3d& pos, const cv::Vec3d& view, const cv::Vec3d& up)
 {
-
     vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
     cam->SetPosition (pos[0], pos[1], pos[2]);
     cam->SetFocalPoint (view[0], view[1], view[2]);
@@ -642,13 +640,10 @@ void cv::viz::Viz3d::VizImpl::setCameraPosition (const cv::Vec3d& pos, const cv:
 void cv::viz::Viz3d::VizImpl::setCameraPosition (double pos_x, double pos_y, double pos_z, double up_x, double up_y, double up_z)
 {
     //rens_->InitTraversal ();
-
-
     vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
     cam->SetPosition (pos_x, pos_y, pos_z);
     cam->SetViewUp (up_x, up_y, up_z);
     renderer_->Render ();
-
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
@@ -980,20 +975,13 @@ void cv::viz::Viz3d::VizImpl::updateCells (vtkSmartPointer<vtkIdTypeArray> &cell
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::Viz3d::VizImpl::allocVtkPolyData (vtkSmartPointer<vtkAppendPolyData> &polydata)
-{
+{polydata = vtkSmartPointer<vtkAppendPolyData>::New (); }
-    polydata = vtkSmartPointer<vtkAppendPolyData>::New ();
-}
-//////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::allocVtkPolyData (vtkSmartPointer<vtkPolyData> &polydata)
-{
-    polydata = vtkSmartPointer<vtkPolyData>::New ();
-}
-//////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::Viz3d::VizImpl::allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata)
-{
-    polydata = vtkSmartPointer<vtkUnstructuredGrid>::New ();
-}
 
+void cv::viz::Viz3d::VizImpl::allocVtkPolyData (vtkSmartPointer<vtkPolyData> &polydata)
+{ polydata = vtkSmartPointer<vtkPolyData>::New (); }
+
+void cv::viz::Viz3d::VizImpl::allocVtkUnstructuredGrid (vtkSmartPointer<vtkUnstructuredGrid> &polydata)
+{ polydata = vtkSmartPointer<vtkUnstructuredGrid>::New (); }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Quaternion<float> &orientation, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix)
@@ -1011,23 +999,6 @@ void cv::viz::convertToVtkMatrix (const Eigen::Vector4f &origin, const Eigen::Qu
     vtk_matrix->SetElement (3, 3, 1.0f);
 }
 
-vtkSmartPointer<vtkMatrix4x4> cv::viz::convertToVtkMatrix (const cv::Matx44f &m)
-{
-    vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
-    for (int i = 0; i < 4; i++)
-        for (int k = 0; k < 4; k++)
-            vtk_matrix->SetElement(i, k, m(i, k));
-    return vtk_matrix;
-}
-
-cv::Matx44f cv::viz::convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
-{
-    cv::Matx44f m;
-    for (int i = 0; i < 4; i++)
-        for (int k = 0; k < 4; k++)
-            m(i, k) = vtk_matrix->GetElement (i, k);
-    return m;
-}
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -1043,8 +1014,8 @@ void cv::viz::Viz3d::VizImpl::setWindowName (const std::string &name)
         window_->SetWindowName (name.c_str ());
 }
 
-void cv::viz::Viz3d::VizImpl::setPosition (int x, int y) { window_->SetPosition (x, y); }
+void cv::viz::Viz3d::VizImpl::setWindowPosition (int x, int y) { window_->SetPosition (x, y); }
-void cv::viz::Viz3d::VizImpl::setSize (int xw, int yw) { window_->SetSize (xw, yw); }
+void cv::viz::Viz3d::VizImpl::setWindowSize (int xw, int yw) { window_->SetSize (xw, yw); }
 
 bool cv::viz::Viz3d::VizImpl::addPolygonMesh (const Mesh3d& mesh, const Mat& mask, const std::string &id)
 {

modules/viz/src/viz3d_impl.hpp

@@ -13,47 +13,50 @@ public:
     typedef Viz3d::MouseCallback MouseCallback;
 
     VizImpl (const String &name);
-
     virtual ~VizImpl ();
-    void setFullScreen (bool mode);
-    void setWindowName (const String &name);
 
-    void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
-    void registerMouseCallback(MouseCallback callback, void* cookie = 0);
 
-    void spin ();
-    void spinOnce (int time = 1, bool force_redraw = false);
 
+
+
+
+
+
+
+    //to refactor
     bool removePointCloud (const String& id = "cloud");
-    inline bool removePolygonMesh (const String& id = "polygon")
+    inline bool removePolygonMesh (const String& id = "polygon") { return removePointCloud (id); }
-    {
-        // Polygon Meshes are represented internally as point clouds with special cell array structures since 1.4
-        return removePointCloud (id);
-    }
     bool removeShape (const String& id = "cloud");
-
     bool removeText3D (const String& id = "cloud");
     bool removeAllPointClouds ();
+
+    //create Viz3d::removeAllWidgets()
     bool removeAllShapes ();
 
-    void setBackgroundColor (const Color& color);
+    //to refactor
-
     bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
     bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
-
     bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
 
+    // to refactor: Widget3D:: & Viz3d::
     bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud");
     bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud");
-
     bool setShapeRenderingProperties (int property, double value, const String& id);
 
     /** \brief Set whether the point cloud is selected or not
          *  \param[in] selected whether the cloud is selected or not (true = selected)
          *  \param[in] id the point cloud object id (default: cloud)
          */
+    // probably should just remove
     bool setPointCloudSelected (const bool selected, const String& id = "cloud" );
 
+
+
+
+
+
+
+
     /** \brief Returns true when the user tried to close the window */
     bool wasStopped () const { if (interactor_ != NULL) return (stopped_); else return true; }
 
@@ -64,106 +67,113 @@ public:
     void close ()
     {
         stopped_ = true;
-        // This tends to close the window...
+        interactor_->TerminateApp (); // This tends to close the window...
-        interactor_->TerminateApp ();
     }
 
+
+
+
+
+
+
+
+
+
+    
+    // to refactor
     bool addPolygon(const cv::Mat& cloud, const Color& color, const String& id = "polygon");
     bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color, bool display_length, const String& id = "arrow");
     bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color_line, const Color& color_text, const String& id = "arrow");
 
-    // Add a vtkPolydata as a mesh
+    // Probably remove this
     bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const String& id = "PolyData");
     bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, vtkSmartPointer<vtkTransform> transform, const String& id = "PolyData");
+
+    // I think this should be moved to 'static Widget Widget::fromPlyFile(const String&)';
     bool addModelFromPLYFile (const String &filename, const String& id = "PLYModel");
     bool addModelFromPLYFile (const String &filename, vtkSmartPointer<vtkTransform> transform, const String& id = "PLYModel");
 
-    /** \brief Changes the visual representation for all actors to surface representation. */
-    void setRepresentationToSurfaceForAllActors ();
 
-    /** \brief Changes the visual representation for all actors to points representation. */
+    // to implement in Viz3d with shorter name
-    void setRepresentationToPointsForAllActors ();
+    void setRepresentationToSurfaceForAllActors();
+    void setRepresentationToPointsForAllActors();
+    void setRepresentationToWireframeForAllActors();
 
-    /** \brief Changes the visual representation for all actors to wireframe representation. */
-    void setRepresentationToWireframeForAllActors ();
 
-    /** \brief Initialize camera parameters with some default values. */
-    void initCameraParameters ();
 
-    /** \brief Search for camera parameters at the command line and set them internally.
-        bool getCameraParameters (int argc, char **argv);
 
-        /** \brief Checks whether the camera parameters were manually loaded from file.*/
-    bool cameraParamsSet () const;
 
-    /** \brief Update camera parameters and render. */
-    void updateCamera ();
 
-    /** \brief Reset camera parameters and render. */
+
-    void resetCamera ();
+
+    // ////////////////////////////////////////////////////////////////////////////////////
+    // All camera methods to refactor into set/getViewwerPose, setCamera()
+    // and 'Camera' class itself with various constructors/fields
+
+    void initCameraParameters (); /** \brief Initialize camera parameters with some default values. */
+    bool cameraParamsSet () const; /** \brief Checks whether the camera parameters were manually loaded from file.*/
+    void updateCamera (); /** \brief Update camera parameters and render. */
+    void resetCamera (); /** \brief Reset camera parameters and render. */
 
     /** \brief Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset.
-          * \param[in] id the point cloud object id (default: cloud)
+      * \param[in] id the point cloud object id (default: cloud) */
-          */
     void resetCameraViewpoint (const String& id = "cloud");
-
     /** \brief Set the camera pose given by position, viewpoint and up vector
-          * \param[in] pos_x the x coordinate of the camera location
+      * \param[in] pos camera location
-          * \param[in] pos_y the y coordinate of the camera location
+      * \param[in] view the view point of the camera
-          * \param[in] pos_z the z coordinate of the camera location
+      * \param[in] up the view up direction of the camera */
-          * \param[in] view_x the x component of the view point of the camera
-          * \param[in] view_y the y component of the view point of the camera
-          * \param[in] view_z the z component of the view point of the camera
-          * \param[in] up_x the x component of the view up direction of the camera
-          * \param[in] up_y the y component of the view up direction of the camera
-          * \param[in] up_z the y component of the view up direction of the camera
-          */
     void setCameraPosition (const cv::Vec3d& pos, const cv::Vec3d& view, const cv::Vec3d& up);
 
     /** \brief Set the camera location and viewup according to the given arguments
-          * \param[in] pos_x the x coordinate of the camera location
+      * \param[in] pos_x,y,z the x,y,z coordinate of the camera location
-          * \param[in] pos_y the y coordinate of the camera location
+      * \param[in] up_x,y,z the x,y,z component of the view up direction of the camera */
-          * \param[in] pos_z the z coordinate of the camera location
-          * \param[in] up_x the x component of the view up direction of the camera
-          * \param[in] up_y the y component of the view up direction of the camera
-          * \param[in] up_z the z component of the view up direction of the camera
-          */
     void setCameraPosition (double pos_x, double pos_y, double pos_z, double up_x, double up_y, double up_z);
 
     /** \brief Set the camera parameters via an intrinsics and and extrinsics matrix
-          * \note This assumes that the pixels are square and that the center of the image is at the center of the sensor.
+      * \note This assumes that the pixels are square and that the center of the image is at the center of the sensor.
-          * \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
+      * \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
-          * \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters
+      * \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters */
-          */
     void setCameraParameters (const cv::Matx33f& intrinsics, const Affine3f& extrinsics);
-
-    /** \brief Set the camera parameters by given a full camera data structure.
-          * \param[in] camera camera structure containing all the camera parameters.
-          */
     void setCameraParameters (const Camera &camera);
-
-    /** \brief Set the camera clipping distances.
-          * \param[in] near the near clipping distance (no objects closer than this to the camera will be drawn)
-          * \param[in] far the far clipping distance (no objects further away than this to the camera will be drawn)
-          */
     void setCameraClipDistances (double near, double far);
-
-    /** \brief Set the camera vertical field of view in radians */
     void setCameraFieldOfView (double fovy);
-
-    /** \brief Get the current camera parameters. */
     void getCameras (Camera& camera);
 
-    /** \brief Get the current viewing pose. */
+    //to implement Viz3d set/getViewerPose()
-    Affine3f getViewerPose ();
+    Affine3f getViewerPose();
+
+
+
+
+
+
+
+
+
+
+
+    //to implemnt in Viz3d
     void saveScreenshot (const String &file);
+    void setWindowPosition (int x, int y);
+    void setWindowSize (int xw, int yw);
+    void setFullScreen (bool mode);
+    void setWindowName (const String &name);
+    void setBackgroundColor (const Color& color);
 
-    /** \brief Return a pointer to the underlying VTK Render Window used. */
+    void spin ();
-    //vtkSmartPointer<vtkRenderWindow> getRenderWindow () { return (window_); }
+    void spinOnce (int time = 1, bool force_redraw = false);
 
-    void setPosition (int x, int y);
+    void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
-    void setSize (int xw, int yw);
+    void registerMouseCallback(MouseCallback callback, void* cookie = 0);
 
+
+
+
+
+
+
+
+    //declare above (to move to up)
     void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
     void removeWidget(const String &id);
     Widget getWidget(const String &id) const;