Merge pull request #1811 from Nerei:fixed_some_build_errors

apps/traincascade/HOGfeatures.cpp

@@ -5,6 +5,7 @@
 #include "cascadeclassifier.h"
 
 using namespace std;
+using namespace cv;
 
 CvHOGFeatureParams::CvHOGFeatureParams()
 {

apps/traincascade/HOGfeatures.h

@@ -20,23 +20,23 @@ class CvHOGEvaluator : public CvFeatureEvaluator
 public:
     virtual ~CvHOGEvaluator() {}
     virtual void init(const CvFeatureParams *_featureParams,
-        int _maxSampleCount, Size _winSize );
+        int _maxSampleCount, cv::Size _winSize );
-    virtual void setImage(const Mat& img, uchar clsLabel, int idx);
+    virtual void setImage(const cv::Mat& img, uchar clsLabel, int idx);
     virtual float operator()(int varIdx, int sampleIdx) const;
-    virtual void writeFeatures( FileStorage &fs, const Mat& featureMap ) const;
+    virtual void writeFeatures( cv::FileStorage &fs, const cv::Mat& featureMap ) const;
 protected:
     virtual void generateFeatures();
-    virtual void integralHistogram(const Mat &img, std::vector<Mat> &histogram, Mat &norm, int nbins) const;
+    virtual void integralHistogram(const cv::Mat &img, std::vector<cv::Mat> &histogram, cv::Mat &norm, int nbins) const;
     class Feature
     {
     public:
         Feature();
         Feature( int offset, int x, int y, int cellW, int cellH );
-        float calc( const std::vector<Mat> &_hists, const Mat &_normSum, size_t y, int featComponent ) const;
+        float calc( const std::vector<cv::Mat> &_hists, const cv::Mat &_normSum, size_t y, int featComponent ) const;
-        void write( FileStorage &fs ) const;
+        void write( cv::FileStorage &fs ) const;
-        void write( FileStorage &fs, int varIdx ) const;
+        void write( cv::FileStorage &fs, int varIdx ) const;
 
-        Rect rect[N_CELLS]; //cells
+        cv::Rect rect[N_CELLS]; //cells
 
         struct
         {
@@ -45,8 +45,8 @@ protected:
     };
     std::vector<Feature> features;
 
-    Mat normSum; //for nomalization calculation (L1 or L2)
+    cv::Mat normSum; //for nomalization calculation (L1 or L2)
-    std::vector<Mat> hist;
+    std::vector<cv::Mat> hist;
 };
 
 inline float CvHOGEvaluator::operator()(int varIdx, int sampleIdx) const
@@ -57,7 +57,7 @@ inline float CvHOGEvaluator::operator()(int varIdx, int sampleIdx) const
     return features[featureIdx].calc( hist, normSum, sampleIdx, componentIdx);
 }
 
-inline float CvHOGEvaluator::Feature::calc( const std::vector<Mat>& _hists, const Mat& _normSum, size_t y, int featComponent ) const
+inline float CvHOGEvaluator::Feature::calc( const std::vector<cv::Mat>& _hists, const cv::Mat& _normSum, size_t y, int featComponent ) const
 {
     float normFactor;
     float res;

apps/traincascade/boost.cpp

@@ -1,4 +1,18 @@
 #include "opencv2/core.hpp"
+#include "opencv2/core/utility.hpp"
+
+using cv::Size;
+using cv::Mat;
+using cv::Point;
+using cv::FileStorage;
+using cv::Rect;
+using cv::Ptr;
+using cv::FileNode;
+using cv::Mat_;
+using cv::Range;
+using cv::FileNodeIterator;
+using cv::ParallelLoopBody;
+
 
 #include "boost.h"
 #include "cascadeclassifier.h"

apps/traincascade/boost.h

@@ -13,8 +13,8 @@ struct CvCascadeBoostParams : CvBoostParams
     CvCascadeBoostParams( int _boostType, float _minHitRate, float _maxFalseAlarm,
                           double _weightTrimRate, int _maxDepth, int _maxWeakCount );
     virtual ~CvCascadeBoostParams() {}
-    void write( FileStorage &fs ) const;
+    void write( cv::FileStorage &fs ) const;
-    bool read( const FileNode &node );
+    bool read( const cv::FileNode &node );
     virtual void printDefaults() const;
     virtual void printAttrs() const;
     virtual bool scanAttr( const std::string prmName, const std::string val);
@@ -45,7 +45,7 @@ struct CvCascadeBoostTrainData : CvDTreeTrainData
     virtual void free_train_data();
 
     const CvFeatureEvaluator* featureEvaluator;
-    Mat valCache; // precalculated feature values (CV_32FC1)
+    cv::Mat valCache; // precalculated feature values (CV_32FC1)
     CvMat _resp; // for casting
     int numPrecalcVal, numPrecalcIdx;
 };
@@ -54,9 +54,9 @@ class CvCascadeBoostTree : public CvBoostTree
 {
 public:
     virtual CvDTreeNode* predict( int sampleIdx ) const;
-    void write( FileStorage &fs, const Mat& featureMap );
+    void write( cv::FileStorage &fs, const cv::Mat& featureMap );
-    void read( const FileNode &node, CvBoost* _ensemble, CvDTreeTrainData* _data );
+    void read( const cv::FileNode &node, CvBoost* _ensemble, CvDTreeTrainData* _data );
-    void markFeaturesInMap( Mat& featureMap );
+    void markFeaturesInMap( cv::Mat& featureMap );
 protected:
     virtual void split_node_data( CvDTreeNode* n );
 };
@@ -70,10 +70,10 @@ public:
     virtual float predict( int sampleIdx, bool returnSum = false ) const;
 
     float getThreshold() const { return threshold; }
-    void write( FileStorage &fs, const Mat& featureMap ) const;
+    void write( cv::FileStorage &fs, const cv::Mat& featureMap ) const;
-    bool read( const FileNode &node, const CvFeatureEvaluator* _featureEvaluator,
+    bool read( const cv::FileNode &node, const CvFeatureEvaluator* _featureEvaluator,
                const CvCascadeBoostParams& _params );
-    void markUsedFeaturesInMap( Mat& featureMap );
+    void markUsedFeaturesInMap( cv::Mat& featureMap );
 protected:
     virtual bool set_params( const CvBoostParams& _params );
     virtual void update_weights( CvBoostTree* tree );

apps/traincascade/cascadeclassifier.cpp

@@ -4,6 +4,7 @@
 #include <queue>
 
 using namespace std;
+using namespace cv;
 
 static const char* stageTypes[] = { CC_BOOST };
 static const char* featureTypes[] = { CC_HAAR, CC_LBP, CC_HOG };

apps/traincascade/cascadeclassifier.h

@@ -72,8 +72,8 @@ public:
 
     CvCascadeParams();
     CvCascadeParams( int _stageType, int _featureType );
-    void write( FileStorage &fs ) const;
+    void write( cv::FileStorage &fs ) const;
-    bool read( const FileNode &node );
+    bool read( const cv::FileNode &node );
 
     void printDefaults() const;
     void printAttrs() const;
@@ -81,7 +81,7 @@ public:
 
     int stageType;
     int featureType;
-    Size winSize;
+    cv::Size winSize;
 };
 
 class CvCascadeClassifier
@@ -104,20 +104,20 @@ private:
     bool updateTrainingSet( double& acceptanceRatio );
     int fillPassedSamples( int first, int count, bool isPositive, int64& consumed );
 
-    void writeParams( FileStorage &fs ) const;
+    void writeParams( cv::FileStorage &fs ) const;
-    void writeStages( FileStorage &fs, const Mat& featureMap ) const;
+    void writeStages( cv::FileStorage &fs, const cv::Mat& featureMap ) const;
-    void writeFeatures( FileStorage &fs, const Mat& featureMap ) const;
+    void writeFeatures( cv::FileStorage &fs, const cv::Mat& featureMap ) const;
-    bool readParams( const FileNode &node );
+    bool readParams( const cv::FileNode &node );
-    bool readStages( const FileNode &node );
+    bool readStages( const cv::FileNode &node );
 
-    void getUsedFeaturesIdxMap( Mat& featureMap );
+    void getUsedFeaturesIdxMap( cv::Mat& featureMap );
 
     CvCascadeParams cascadeParams;
-    Ptr<CvFeatureParams> featureParams;
+    cv::Ptr<CvFeatureParams> featureParams;
-    Ptr<CvCascadeBoostParams> stageParams;
+    cv::Ptr<CvCascadeBoostParams> stageParams;
 
-    Ptr<CvFeatureEvaluator> featureEvaluator;
+    cv::Ptr<CvFeatureEvaluator> featureEvaluator;
-    std::vector< Ptr<CvCascadeBoost> > stageClassifiers;
+    std::vector< cv::Ptr<CvCascadeBoost> > stageClassifiers;
     CvCascadeImageReader imgReader;
     int numStages, curNumSamples;
     int numPos, numNeg;

apps/traincascade/features.cpp

@@ -4,6 +4,7 @@
 #include "cascadeclassifier.h"
 
 using namespace std;
+using namespace cv;
 
 float calcNormFactor( const Mat& sum, const Mat& sqSum )
 {

apps/traincascade/haarfeatures.cpp

@@ -5,6 +5,7 @@
 #include "cascadeclassifier.h"
 
 using namespace std;
+using namespace cv;
 
 CvHaarFeatureParams::CvHaarFeatureParams() : mode(BASIC)
 {

apps/traincascade/haarfeatures.h

@@ -18,8 +18,8 @@ public:
     CvHaarFeatureParams( int _mode );
 
     virtual void init( const CvFeatureParams& fp );
-    virtual void write( FileStorage &fs ) const;
+    virtual void write( cv::FileStorage &fs ) const;
-    virtual bool read( const FileNode &node );
+    virtual bool read( const cv::FileNode &node );
 
     virtual void printDefaults() const;
     virtual void printAttrs() const;
@@ -32,11 +32,11 @@ class CvHaarEvaluator : public CvFeatureEvaluator
 {
 public:
     virtual void init(const CvFeatureParams *_featureParams,
-        int _maxSampleCount, Size _winSize );
+        int _maxSampleCount, cv::Size _winSize );
-    virtual void setImage(const Mat& img, uchar clsLabel, int idx);
+    virtual void setImage(const cv::Mat& img, uchar clsLabel, int idx);
     virtual float operator()(int featureIdx, int sampleIdx) const;
-    virtual void writeFeatures( FileStorage &fs, const Mat& featureMap ) const;
+    virtual void writeFeatures( cv::FileStorage &fs, const cv::Mat& featureMap ) const;
-    void writeFeature( FileStorage &fs, int fi ) const; // for old file fornat
+    void writeFeature( cv::FileStorage &fs, int fi ) const; // for old file fornat
 protected:
     virtual void generateFeatures();
 
@@ -48,13 +48,13 @@ protected:
             int x0, int y0, int w0, int h0, float wt0,
             int x1, int y1, int w1, int h1, float wt1,
             int x2 = 0, int y2 = 0, int w2 = 0, int h2 = 0, float wt2 = 0.0F );
-        float calc( const Mat &sum, const Mat &tilted, size_t y) const;
+        float calc( const cv::Mat &sum, const cv::Mat &tilted, size_t y) const;
-        void write( FileStorage &fs ) const;
+        void write( cv::FileStorage &fs ) const;
 
         bool  tilted;
         struct
         {
-            Rect r;
+            cv::Rect r;
             float weight;
         } rect[CV_HAAR_FEATURE_MAX];
 
@@ -65,9 +65,9 @@ protected:
     };
 
     std::vector<Feature> features;
-    Mat  sum;         /* sum images (each row represents image) */
+    cv::Mat  sum;         /* sum images (each row represents image) */
-    Mat  tilted;      /* tilted sum images (each row represents image) */
+    cv::Mat  tilted;      /* tilted sum images (each row represents image) */
-    Mat  normfactor;  /* normalization factor */
+    cv::Mat  normfactor;  /* normalization factor */
 };
 
 inline float CvHaarEvaluator::operator()(int featureIdx, int sampleIdx) const
@@ -76,7 +76,7 @@ inline float CvHaarEvaluator::operator()(int featureIdx, int sampleIdx) const
     return !nf ? 0.0f : (features[featureIdx].calc( sum, tilted, sampleIdx)/nf);
 }
 
-inline float CvHaarEvaluator::Feature::calc( const Mat &_sum, const Mat &_tilted, size_t y) const
+inline float CvHaarEvaluator::Feature::calc( const cv::Mat &_sum, const cv::Mat &_tilted, size_t y) const
 {
     const int* img = tilted ? _tilted.ptr<int>((int)y) : _sum.ptr<int>((int)y);
     float ret = rect[0].weight * (img[fastRect[0].p0] - img[fastRect[0].p1] - img[fastRect[0].p2] + img[fastRect[0].p3] ) +

apps/traincascade/imagestorage.cpp

@@ -8,6 +8,7 @@
 #include <fstream>
 
 using namespace std;
+using namespace cv;
 
 bool CvCascadeImageReader::create( const string _posFilename, const string _negFilename, Size _winSize )
 {

apps/traincascade/imagestorage.h

@@ -3,15 +3,15 @@
 
 #include "highgui.h"
 
-using namespace cv;
+
 
 class CvCascadeImageReader
 {
 public:
-    bool create( const std::string _posFilename, const std::string _negFilename, Size _winSize );
+    bool create( const std::string _posFilename, const std::string _negFilename, cv::Size _winSize );
     void restart() { posReader.restart(); }
-    bool getNeg(Mat &_img) { return negReader.get( _img ); }
+    bool getNeg(cv::Mat &_img) { return negReader.get( _img ); }
-    bool getPos(Mat &_img) { return posReader.get( _img ); }
+    bool getPos(cv::Mat &_img) { return posReader.get( _img ); }
 
 private:
     class PosReader
@@ -20,7 +20,7 @@ private:
         PosReader();
         virtual ~PosReader();
         bool create( const std::string _filename );
-        bool get( Mat &_img );
+        bool get( cv::Mat &_img );
         void restart();
 
         short* vec;
@@ -35,18 +35,18 @@ private:
     {
     public:
         NegReader();
-        bool create( const std::string _filename, Size _winSize );
+        bool create( const std::string _filename, cv::Size _winSize );
-        bool get( Mat& _img );
+        bool get( cv::Mat& _img );
         bool nextImg();
 
-        Mat     src, img;
+        cv::Mat     src, img;
         std::vector<std::string> imgFilenames;
-        Point   offset, point;
+        cv::Point   offset, point;
         float   scale;
         float   scaleFactor;
         float   stepFactor;
         size_t  last, round;
-        Size    winSize;
+        cv::Size    winSize;
     } negReader;
 };
 

apps/traincascade/lbpfeatures.cpp

@@ -4,6 +4,8 @@
 #include "lbpfeatures.h"
 #include "cascadeclassifier.h"
 
+using namespace cv;
+
 CvLBPFeatureParams::CvLBPFeatureParams()
 {
     maxCatCount = 256;

apps/traincascade/lbpfeatures.h

@@ -15,11 +15,11 @@ class CvLBPEvaluator : public CvFeatureEvaluator
 public:
     virtual ~CvLBPEvaluator() {}
     virtual void init(const CvFeatureParams *_featureParams,
-        int _maxSampleCount, Size _winSize );
+        int _maxSampleCount, cv::Size _winSize );
-    virtual void setImage(const Mat& img, uchar clsLabel, int idx);
+    virtual void setImage(const cv::Mat& img, uchar clsLabel, int idx);
     virtual float operator()(int featureIdx, int sampleIdx) const
     { return (float)features[featureIdx].calc( sum, sampleIdx); }
-    virtual void writeFeatures( FileStorage &fs, const Mat& featureMap ) const;
+    virtual void writeFeatures( cv::FileStorage &fs, const cv::Mat& featureMap ) const;
 protected:
     virtual void generateFeatures();
 
@@ -28,18 +28,18 @@ protected:
     public:
         Feature();
         Feature( int offset, int x, int y, int _block_w, int _block_h  );
-        uchar calc( const Mat& _sum, size_t y ) const;
+        uchar calc( const cv::Mat& _sum, size_t y ) const;
-        void write( FileStorage &fs ) const;
+        void write( cv::FileStorage &fs ) const;
 
-        Rect rect;
+        cv::Rect rect;
         int p[16];
     };
     std::vector<Feature> features;
 
-    Mat sum;
+    cv::Mat sum;
 };
 
-inline uchar CvLBPEvaluator::Feature::calc(const Mat &_sum, size_t y) const
+inline uchar CvLBPEvaluator::Feature::calc(const cv::Mat &_sum, size_t y) const
 {
     const int* psum = _sum.ptr<int>((int)y);
     int cval = psum[p[5]] - psum[p[6]] - psum[p[9]] + psum[p[10]];

apps/traincascade/traincascade.cpp

@@ -4,6 +4,7 @@
 #include "cascadeclassifier.h"
 
 using namespace std;
+using namespace cv;
 
 int main( int argc, char* argv[] )
 {

apps/traincascade/traincascade_features.h

@@ -30,13 +30,13 @@
     (p3) = (rect).x + (rect).width - (rect).height                        \
            + (step) * ((rect).y + (rect).width + (rect).height);
 
-float calcNormFactor( const Mat& sum, const Mat& sqSum );
+float calcNormFactor( const cv::Mat& sum, const cv::Mat& sqSum );
 
 template<class Feature>
-void _writeFeatures( const std::vector<Feature> features, FileStorage &fs, const Mat& featureMap )
+void _writeFeatures( const std::vector<Feature> features, cv::FileStorage &fs, const cv::Mat& featureMap )
 {
     fs << FEATURES << "[";
-    const Mat_<int>& featureMap_ = (const Mat_<int>&)featureMap;
+    const cv::Mat_<int>& featureMap_ = (const cv::Mat_<int>&)featureMap;
     for ( int fi = 0; fi < featureMap.cols; fi++ )
         if ( featureMap_(0, fi) >= 0 )
         {
@@ -53,8 +53,8 @@ public:
     CvParams();
     virtual ~CvParams() {}
     // from|to file
-    virtual void write( FileStorage &fs ) const = 0;
+    virtual void write( cv::FileStorage &fs ) const = 0;
-    virtual bool read( const FileNode &node ) = 0;
+    virtual bool read( const cv::FileNode &node ) = 0;
     // from|to screen
     virtual void printDefaults() const;
     virtual void printAttrs() const;
@@ -68,9 +68,9 @@ public:
     enum { HAAR = 0, LBP = 1, HOG = 2 };
     CvFeatureParams();
     virtual void init( const CvFeatureParams& fp );
-    virtual void write( FileStorage &fs ) const;
+    virtual void write( cv::FileStorage &fs ) const;
-    virtual bool read( const FileNode &node );
+    virtual bool read( const cv::FileNode &node );
-    static Ptr<CvFeatureParams> create( int featureType );
+    static cv::Ptr<CvFeatureParams> create( int featureType );
     int maxCatCount; // 0 in case of numerical features
     int featSize; // 1 in case of simple features (HAAR, LBP) and N_BINS(9)*N_CELLS(4) in case of Dalal's HOG features
 };
@@ -80,25 +80,25 @@ class CvFeatureEvaluator
 public:
     virtual ~CvFeatureEvaluator() {}
     virtual void init(const CvFeatureParams *_featureParams,
-                      int _maxSampleCount, Size _winSize );
+                      int _maxSampleCount, cv::Size _winSize );
-    virtual void setImage(const Mat& img, uchar clsLabel, int idx);
+    virtual void setImage(const cv::Mat& img, uchar clsLabel, int idx);
-    virtual void writeFeatures( FileStorage &fs, const Mat& featureMap ) const = 0;
+    virtual void writeFeatures( cv::FileStorage &fs, const cv::Mat& featureMap ) const = 0;
     virtual float operator()(int featureIdx, int sampleIdx) const = 0;
-    static Ptr<CvFeatureEvaluator> create(int type);
+    static cv::Ptr<CvFeatureEvaluator> create(int type);
 
     int getNumFeatures() const { return numFeatures; }
     int getMaxCatCount() const { return featureParams->maxCatCount; }
     int getFeatureSize() const { return featureParams->featSize; }
-    const Mat& getCls() const { return cls; }
+    const cv::Mat& getCls() const { return cls; }
     float getCls(int si) const { return cls.at<float>(si, 0); }
 protected:
     virtual void generateFeatures() = 0;
 
     int npos, nneg;
     int numFeatures;
-    Size winSize;
+    cv::Size winSize;
     CvFeatureParams *featureParams;
-    Mat cls;
+    cv::Mat cls;
 };
 
 #endif

modules/highgui/src/cap_openni.cpp

@@ -105,7 +105,9 @@ public:
         context(_context), depthGenerator(_depthGenerator), imageGenerator(_imageGenerator),
         maxBufferSize(_maxBufferSize), isCircleBuffer(_isCircleBuffer), maxTimeDuration(_maxTimeDuration)
     {
+#ifdef HAVE_TBB
         task = 0;
+#endif
 
         CV_Assert( depthGenerator.IsValid() );
         CV_Assert( imageGenerator.IsValid() );
@@ -150,7 +152,7 @@ public:
         task = new( tbb::task::allocate_root() ) TBBApproximateSynchronizerTask( *this );
         tbb::task::enqueue(*task);
 #else
-        task = new ApproximateSynchronizer( *this );
+        task->reset( new ApproximateSynchronizer( *this ) );
 #endif
     }
 
@@ -171,6 +173,9 @@ public:
     xn::ImageGenerator &imageGenerator;
 
 private:
+    ApproximateSyncGrabber(const ApproximateSyncGrabber&);
+    ApproximateSyncGrabber& operator=(const ApproximateSyncGrabber&);
+
     int maxBufferSize;
     bool isCircleBuffer;
     int maxTimeDuration;
@@ -214,7 +219,7 @@ private:
         virtual bool grab( xn::DepthMetaData& depthMetaData,
                            xn::ImageMetaData& imageMetaData )
         {
-            while(1)
+            for(;;)
             {
                 if( !isDepthFilled )
                     isDepthFilled = popDepthMetaData(depth);
@@ -951,7 +956,7 @@ double CvCapture_OpenNI::getDepthGeneratorProperty( int propIdx )
         propValue = depthGenerator.GetAlternativeViewPointCap().IsViewPointAs(imageGenerator) ? 1.0 : 0.0;
         break;
     case CV_CAP_PROP_POS_MSEC :
-        propValue = depthGenerator.GetTimestamp();
+        propValue = (double)depthGenerator.GetTimestamp();
         break;
     case CV_CAP_PROP_POS_FRAMES :
         propValue = depthGenerator.GetFrameID();
@@ -1039,7 +1044,7 @@ double CvCapture_OpenNI::getImageGeneratorProperty( int propIdx )
             propValue = mode.nFPS;
         break;
     case CV_CAP_PROP_POS_MSEC :
-        propValue = imageGenerator.GetTimestamp();
+        propValue = (double)imageGenerator.GetTimestamp();
         break;
     case CV_CAP_PROP_POS_FRAMES :
         propValue = imageGenerator.GetFrameID();

modules/objdetect/src/erfilter.cpp

@@ -43,9 +43,13 @@
 #include "precomp.hpp"
 #include <fstream>
 
-#ifndef INT32_MAX
+#if defined _MSC_VER && _MSC_VER == 1500
-#define __STDC_LIMIT_MACROS
+    typedef int int_fast32_t;
-#include <stdint.h>
+#else
+    #ifndef INT32_MAX
+    #define __STDC_LIMIT_MACROS
+    #include <stdint.h>
+    #endif
 #endif
 
 using namespace std;

modules/photo/test/test_hdr.cpp

@@ -40,9 +40,6 @@
 //M*/
 
 #include "test_precomp.hpp"
-#include <string>
-#include <algorithm>
-#include <fstream>
 
 using namespace cv;
 using namespace std;

modules/photo/test/test_precomp.hpp

@@ -13,5 +13,9 @@
 #include "opencv2/ts.hpp"
 #include "opencv2/photo.hpp"
 #include "opencv2/highgui.hpp"
+#include <string>
+#include <algorithm>
+#include <fstream>
+#include <ctime>
 
 #endif

modules/viz/include/opencv2/viz.hpp

@@ -108,10 +108,9 @@ namespace cv
             void remove(const String &window_name);
 
             static VizAccessor * instance_;
-            static bool is_instantiated_;
 
             struct VizAccessorImpl;
-            static VizAccessorImpl * impl_;
+            VizAccessorImpl * impl_;
 
             friend class Viz3d;
         };

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

@@ -57,7 +57,7 @@ namespace cv
 {
     namespace viz
     {
-        class CV_EXPORTS Color : public Scalar
+        class Color : public Scalar
         {
         public:
             Color();
@@ -169,8 +169,26 @@ namespace cv
             Vec2f principal_point_;
             Vec2f focal_;
         };
-
     } /* namespace viz */
 } /* namespace cv */
 
+//////////////////////////////////////////////////////////////////////////////////////////////////////
+/// cv::viz::Color
+
+inline cv::viz::Color::Color() : Scalar(0, 0, 0) {}
+inline cv::viz::Color::Color(double gray) : Scalar(gray, gray, gray) {}
+inline cv::viz::Color::Color(double blue, double green, double red) : Scalar(blue, green, red) {}
+inline cv::viz::Color::Color(const Scalar& color) : Scalar(color) {}
+
+inline cv::viz::Color cv::viz::Color::black()   { return Color(  0,   0, 0); }
+inline cv::viz::Color cv::viz::Color::green()   { return Color(  0, 255, 0); }
+inline cv::viz::Color cv::viz::Color::blue()    { return Color(255,   0, 0); }
+inline cv::viz::Color cv::viz::Color::cyan()    { return Color(255, 255, 0); }
+inline cv::viz::Color cv::viz::Color::red()     { return Color(  0,   0, 255); }
+inline cv::viz::Color cv::viz::Color::yellow()  { return Color(  0, 255, 255); }
+inline cv::viz::Color cv::viz::Color::magenta() { return Color(255,   0, 255); }
+inline cv::viz::Color cv::viz::Color::white()   { return Color(255, 255, 255); }
+inline cv::viz::Color cv::viz::Color::gray()    { return Color(128, 128, 128); }
+
+
 #endif

modules/viz/src/interactor_style.cpp

@@ -47,9 +47,6 @@
 //M*/
 
 #include "precomp.hpp"
-#include "interactor_style.h"
-
-using namespace cv;
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::InteractorStyle::Initialize()
@@ -78,11 +75,11 @@ void cv::viz::InteractorStyle::Initialize()
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
-void cv::viz::InteractorStyle::saveScreenshot(const std::string &file)
+void cv::viz::InteractorStyle::saveScreenshot(const String &file)
 {
     FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]);
     wif_->SetInput(Interactor->GetRenderWindow());
-    wif_->Modified();      // Update the WindowToImageFilter
+    wif_->Modified(); // Update the WindowToImageFilter
     snapshot_writer_->Modified();
     snapshot_writer_->SetFileName(file.c_str());
     snapshot_writer_->Write();
@@ -117,30 +114,19 @@ void cv::viz::InteractorStyle::OnChar()
     FindPokedRenderer(Interactor->GetEventPosition()[0], Interactor->GetEventPosition()[1]);
     if (Interactor->GetKeyCode() >= '0' && Interactor->GetKeyCode() <= '9')
         return;
-    std::string key(Interactor->GetKeySym());
+
-    if (key.find("XF86ZoomIn") != std::string::npos)
+    String key(Interactor->GetKeySym());
+    if (key.find("XF86ZoomIn") != String::npos)
         zoomIn();
-    else if (key.find("XF86ZoomOut") != std::string::npos)
+    else if (key.find("XF86ZoomOut") != String::npos)
         zoomOut();
 
     int keymod = false;
     switch (modifier_)
     {
-    case KB_MOD_ALT:
+    case KB_MOD_ALT:   keymod = Interactor->GetAltKey(); break;
-    {
+    case KB_MOD_CTRL:  keymod = Interactor->GetControlKey(); break;
-        keymod = Interactor->GetAltKey();
+    case KB_MOD_SHIFT: keymod = Interactor->GetShiftKey(); break;
-        break;
-    }
-    case KB_MOD_CTRL:
-    {
-        keymod = Interactor->GetControlKey();
-        break;
-    }
-    case KB_MOD_SHIFT:
-    {
-        keymod = Interactor->GetShiftKey();
-        break;
-    }
     }
 
     switch (Interactor->GetKeyCode())
@@ -193,11 +179,15 @@ void cv::viz::InteractorStyle::registerKeyboardCallback(void (*callback)(const K
     keyboard_callback_cookie_ = cookie;
 }
 
+//////////////////////////////////////////////////////////////////////////////////////////////
+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; }
+
 //////////////////////////////////////////////////////////////////////////////////////////////
 void
 cv::viz::InteractorStyle::OnKeyDown()
 {
-
     CV_Assert("Interactor style not initialized. Please call Initialize() before continuing" && init_);
     CV_Assert("No renderer given! Use SetRendererCollection() before continuing." && renderer_);
 
@@ -216,9 +206,9 @@ cv::viz::InteractorStyle::OnKeyDown()
 
 
     // Get the status of special keys (Cltr+Alt+Shift)
-    bool shift = Interactor->GetShiftKey();
+    bool shift = getShiftKey();
-    bool ctrl  = Interactor->GetControlKey();
+    bool ctrl  = getControlKey();
-    bool alt   = Interactor->GetAltKey();
+    bool alt   = getAltKey();
 
     bool keymod = false;
     switch (modifier_)
@@ -269,42 +259,40 @@ cv::viz::InteractorStyle::OnKeyDown()
         vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors();
         vtkCollectionSimpleIterator ait;
         for (ac->InitTraversal(ait); vtkActor* actor = ac->GetNextActor(ait); )
-        {
             for (actor->InitPathTraversal(); vtkAssemblyPath* path = actor->GetNextPath(); )
             {
                 vtkActor* apart = reinterpret_cast <vtkActor*>(path->GetLastNode()->GetViewProp());
                 apart->GetProperty()->SetRepresentationToPoints();
             }
-        }
         break;
     }
         // Save a PNG snapshot with the current screen
     case 'j': case 'J':
     {
-        char cam_fn[80], snapshot_fn[80];
+        unsigned int t = static_cast<unsigned int>(time(0));
-        unsigned t = static_cast<unsigned>(time(0));
+        String png_file = cv::format("screenshot-%d.png", t);
-        sprintf(snapshot_fn, "screenshot-%d.png" , t);
+        String cam_file = cv::format("screenshot-%d.cam", t);
-        saveScreenshot(snapshot_fn);
 
-        sprintf(cam_fn, "screenshot-%d.cam", t);
-        ofstream ofs_cam;
-        ofs_cam.open(cam_fn);
         vtkSmartPointer<vtkCamera> cam = Interactor->GetRenderWindow()->GetRenderers()->GetFirstRenderer()->GetActiveCamera();
-        double clip[2], focal[3], pos[3], view[3];
+        Vec2d clip;
-        cam->GetClippingRange(clip);
+        Vec3d focal, pos, view;
-        cam->GetFocalPoint(focal);
+        cam->GetClippingRange(clip.val);
-        cam->GetPosition(pos);
+        cam->GetFocalPoint(focal.val);
-        cam->GetViewUp(view);
+        cam->GetPosition(pos.val);
+        cam->GetViewUp(view.val);
+        Vec2i win_pos(Interactor->GetRenderWindow()->GetPosition());
+        Vec2i win_size(Interactor->GetRenderWindow()->GetSize());
+        double angle = cam->GetViewAngle() / 180.0 * CV_PI;
 
-        int *win_pos = Interactor->GetRenderWindow()->GetPosition();
+        String data = cv::format("%f,%f/%f,%f,%f/%f,%f,%f/%f,%f,%f/%f/%d,%d/%d,%d", clip[0],clip[1], focal[0],focal[1],focal[2],
-        int *win_size = Interactor->GetRenderWindow()->GetSize();
+                 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]);
-        ofs_cam << clip[0]  << "," << clip[1]  << "/" << focal[0] << "," << focal[1] << "," << focal[2] << "/" <<
+
-                               pos[0]   << "," << pos[1]   << "," << pos[2]   << "/" << view[0]  << "," << view[1]  << "," << view[2] << "/" <<
+        saveScreenshot(png_file);
-                               cam->GetViewAngle() / 180.0 * CV_PI  << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
+        ofstream ofs_cam(cam_file.c_str());
-                            << endl;
+        ofs_cam << data.c_str() << endl;
         ofs_cam.close();
 
-        std::cout << "Screenshot (" << snapshot_fn << ") and camera information (" << cam_fn << ") successfully captured." << std::endl;
+        cout << "Screenshot (" << png_file.c_str() << ") and camera information (" << cam_file.c_str() << ") successfully captured." << endl;
         break;
     }
         // display current camera settings/parameters
@@ -349,7 +337,6 @@ cv::viz::InteractorStyle::OnKeyDown()
             vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors();
             vtkCollectionSimpleIterator ait;
             for (ac->InitTraversal(ait); vtkActor* actor = ac->GetNextActor(ait); )
-            {
                 for (actor->InitPathTraversal(); vtkAssemblyPath* path = actor->GetNextPath(); )
                 {
                     vtkActor* apart = reinterpret_cast <vtkActor*>(path->GetLastNode()->GetViewProp());
@@ -357,7 +344,6 @@ cv::viz::InteractorStyle::OnKeyDown()
                     if (psize < 63.0f)
                         apart->GetProperty()->SetPointSize(psize + 1.0f);
                 }
-            }
         }
         break;
     }
@@ -370,7 +356,6 @@ cv::viz::InteractorStyle::OnKeyDown()
             vtkSmartPointer<vtkActorCollection> ac = CurrentRenderer->GetActors();
             vtkCollectionSimpleIterator ait;
             for (ac->InitTraversal(ait); vtkActor* actor = ac->GetNextActor(ait); )
-            {
                 for (actor->InitPathTraversal(); vtkAssemblyPath* path = actor->GetNextPath(); )
                 {
                     vtkActor* apart = static_cast<vtkActor*>(path->GetLastNode()->GetViewProp());
@@ -378,7 +363,6 @@ cv::viz::InteractorStyle::OnKeyDown()
                     if (psize > 1.0f)
                         apart->GetProperty()->SetPointSize(psize - 1.0f);
                 }
-            }
         }
         break;
     }
@@ -455,9 +439,7 @@ cv::viz::InteractorStyle::OnKeyDown()
     case 'o': case 'O':
     {
         vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera();
-        int flag = cam->GetParallelProjection();
+        cam->SetParallelProjection(!cam->GetParallelProjection());
-        cam->SetParallelProjection(!flag);
-
         CurrentRenderer->SetActiveCamera(cam);
         CurrentRenderer->Render();
         break;
@@ -494,18 +476,14 @@ cv::viz::InteractorStyle::OnKeyDown()
         // if a valid transformation was found, use it otherwise fall back to default view point.
         if (found_transformation)
         {
-            vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second);
+            const vtkMatrix4x4* m = vtkProp3D::SafeDownCast(it->second)->GetUserMatrix();
-            cam->SetPosition(actor->GetUserMatrix()->GetElement(0, 3),
-                             actor->GetUserMatrix()->GetElement(1, 3),
-                             actor->GetUserMatrix()->GetElement(2, 3));
 
-            cam->SetFocalPoint(actor->GetUserMatrix()->GetElement(0, 3) - actor->GetUserMatrix()->GetElement(0, 2),
+            cam->SetFocalPoint(m->GetElement(0, 3) - m->GetElement(0, 2),
-                               actor->GetUserMatrix()->GetElement(1, 3) - actor->GetUserMatrix()->GetElement(1, 2),
+                               m->GetElement(1, 3) - m->GetElement(1, 2),
-                               actor->GetUserMatrix()->GetElement(2, 3) - actor->GetUserMatrix()->GetElement(2, 2));
+                               m->GetElement(2, 3) - m->GetElement(2, 2));
 
-            cam->SetViewUp(actor->GetUserMatrix()->GetElement(0, 1),
+            cam->SetViewUp  (m->GetElement(0, 1), m->GetElement(1, 1), m->GetElement(2, 1));
-                           actor->GetUserMatrix()->GetElement(1, 1),
+            cam->SetPosition(m->GetElement(0, 3), m->GetElement(1, 3), m->GetElement(2, 3));
-                           actor->GetUserMatrix()->GetElement(2, 1));
         }
         else
         {
@@ -538,7 +516,7 @@ cv::viz::InteractorStyle::OnKeyDown()
     }
     }
 
-    KeyboardEvent event(true, Interactor->GetKeySym(), Interactor->GetKeyCode(), Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    KeyboardEvent event(true, Interactor->GetKeySym(), Interactor->GetKeyCode(), getAltKey(), getControlKey(), getShiftKey());
     // Check if there is a keyboard callback registered
     if (keyboardCallback_)
       keyboardCallback_(event, keyboard_callback_cookie_);
@@ -550,7 +528,7 @@ cv::viz::InteractorStyle::OnKeyDown()
 //////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::InteractorStyle::OnKeyUp()
 {
-    KeyboardEvent event(false, Interactor->GetKeySym(), Interactor->GetKeyCode(), Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    KeyboardEvent event(false, Interactor->GetKeySym(), Interactor->GetKeyCode(), getAltKey(), getControlKey(), getShiftKey());
     // Check if there is a keyboard callback registered
     if (keyboardCallback_)
       keyboardCallback_(event, keyboard_callback_cookie_);
@@ -562,7 +540,7 @@ void cv::viz::InteractorStyle::OnKeyUp()
 void cv::viz::InteractorStyle::OnMouseMove()
 {
     Vec2i p(Interactor->GetEventPosition());
-    MouseEvent event(MouseEvent::MouseMove, MouseEvent::NoButton, p, Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    MouseEvent event(MouseEvent::MouseMove, MouseEvent::NoButton, p, getAltKey(), getControlKey(), getShiftKey());
     if (mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnMouseMove();
@@ -573,7 +551,7 @@ void cv::viz::InteractorStyle::OnLeftButtonDown()
 {
     Vec2i p(Interactor->GetEventPosition());
     MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
-    MouseEvent event(type, MouseEvent::LeftButton, p, Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    MouseEvent event(type, MouseEvent::LeftButton, p, getAltKey(), getControlKey(), getShiftKey());
     if (mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnLeftButtonDown();
@@ -583,7 +561,7 @@ void cv::viz::InteractorStyle::OnLeftButtonDown()
 void cv::viz::InteractorStyle::OnLeftButtonUp()
 {
     Vec2i p(Interactor->GetEventPosition());
-    MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::LeftButton, p, Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::LeftButton, p, getAltKey(), getControlKey(), getShiftKey());
     if (mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnLeftButtonUp();
@@ -595,7 +573,7 @@ void cv::viz::InteractorStyle::OnMiddleButtonDown()
     Vec2i p(Interactor->GetEventPosition());
 
     MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
-    MouseEvent event(type, MouseEvent::MiddleButton, p, Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    MouseEvent event(type, MouseEvent::MiddleButton, p, getAltKey(), getControlKey(), getShiftKey());
     if (mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnMiddleButtonDown();
@@ -605,7 +583,7 @@ void cv::viz::InteractorStyle::OnMiddleButtonDown()
 void cv::viz::InteractorStyle::OnMiddleButtonUp()
 {
     Vec2i p(Interactor->GetEventPosition());
-    MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::MiddleButton, p, Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::MiddleButton, p, getAltKey(), getControlKey(), getShiftKey());
     if (mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnMiddleButtonUp();
@@ -617,7 +595,7 @@ void cv::viz::InteractorStyle::OnRightButtonDown()
     Vec2i p(Interactor->GetEventPosition());
 
     MouseEvent::Type type = (Interactor->GetRepeatCount() == 0) ? MouseEvent::MouseButtonPress : MouseEvent::MouseDblClick;
-    MouseEvent event(type, MouseEvent::RightButton, p, Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    MouseEvent event(type, MouseEvent::RightButton, p, getAltKey(), getControlKey(), getShiftKey());
     if (mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnRightButtonDown();
@@ -627,7 +605,7 @@ void cv::viz::InteractorStyle::OnRightButtonDown()
 void cv::viz::InteractorStyle::OnRightButtonUp()
 {
     Vec2i p(Interactor->GetEventPosition());
-    MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::RightButton, p, Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    MouseEvent event(MouseEvent::MouseButtonRelease, MouseEvent::RightButton, p, getAltKey(), getControlKey(), getShiftKey());
     if (mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
     Superclass::OnRightButtonUp();
@@ -637,7 +615,7 @@ void cv::viz::InteractorStyle::OnRightButtonUp()
 void cv::viz::InteractorStyle::OnMouseWheelForward()
 {
     Vec2i p(Interactor->GetEventPosition());
-    MouseEvent event(MouseEvent::MouseScrollUp, MouseEvent::VScroll, p, Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    MouseEvent event(MouseEvent::MouseScrollUp, MouseEvent::VScroll, p, getAltKey(), getControlKey(), getShiftKey());
     // If a mouse callback registered, call it!
     if (mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
@@ -669,7 +647,7 @@ void cv::viz::InteractorStyle::OnMouseWheelForward()
 void cv::viz::InteractorStyle::OnMouseWheelBackward()
 {
     Vec2i p(Interactor->GetEventPosition());
-    MouseEvent event(MouseEvent::MouseScrollDown, MouseEvent::VScroll, p, Interactor->GetAltKey(), Interactor->GetControlKey(), Interactor->GetShiftKey());
+    MouseEvent event(MouseEvent::MouseScrollDown, MouseEvent::VScroll, p, getAltKey(), getControlKey(), getShiftKey());
     // If a mouse callback registered, call it!
     if (mouseCallback_)
       mouseCallback_(event, mouse_callback_cookie_);
@@ -707,11 +685,8 @@ void cv::viz::InteractorStyle::OnTimer()
     Interactor->Render();
 }
 
-namespace cv
+namespace cv { namespace viz
 {
-    namespace viz
+    //Standard VTK macro for *New()
-    {
+    vtkStandardNewMacro(InteractorStyle)
-        //Standard VTK macro for *New()
+}}
-        vtkStandardNewMacro(InteractorStyle)
-    }
-}

modules/viz/src/interactor_style.h

@@ -49,8 +49,6 @@
 #ifndef __OPENCV_VIZ_INTERACTOR_STYLE_H__
 #define __OPENCV_VIZ_INTERACTOR_STYLE_H__
 
-#include <opencv2/viz/types.hpp>
-
 namespace cv
 {
     namespace viz
@@ -59,16 +57,9 @@ namespace cv
         {
         public:
 
-            enum KeyboardModifier
+            enum KeyboardModifier { KB_MOD_ALT, KB_MOD_CTRL, KB_MOD_SHIFT };
-            {
-                KB_MOD_ALT,
-                KB_MOD_CTRL,
-                KB_MOD_SHIFT
-            };
 
             static InteractorStyle *New();
-
-            InteractorStyle() {}
             virtual ~InteractorStyle() {}
 
             // this macro defines Superclass, the isA functionality and the safe downcast method
@@ -77,32 +68,24 @@ namespace cv
             /** \brief Initialization routine. Must be called before anything else. */
             virtual void Initialize();
 
-            inline void setWidgetActorMap(const Ptr<WidgetActorMap>& actors) { widget_actor_map_ = actors; }
+            void setWidgetActorMap(const Ptr<WidgetActorMap>& actors) { widget_actor_map_ = actors; }
             void setRenderer(vtkSmartPointer<vtkRenderer>& ren) { renderer_ = ren; }
             void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0);
             void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void * cookie = 0);
-            void saveScreenshot(const std::string &file);
+            void saveScreenshot(const String &file);
 
             /** \brief Change the default keyboard modified from ALT to a different special key.*/
             inline void setKeyboardModifier(const KeyboardModifier &modifier) { modifier_ = modifier; }
 
-        protected:
+        private:
             /** \brief Set to true after initialization is complete. */
             bool init_;
 
-            /** \brief Collection of vtkRenderers stored internally. */
             vtkSmartPointer<vtkRenderer> renderer_;
+            Ptr<WidgetActorMap> widget_actor_map_;
 
-            /** \brief Actor map stored internally. */
-            cv::Ptr<WidgetActorMap> widget_actor_map_;
-
-            /** \brief The current window width/height. */
             Vec2i win_size_;
-
-            /** \brief The current window position x/y. */
             Vec2i win_pos_;
-
-            /** \brief The maximum resizeable window width/height. */
             Vec2i max_win_size_;
 
             /** \brief A PNG writer for screenshot captures. */
@@ -145,6 +128,10 @@ namespace cv
 
             void (*mouseCallback_)(const MouseEvent&, void*);
             void *mouse_callback_cookie_;
+
+            bool getAltKey();
+            bool getControlKey();
+            bool getShiftKey();
         };
     }
 }

modules/viz/src/precomp.hpp

@@ -126,6 +126,9 @@
 #endif
 
 #include <opencv2/core.hpp>
+#include <opencv2/viz.hpp>
+#include <opencv2/viz/widget_accessor.hpp>
+#include <opencv2/core/utility.hpp>
 
 namespace cv
 {
@@ -135,6 +138,7 @@ namespace cv
     }
 }
 
+#include "interactor_style.h"
 #include "viz3d_impl.hpp"
 
 namespace cv
@@ -146,8 +150,5 @@ namespace cv
     }
 }
 
-#include <opencv2/viz.hpp>
-#include <opencv2/viz/types.hpp>
-#include "opencv2/viz/widget_accessor.hpp"
 
 #endif

modules/viz/src/types.cpp

@@ -48,26 +48,6 @@
 
 #include "precomp.hpp"
 
-//////////////////////////////////////////////////////////////////////////////////////////////////////
-/// cv::viz::Color
-
-cv::viz::Color::Color() : Scalar(0, 0, 0) {}
-cv::viz::Color::Color(double gray) : Scalar(gray, gray, gray) {}
-cv::viz::Color::Color(double blue, double green, double red) : Scalar(blue, green, red) {}
-cv::viz::Color::Color(const Scalar& color) : Scalar(color) {}
-
-cv::viz::Color cv::viz::Color::black()   { return Color(  0,   0, 0); }
-cv::viz::Color cv::viz::Color::green()   { return Color(  0, 255, 0); }
-cv::viz::Color cv::viz::Color::blue()    { return Color(255,   0, 0); }
-cv::viz::Color cv::viz::Color::cyan()    { return Color(255, 255, 0); }
-
-cv::viz::Color cv::viz::Color::red()     { return Color(  0,   0, 255); }
-cv::viz::Color cv::viz::Color::yellow() { return Color(  0, 255, 255); }
-cv::viz::Color cv::viz::Color::magenta()  { return Color(255,   0, 255); }
-cv::viz::Color cv::viz::Color::white()   { return Color(255, 255, 255); }
-
-cv::viz::Color cv::viz::Color::gray()    { return Color(128, 128, 128); }
-
 ////////////////////////////////////////////////////////////////////
 /// cv::viz::KeyboardEvent
 

modules/viz/src/viz.cpp

@@ -50,18 +50,9 @@
 
 cv::Affine3f cv::viz::makeTransformToGlobal(const Vec3f& axis_x, const Vec3f& axis_y, const Vec3f& axis_z, const Vec3f& origin)
 {
-    Affine3f::Mat3 R;
+    Affine3f::Mat3 R(axis_x[0], axis_y[0], axis_z[0],
-    R.val[0] = axis_x.val[0];
+                     axis_x[1], axis_y[1], axis_z[1],
-    R.val[3] = axis_x.val[1];
+                     axis_x[2], axis_y[2], axis_z[2]);
-    R.val[6] = axis_x.val[2];
-
-    R.val[1] = axis_y.val[0];
-    R.val[4] = axis_y.val[1];
-    R.val[7] = axis_y.val[2];
-
-    R.val[2] = axis_z.val[0];
-    R.val[5] = axis_z.val[1];
-    R.val[8] = axis_z.val[2];
 
     return Affine3f(R, origin);
 }
@@ -73,22 +64,7 @@ cv::Affine3f cv::viz::makeCameraPose(const Vec3f& position, const Vec3f& focal_p
     Vec3f u = normalize(y_dir.cross(n));
     Vec3f v = n.cross(u);
 
-    Matx44f pose_mat = Matx44f::zeros();
+    return makeTransformToGlobal(u, v, n, position);
-    pose_mat(0,0) = u[0];
-    pose_mat(0,1) = u[1];
-    pose_mat(0,2) = u[2];
-    pose_mat(1,0) = v[0];
-    pose_mat(1,1) = v[1];
-    pose_mat(1,2) = v[2];
-    pose_mat(2,0) = n[0];
-    pose_mat(2,1) = n[1];
-    pose_mat(2,2) = n[2];
-    pose_mat(3,0) = position[0];
-    pose_mat(3,1) = position[1];
-    pose_mat(3,2) = position[2];
-    pose_mat(3,3) = 1.0f;
-    pose_mat = pose_mat.t();
-    return pose_mat;
 }
 
 vtkSmartPointer<vtkMatrix4x4> cv::viz::convertToVtkMatrix(const cv::Matx44f &m)
@@ -109,36 +85,31 @@ cv::Matx44f cv::viz::convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matr
     return m;
 }
 
-namespace cv
+namespace cv { namespace viz
 {
-    namespace viz
+    template<typename _Tp> Vec<_Tp, 3>* vtkpoints_data(vtkSmartPointer<vtkPoints>& points);
+
+    template<> Vec3f* vtkpoints_data<float>(vtkSmartPointer<vtkPoints>& points)
     {
-        template<typename _Tp> Vec<_Tp, 3>* vtkpoints_data(vtkSmartPointer<vtkPoints>& points);
+        CV_Assert(points->GetDataType() == VTK_FLOAT);
-
+        vtkDataArray *data = points->GetData();
-        template<> Vec3f* vtkpoints_data<float>(vtkSmartPointer<vtkPoints>& points)
+        float *pointer = static_cast<vtkFloatArray*>(data)->GetPointer(0);
-        {
+        return reinterpret_cast<Vec3f*>(pointer);
-            CV_Assert(points->GetDataType() == VTK_FLOAT);
-            vtkDataArray *data = points->GetData();
-            float *pointer = static_cast<vtkFloatArray*>(data)->GetPointer(0);
-            return reinterpret_cast<Vec3f*>(pointer);
-        }
-
-        template<> Vec3d* vtkpoints_data<double>(vtkSmartPointer<vtkPoints>& points)
-        {
-            CV_Assert(points->GetDataType() == VTK_DOUBLE);
-            vtkDataArray *data = points->GetData();
-            double *pointer = static_cast<vtkDoubleArray*>(data)->GetPointer(0);
-            return reinterpret_cast<Vec3d*>(pointer);
-        }
     }
-}
+
+    template<> Vec3d* vtkpoints_data<double>(vtkSmartPointer<vtkPoints>& points)
+    {
+        CV_Assert(points->GetDataType() == VTK_DOUBLE);
+        vtkDataArray *data = points->GetData();
+        double *pointer = static_cast<vtkDoubleArray*>(data)->GetPointer(0);
+        return reinterpret_cast<Vec3d*>(pointer);
+    }
+}}
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// Viz accessor implementation
 
 cv::viz::VizAccessor * cv::viz::VizAccessor::instance_ = 0;
-bool cv::viz::VizAccessor::is_instantiated_ = false;
-cv::viz::VizAccessor::VizAccessorImpl * cv::viz::VizAccessor::impl_ = 0;
 
 struct cv::viz::VizAccessor::VizAccessorImpl
 {
@@ -146,33 +117,22 @@ struct cv::viz::VizAccessor::VizAccessorImpl
 };
 
 cv::viz::VizAccessor::VizAccessor() { impl_ = new cv::viz::VizAccessor::VizAccessorImpl;}
-
+cv::viz::VizAccessor::~VizAccessor() { delete impl_; }
-cv::viz::VizAccessor::~VizAccessor()
-{
-    if(impl_)
-    {
-        delete impl_;
-        impl_ = 0;
-    }
-}
 
 cv::viz::VizAccessor & cv::viz::VizAccessor::getInstance()
 {
-    if (!is_instantiated_)
+    if (!instance_)
-    {
         instance_ = new VizAccessor();
-        is_instantiated_ = true;
+
-    }
     return *instance_;
 }
 
 void cv::viz::VizAccessor::release()
 {
-    if (is_instantiated_)
+    if (instance_)
     {
         delete instance_;
         instance_ = 0;
-        is_instantiated_ = false;
     }
 }
 
@@ -183,18 +143,15 @@ cv::viz::Viz3d cv::viz::VizAccessor::get(const String & window_name)
     generateWindowName(window_name, name);
 
     VizMap::iterator vm_itr = impl_->viz_map.find(name);
-    bool exists = vm_itr != impl_->viz_map.end();
+    return vm_itr != impl_->viz_map.end() ? vm_itr->second : Viz3d(window_name);
-    if (exists) return vm_itr->second;
-    else return Viz3d(window_name);
 }
 
 void cv::viz::VizAccessor::add(Viz3d window)
 {
     String window_name = window.getWindowName();
     VizMap::iterator vm_itr = impl_->viz_map.find(window_name);
-    bool exists = vm_itr != impl_->viz_map.end();
+    if (vm_itr == impl_->viz_map.end())
-    if (exists) return ;
+        impl_->viz_map.insert(VizPair(window_name, window));
-    impl_->viz_map.insert(VizPair(window_name, window));
 }
 
 void cv::viz::VizAccessor::remove(const String &window_name)
@@ -204,21 +161,24 @@ void cv::viz::VizAccessor::remove(const String &window_name)
     generateWindowName(window_name, name);
 
     VizMap::iterator vm_itr = impl_->viz_map.find(name);
-    bool exists = vm_itr != impl_->viz_map.end();
+    if (vm_itr != impl_->viz_map.end())
-    if (!exists) return ;
+        impl_->viz_map.erase(vm_itr);
-    impl_->viz_map.erase(vm_itr);
 }
 
 void cv::viz::VizAccessor::generateWindowName(const String &window_name, String &output)
 {
     output = "Viz";
     // Already is Viz
-    if (window_name == output) return;
+    if (window_name == output)
+        return;
 
     String prefixed = output + " - ";
-    if (window_name.substr(0, prefixed.length()) == prefixed) output = window_name; // Already has "Viz - "
+    if (window_name.substr(0, prefixed.length()) == prefixed)
-    else if (window_name.substr(0, output.length()) == output) output = prefixed + window_name; // Doesn't have prefix
+        output = window_name; // Already has "Viz - "
-    else output = (window_name == "" ? output : prefixed + window_name);
+    else if (window_name.substr(0, output.length()) == output)
+        output = prefixed + window_name; // Doesn't have prefix
+    else
+        output = (window_name == "" ? output : prefixed + window_name);
 }
 
 cv::viz::Viz3d cv::viz::get(const String &window_name)

modules/viz/src/viz3d.cpp

@@ -46,8 +46,7 @@
 //
 //M*/
 
-#include <opencv2/viz/viz3d.hpp>
+#include "precomp.hpp"
-#include "viz3d_impl.hpp"
 
 cv::viz::Viz3d::Viz3d(const String& window_name) : impl_(0) { create(window_name); }
 

modules/viz/src/viz3d_impl.cpp

@@ -47,10 +47,6 @@
 //M*/
 
 #include "precomp.hpp"
-#include "viz3d_impl.hpp"
-#include "opencv2/core/utility.hpp"
-
-#include <vtkRenderWindowInteractor.h>
 
 #if 1 || !defined __APPLE__
 vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew()
@@ -61,9 +57,7 @@ vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew()
 
 /////////////////////////////////////////////////////////////////////////////////////////////
 cv::viz::Viz3d::VizImpl::VizImpl(const String &name)
-    :  style_(vtkSmartPointer<cv::viz::InteractorStyle>::New())
+    :  style_(vtkSmartPointer<cv::viz::InteractorStyle>::New()) , widget_actor_map_(new WidgetActorMap), s_lastDone_(0.0)
-    , widget_actor_map_(new WidgetActorMap)
-    , s_lastDone_(0.0)
 {
     renderer_ = vtkSmartPointer<vtkRenderer>::New();
 
@@ -128,7 +122,8 @@ cv::viz::Viz3d::VizImpl::~VizImpl()
 {
     if (interactor_)
         interactor_->DestroyTimer(timer_id_);
-    if (renderer_) renderer_->Clear();
+    if (renderer_)
+        renderer_->Clear();
 }
 
 /////////////////////////////////////////////////////////////////////////////////////////////
@@ -395,7 +390,7 @@ cv::viz::Camera cv::viz::Viz3d::VizImpl::getCamera() const
 
     Size window_size(renderer_->GetRenderWindow()->GetSize()[0],
                      renderer_->GetRenderWindow()->GetSize()[1]);
-    double aspect_ratio = static_cast<double>(window_size.width) / static_cast<double>(window_size.height);
+    double aspect_ratio = window_size.width / (double)window_size.height;
 
     Matx44f proj_matrix = convertToMatx(active_camera.GetProjectionTransformMatrix(aspect_ratio, -1.0f, 1.0f));
     Camera camera(proj_matrix, window_size);

modules/viz/src/viz3d_impl.hpp

@@ -49,9 +49,6 @@
 #ifndef __OPENCV_VIZ_VIZ3D_IMPL_HPP__
 #define __OPENCV_VIZ_VIZ3D_IMPL_HPP__
 
-#include <opencv2/viz.hpp>
-#include "interactor_style.h"
-
 struct cv::viz::Viz3d::VizImpl
 {
 public:
@@ -127,10 +124,7 @@ private:
 
     struct ExitMainLoopTimerCallback : public vtkCommand
     {
-        static ExitMainLoopTimerCallback* New()
+        static ExitMainLoopTimerCallback* New() { return new ExitMainLoopTimerCallback; }
-        {
-            return new ExitMainLoopTimerCallback;
-        }
         virtual void Execute(vtkObject* vtkNotUsed(caller), unsigned long event_id, void* call_data)
         {
             if (event_id != vtkCommand::TimerEvent)
@@ -149,10 +143,7 @@ private:
 
     struct ExitCallback : public vtkCommand
     {
-        static ExitCallback* New()
+        static ExitCallback* New() { return new ExitCallback; }
-        {
-            return new ExitCallback;
-        }
         virtual void Execute(vtkObject*, unsigned long event_id, void*)
         {
             if (event_id == vtkCommand::ExitEvent)
@@ -191,21 +182,7 @@ private:
 
     bool removeActorFromRenderer(const vtkSmartPointer<vtkProp> &actor);
 
-    /** \brief Internal method. Creates a vtk actor from a vtk polydata object.
-          * \param[in] data the vtk polydata object to create an actor for
-          * \param[out] actor the resultant vtk actor object
-          * \param[in] use_scalars set scalar properties to the mapper if it exists in the data. Default: true.
-          */
     void createActorFromVTKDataSet(const vtkSmartPointer<vtkDataSet> &data, vtkSmartPointer<vtkLODActor> &actor, bool use_scalars = true);
-
-    /** \brief Updates a set of cells (vtkIdTypeArray) if the number of points in a cloud changes
-          * \param[out] cells the vtkIdTypeArray object (set of cells) to update
-          * \param[out] initcells a previously saved set of cells. If the number of points in the current cloud is
-          * higher than the number of cells in \a cells, and initcells contains enough data, then a copy from it
-          * will be made instead of regenerating the entire array.
-          * \param[in] nr_points the number of points in the new cloud. This dictates how many cells we need to
-          * generate
-          */
     void updateCells(vtkSmartPointer<vtkIdTypeArray> &cells, vtkSmartPointer<vtkIdTypeArray> &initcells, vtkIdType nr_points);
 };
 

modules/viz/test/test_precomp.hpp

@@ -60,6 +60,8 @@
 #include "opencv2/ts.hpp"
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/viz.hpp>
 
 #include <iostream>
 #include <fstream>

modules/viz/test/test_tutorial3.cpp

@@ -0,0 +1,86 @@
+#include "test_precomp.hpp"
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function cvcloud_load
+ * @brief load bunny.ply
+ */
+Mat cvcloud_load()
+{
+    Mat cloud(1, 20000, CV_32FC3);
+    ifstream ifs("d:/cloud_dragon.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 < 20000; ++i)
+        ifs >> data[i].x >> data[i].y >> data[i].z;// >> dummy1 >> dummy2;
+
+    //cloud *= 5.0f;
+    return cloud;
+}
+
+/**
+ * @function main
+ */
+void tutorial3(bool camera_pov)
+{
+    /// 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
+    Point3f cam_pos(3.0f,3.0f,3.0f), cam_focal_point(3.0f,3.0f,2.0f), cam_y_dir(-1.0f,0.0f,0.0f);
+
+    /// We can get the pose of the cam using makeCameraPose
+    Affine3f cam_pose = viz::makeCameraPose(cam_pos, cam_focal_point, cam_y_dir);
+
+    /// 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();
+}
+
+TEST(Viz_viz3d, DISABLED_tutorial3_global_view)
+{
+    tutorial3(false);
+}
+
+TEST(Viz_viz3d, DISABLED_tutorial3_camera_view)
+{
+    tutorial3(true);
+}

modules/viz/test/test_viz3d.cpp

@@ -40,13 +40,11 @@
  //
  //M*/
 #include "test_precomp.hpp"
-#include <opencv2/viz.hpp>
+
-#include <opencv2/highgui.hpp>
-#include <string>
 
 using namespace cv;
 
-cv::Mat cvcloud_load()
+static cv::Mat cvcloud_load()
 {
     cv::Mat cloud(1, 20000, CV_32FC3);
         std::ifstream ifs("/Users/nerei/cloud_dragon.ply");
@@ -90,7 +88,7 @@ void keyboard_callback(const viz::KeyboardEvent & event, void * cookie)
     }
 }
 
-TEST(Viz_viz3d, accuracy)
+TEST(Viz_viz3d, develop)
 {
     cv::viz::Viz3d viz("abc");
 
@@ -98,19 +96,18 @@ TEST(Viz_viz3d, accuracy)
     cv::viz::WMesh bunny_widget(bunny_mesh);
     bunny_widget.setColor(cv::viz::Color::cyan());
 
-    cam_1 = cv::viz::WCameraPosition(cv::Vec2f(0.6, 0.4), 0.2, cv::viz::Color::green());
+    cam_1 = cv::viz::WCameraPosition(cv::Vec2f(0.6f, 0.4f), 0.2, cv::viz::Color::green());
     cam_coordinates = cv::viz::WCameraPosition(0.2);
 
     viz.showWidget("bunny", bunny_widget);
-    viz.showWidget("cam_1", cam_1, viz::makeCameraPose(Point3f(1.0,0.0,0.0), Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
+    viz.showWidget("cam_1", cam_1, viz::makeCameraPose(Point3f(1.f,0.f,0.f), Point3f(0.f,0.f,0.f), Point3f(0.f,1.f,0.f)));
-    viz.showWidget("cam_coordinate", cam_coordinates, viz::makeCameraPose(Point3f(1.0,0.0,0.0), Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
+    viz.showWidget("cam_coordinate", cam_coordinates, viz::makeCameraPose(Point3f(1.f,0.f,0.f), Point3f(0.f,0.f,0.f), Point3f(0.f,1.f,0.f)));
 
     std::vector<Affine3f> cam_path;
 
     for (int i = 0, j = 0; i <= 360; ++i, j+=5)
     {
-        cam_path.push_back(viz::makeCameraPose(Point3f(0.5*cos(double(i)*CV_PI/180.0), 0.5*sin(double(j)*CV_PI/180.0), 0.5*sin(double(i)*CV_PI/180.0)),
+        cam_path.push_back(viz::makeCameraPose(Vec3d(0.5*cos(i*CV_PI/180.0), 0.5*sin(j*CV_PI/180.0), 0.5*sin(i*CV_PI/180.0)), Vec3f(0.f, 0.f, 0.f), Vec3f(0.f, 1.f, 0.f)));
-                                               Point3f(0.0,0.0,0.0), Point3f(0.0,1.0,0.0)));
     }
 
     int path_counter = 0;
@@ -133,7 +130,7 @@ TEST(Viz_viz3d, accuracy)
         colors[col] = Mat::zeros(img.rows/downSample, 1, CV_8UC3);
         for (int row = 0; row < row_max; ++row)
         {
-            clouds[col].at<Vec3f>(row) = Vec3f(downSample * float(col) / img.cols, 1.0-(downSample * float(row) / img.rows), 0.0);
+            clouds[col].at<Vec3f>(row) = Vec3f(downSample * float(col) / img.cols, 1.f-(downSample * float(row) / img.rows), 0.f);
             colors[col].at<Vec3b>(row) = img.at<Vec3b>(row*downSample,col*downSample);
         }
     }
@@ -174,9 +171,11 @@ TEST(Viz_viz3d, accuracy)
         {
             std::stringstream strstrm;
             strstrm << "cloud_" << i;
-            viz.setWidgetPose(strstrm.str(), Affine3f().translate(Vec3f(-0.5,0.0, -0.7 + 0.2*sin((angle+i*10)*CV_PI / 180.0))));
+            viz.setWidgetPose(strstrm.str(), Affine3f().translate(Vec3f(-0.5f, 0.f, (float)(-0.7 + 0.2*sin((angle+i*10)*CV_PI / 180.0)))));
         }
         angle += 10;
         viz.spinOnce(42, true);
     }
+
+    volatile void* a = (void*)&cvcloud_load; (void)a; //fixing warnings
 }