fixed documentation warnings

samples/cpp/CMakeLists.txt

@@ -82,6 +82,8 @@ if(BUILD_EXAMPLES AND OCV_DEPENDENCIES_FOUND)
     ocv_list_filterout(cpp_samples "/gpu/")
   endif()
 
+  ocv_list_filterout(cpp_samples "viz")
+
   foreach(sample_filename ${cpp_samples})
     get_filename_component(sample ${sample_filename} NAME_WE)
     OPENCV_DEFINE_CPP_EXAMPLE(${sample}  ${sample_filename})

samples/cpp/tutorial_code/viz/creating_widgets.cpp

@@ -0,0 +1,113 @@
+/**
+ * @file creating_widgets.cpp
+ * @brief Creating custom widgets using VTK
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz/vizcore.hpp>
+#include <opencv2/viz/widget_accessor.hpp>
+#include <iostream>
+
+#include <vtkPoints.h>
+#include <vtkTriangle.h>
+#include <vtkCellArray.h>
+#include <vtkPolyData.h>
+#include <vtkPolyDataMapper.h>
+#include <vtkIdList.h>
+#include <vtkActor.h>
+#include <vtkProp.h>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------"   << endl
+    << "This program shows how to create a custom widget. You can create your own "
+    << "widgets by extending Widget2D/Widget3D, and with the help of WidgetAccessor." << endl
+    << "Usage:"                                                                       << endl
+    << "./creating_widgets"                                                           << endl
+    << endl;
+}
+
+/**
+ * @class TriangleWidget
+ * @brief Defining our own 3D Triangle widget
+ */
+class WTriangle : public viz::Widget3D
+{
+    public:
+        WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
+};
+
+/**
+ * @function TriangleWidget::TriangleWidget
+ * @brief Constructor
+ */
+WTriangle::WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color)
+{
+    // Create a triangle
+    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+    points->InsertNextPoint(pt1.x, pt1.y, pt1.z);
+    points->InsertNextPoint(pt2.x, pt2.y, pt2.z);
+    points->InsertNextPoint(pt3.x, pt3.y, pt3.z);
+
+    vtkSmartPointer<vtkTriangle> triangle = vtkSmartPointer<vtkTriangle>::New();
+    triangle->GetPointIds()->SetId(0,0);
+    triangle->GetPointIds()->SetId(1,1);
+    triangle->GetPointIds()->SetId(2,2);
+
+    vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New();
+    cells->InsertNextCell(triangle);
+
+    // Create a polydata object
+    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+
+    // Add the geometry and topology to the polydata
+    polyData->SetPoints(points);
+    polyData->SetPolys(cells);
+
+    // Create mapper and actor
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+#if VTK_MAJOR_VERSION <= 5
+    mapper->SetInput(polyData);
+#else
+    mapper->SetInputData(polyData);
+#endif
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    // Store this actor in the widget in order that visualizer can access it
+    viz::WidgetAccessor::setProp(*this, actor);
+
+    // Set the color of the widget. This has to be called after WidgetAccessor.
+    setColor(color);
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+
+    /// Create a window
+    viz::Viz3d myWindow("Creating Widgets");
+
+    /// Create a triangle widget
+    WTriangle tw(Point3f(0.0,0.0,0.0), Point3f(1.0,1.0,1.0), Point3f(0.0,1.0,0.0), viz::Color::red());
+
+    /// Show widget in the visualizer window
+    myWindow.showWidget("TRIANGLE", tw);
+
+    /// Start event loop
+    myWindow.spin();
+
+    return 0;
+}

samples/cpp/tutorial_code/viz/launching_viz.cpp

@@ -0,0 +1,66 @@
+/**
+ * @file launching_viz.cpp
+ * @brief Launching visualization window
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz/vizcore.hpp>
+#include <iostream>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------" << endl
+    << "This program shows how to launch a 3D visualization window. You can stop event loop to continue executing. "
+    << "You can access the same window via its name. You can run event loop for a given period of time. " << endl
+    << "Usage:"                                                                     << endl
+    << "./launching_viz"                                                            << endl
+    << endl;
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+    /// Create a window
+    viz::Viz3d myWindow("Viz Demo");
+
+    /// Start event loop
+    myWindow.spin();
+
+    /// Event loop is over when pressed q, Q, e, E
+    cout << "First event loop is over" << endl;
+
+    /// Access window via its name
+    viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
+
+    /// Start event loop
+    sameWindow.spin();
+
+    /// Event loop is over when pressed q, Q, e, E
+    cout << "Second event loop is over" << endl;
+
+    /// Event loop is over when pressed q, Q, e, E
+    /// Start event loop once for 1 millisecond
+    sameWindow.spinOnce(1, true);
+    while(!sameWindow.wasStopped())
+    {
+        /// Interact with window
+
+        /// Event loop for 1 millisecond
+        sameWindow.spinOnce(1, true);
+    }
+
+    /// Once more event loop is stopped
+    cout << "Last event loop is over" << endl;
+    return 0;
+}

samples/cpp/tutorial_code/viz/transformations.cpp

@@ -0,0 +1,112 @@
+/**
+ * @file transformations.cpp
+ * @brief Visualizing cloud in different positions, coordinate frames, camera frustums
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz/vizcore.hpp>
+#include <iostream>
+#include <fstream>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------"   << endl
+    << "This program shows how to use makeTransformToGlobal() to compute required pose,"
+    << "how to use makeCameraPose and Viz3d::setViewerPose. You can observe the scene "
+    << "from camera point of view (C) or global point of view (G)"                    << endl
+    << "Usage:"                                                                       << endl
+    << "./transformations [ G | C ]"                                                 << endl
+    << endl;
+}
+
+/**
+ * @function cvcloud_load
+ * @brief load bunny.ply
+ */
+Mat cvcloud_load()
+{
+    Mat cloud(1, 1889, CV_32FC3);
+    ifstream ifs("bunny.ply");
+
+    string str;
+    for(size_t i = 0; i < 12; ++i)
+        getline(ifs, str);
+
+    Point3f* data = cloud.ptr<cv::Point3f>();
+    float dummy1, dummy2;
+    for(size_t i = 0; i < 1889; ++i)
+        ifs >> data[i].x >> data[i].y >> data[i].z >> dummy1 >> dummy2;
+
+    cloud *= 5.0f;
+    return cloud;
+}
+
+/**
+ * @function main
+ */
+int main(int argn, char **argv)
+{
+    help();
+
+    if (argn < 2)
+    {
+        cout << "Missing arguments." << endl;
+        return 1;
+    }
+
+    bool camera_pov = (argv[1][0] == 'C');
+
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+    /// Let's assume camera has the following properties
+    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();
+
+    return 0;
+}

samples/cpp/tutorial_code/viz/widget_pose.cpp

@@ -0,0 +1,79 @@
+/**
+ * @file widget_pose.cpp
+ * @brief Setting pose of a widget
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz/vizcore.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <iostream>
+
+using namespace cv;
+using namespace std;
+
+/**
+ * @function help
+ * @brief Display instructions to use this tutorial program
+ */
+void help()
+{
+    cout
+    << "--------------------------------------------------------------------------"   << endl
+    << "This program shows how to visualize a cube rotated around (1,1,1) and shifted "
+    << "using Rodrigues vector."                                                      << endl
+    << "Usage:"                                                                       << endl
+    << "./widget_pose"                                                                << endl
+    << endl;
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
+
+    /// Add line to represent (1,1,1) axis
+    viz::WLine axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
+    axis.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Line Widget", axis);
+
+    /// Construct a cube widget
+    viz::WCube cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+    cube_widget.setRenderingProperty(viz::LINE_WIDTH, 4.0);
+    myWindow.showWidget("Cube Widget", cube_widget);
+
+    /// Rodrigues vector
+    Mat rot_vec = Mat::zeros(1,3,CV_32F);
+    float translation_phase = 0.0, translation = 0.0;
+    while(!myWindow.wasStopped())
+    {
+        /* Rotation using rodrigues */
+        /// Rotate around (1,1,1)
+        rot_vec.at<float>(0,0) += CV_PI * 0.01f;
+        rot_vec.at<float>(0,1) += CV_PI * 0.01f;
+        rot_vec.at<float>(0,2) += CV_PI * 0.01f;
+
+        /// Shift on (1,1,1)
+        translation_phase += CV_PI * 0.01f;
+        translation = sin(translation_phase);
+
+        Mat rot_mat;
+        Rodrigues(rot_vec, rot_mat);
+
+        /// Construct pose
+        Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+
+        myWindow.setWidgetPose("Cube Widget", pose);
+
+        myWindow.spinOnce(1, true);
+    }
+
+    return 0;
+}