some of the tutorials

doc/tutorials/viz/creating_widgets.rst

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+.. _creating_widgets:
+
+Creating Widgets
+****************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Create your own widgets using WidgetAccessor and VTK.
+  * Show your widget in the visualization window.
+
+Code
+====
+
+You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/creating_widgets.cpp>`_.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz.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;
+
+    /**
+     * @class TriangleWidget
+     * @brief Defining our own 3D Triangle widget
+     */
+    class TriangleWidget : public viz::Widget3D
+    {
+        public:
+            TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); 
+    };
+
+    /**
+     * @function TriangleWidget::TriangleWidget
+     */
+    TriangleWidget::TriangleWidget(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();
+        mapper->SetInput(polyData);
+        
+        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()
+    {        
+        /// Create a window
+        viz::Viz3d myWindow("Creating Widgets");
+        
+        /// Create a triangle widget
+        TriangleWidget 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;
+    }
+    
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Extend Widget3D class to create a new 3D widget.
+
+.. code-block:: cpp
+
+    class TriangleWidget : public viz::Widget3D
+    {
+        public:
+            TriangleWidget(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white()); 
+    };
+    
+* Assign a VTK actor to the widget.
+
+.. code-block:: cpp
+
+    // Store this actor in the widget in order that visualizer can access it
+    viz::WidgetAccessor::setProp(*this, actor);
+    
+* Set color of the widget.
+
+.. code-block:: cpp
+
+    // Set the color of the widget. This has to be called after WidgetAccessor.
+    setColor(color);
+    
+* Construct a triangle widget and display it in the window.
+
+.. code-block:: cpp
+
+    /// Create a triangle widget
+    TriangleWidget 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);
+    
+Results
+=======
+
+Here is the result of the program.
+
+.. image:: images/red_triangle.png
+    :alt: Creating Widgets
+    :align: center

doc/tutorials/viz/launching_viz.rst

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+.. _launching_viz:
+
+Launching Viz
+*************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Open a visualization window.
+  * Access a window by its name.
+  * Start event loop.
+  * Start event loop for a given amount of time.
+
+Code
+====
+
+You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/launching_viz.cpp>`_.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz.hpp>
+    #include <iostream>
+
+    using namespace cv;
+    using namespace std;
+  
+    /**
+    * @function main
+    */
+    int main()
+    {
+        /// 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::get("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;
+    }
+    
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Viz Demo");
+    
+* Start event loop. This event loop will run until user terminates it by pressing **e**, **E**, **q**, **Q**.
+
+.. code-block:: cpp
+
+    /// Start event loop
+    myWindow.spin();
+    
+* Access same window via its name. Since windows are implicitly shared, **sameWindow** is exactly the same with **myWindow**. If the name does not exist, a new window is created.
+
+.. code-block:: cpp
+
+    /// Access window via its name
+    viz::Viz3d sameWindow = viz::get("Viz Demo");
+    
+* Start a controlled event loop. Once it starts, **wasStopped** is set to false. Inside the while loop, in each iteration, **spinOnce** is called to prevent event loop from completely stopping. Inside the while loop, user can execute other statements including those which interact with the window.
+
+.. code-block:: cpp
+
+    /// 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);
+    }
+    
+Results
+=======
+
+Here is the result of the program.
+
+.. image:: images/window_demo.png
+    :alt: Launching Viz
+    :align: center

doc/tutorials/viz/widget_pose.rst

@@ -0,0 +1,162 @@
+.. _widget_pose:
+
+Pose of a widget
+****************
+
+Goal
+====
+
+In this tutorial you will learn how to
+
+.. container:: enumeratevisibleitemswithsquare
+
+  * Add widgets to the visualization window
+  * Use Affine3 to set pose of a widget
+  * Rotating and translating a widget along an axis
+
+Code
+====
+
+You can download the code from `here <../../../../samples/cpp/tutorial_code/viz/widget_pose.cpp>`_.
+
+.. code-block:: cpp
+
+    #include <opencv2/viz.hpp>
+    #include <opencv2/calib3d.hpp>
+    #include <iostream>
+
+    using namespace cv;
+    using namespace std;
+
+    /**
+     * @function main
+     */
+    int main()
+    {
+        /// Create a window
+        viz::Viz3d myWindow("Coordinate Frame");
+        
+        /// Add coordinate axes
+        myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget());
+        
+        /// Add line to represent (1,1,1) axis
+        viz::LineWidget axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
+        axis.setRenderingProperty(viz::VIZ_LINE_WIDTH, 4.0);
+        myWindow.showWidget("Line Widget", axis);
+        
+        /// Construct a cube widget
+        viz::CubeWidget cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+        cube_widget.setRenderingProperty(viz::VIZ_LINE_WIDTH, 4.0);
+            
+        /// Display widget (update if already displayed)
+        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;
+    }
+    
+Explanation
+===========
+
+Here is the general structure of the program:
+
+* Create a visualization window.
+
+.. code-block:: cpp
+
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+    
+* Show coordinate axes in the window using CoordinateSystemWidget.
+
+.. code-block:: cpp
+
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget());
+    
+* Display a line representing the axis (1,1,1).
+
+.. code-block:: cpp
+
+    /// Add line to represent (1,1,1) axis
+    viz::LineWidget axis(Point3f(-1.0f,-1.0f,-1.0f), Point3f(1.0f,1.0f,1.0f));
+    axis.setRenderingProperty(viz::VIZ_LINE_WIDTH, 4.0);
+    myWindow.showWidget("Line Widget", axis);
+    
+* Construct a cube.
+
+.. code-block:: cpp
+
+    /// Construct a cube widget
+    viz::CubeWidget cube_widget(Point3f(0.5,0.5,0.0), Point3f(0.0,0.0,-0.5), true, viz::Color::blue());
+    cube_widget.setRenderingProperty(viz::VIZ_LINE_WIDTH, 4.0);
+    myWindow.showWidget("Cube Widget", cube_widget); 
+    
+* Create rotation matrix from rodrigues vector
+
+.. code-block:: cpp
+
+    /// 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;
+    
+    ...
+    
+    Mat rot_mat;
+    Rodrigues(rot_vec, rot_mat); 
+
+* Use Affine3f to set pose of the cube.    
+
+.. code-block:: cpp
+    
+    /// Construct pose
+    Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
+    myWindow.setWidgetPose("Cube Widget", pose);
+    
+* Animate the rotation using wasStopped and spinOnce
+
+.. code-block:: cpp
+
+    while(!myWindow.wasStopped())
+    {
+        ...
+        
+        myWindow.spinOnce(1, true);
+    }
+    
+Results
+=======
+
+Here is the result of the program.
+
+.. raw:: html
+
+  <div align="center">
+  <iframe width="420" height="315" src="https://www.youtube.com/embed/Jo47zc6-hvI" frameborder="0" allowfullscreen></iframe>
+  </div>

samples/cpp/tutorial_code/viz/widget_pose.cpp

@@ -0,0 +1,79 @@
+/**
+ * @file creating_widgets.cpp
+ * @brief Creating custom widgets using VTK
+ * @author Ozan Cagri Tonkal
+ */
+
+#include <opencv2/viz.hpp>
+#include <opencv2/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 matrix."                                                      << endl
+    << "Usage:"                                                                       << endl
+    << "./coordinate_frame"                                                           << endl
+    << endl;
+}
+
+/**
+ * @function main
+ */
+int main()
+{
+    help();
+    
+    /// Create a window
+    viz::Viz3d myWindow("Coordinate Frame");
+    
+    /// Add coordinate axes
+    myWindow.showWidget("Coordinate Widget", viz::CoordinateSystemWidget());
+    
+    /// Add line to represent (1,1,1) axis
+    viz::LineWidget 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::CubeWidget 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;
+}