viz: move samples/tutorials to opencv_contrib

7 years ago · dadba232de
parent 787f5236a9
commit dadba232de
23 changed files with 0 additions and 6717 deletions
--- a/doc/tutorials/tutorials.markdown
+++ b/doc/tutorials/tutorials.markdown
@ -87,7 +87,3 @@ As always, we would be happy to hear your comments and receive your contribution
 -   @subpage tutorial_table_of_content_ios
    Run OpenCV and your vision apps on an iDevice
 -   @subpage tutorial_table_of_content_viz
    These tutorials show how to use Viz module effectively.
--- a/doc/tutorials/viz/creating_widgets/creating_widgets.markdown
+++ b/doc/tutorials/viz/creating_widgets/creating_widgets.markdown
@ -1,55 +0,0 @@
 Creating Widgets {#tutorial_creating_widgets}
 ================
 Goal
 ----
 In this tutorial you will learn how to
 -   Create your own widgets using WidgetAccessor and VTK.
 -   Show your widget in the visualization window.
 Code
 ----
 You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/creating_widgets.cpp).
@include samples/cpp/tutorial_code/viz/creating_widgets.cpp
 Explanation
 -----------
 Here is the general structure of the program:
 -   Extend Widget3D class to create a new 3D widget.
    @code{.cpp}
    class WTriangle : public viz::Widget3D
    {
        public:
            WTriangle(const Point3f &pt1, const Point3f &pt2, const Point3f &pt3, const viz::Color & color = viz::Color::white());
    };
    @endcode
 -   Assign a VTK actor to the widget.
    @code{.cpp}
    // Store this actor in the widget in order that visualizer can access it
    viz::WidgetAccessor::setProp(*this, actor);
    @endcode
 -   Set color of the widget.
    @code{.cpp}
    // Set the color of the widget. This has to be called after WidgetAccessor.
    setColor(color);
    @endcode
 -   Construct a triangle widget and display it in the window.
    @code{.cpp}
    /// 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);
    @endcode
 Results
 -------
 Here is the result of the program.
 ![](images/red_triangle.png)
--- a/doc/tutorials/viz/creating_widgets/images/red_triangle.png
+++ b/doc/tutorials/viz/creating_widgets/images/red_triangle.png
--- a/doc/tutorials/viz/histo3D/histo3D.markdown
+++ b/doc/tutorials/viz/histo3D/histo3D.markdown
@ -1,51 +0,0 @@
 Creating a 3D histogram {#tutorial_histo3D}
 ================
 Goal
 ----
 In this tutorial you will learn how to
 -   Create your own callback keyboard function for viz window.
 -   Show your 3D histogram in a viz window.
 Code
 ----
 You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/histo3D.cpp).
@include samples/cpp/tutorial_code/viz/histo3D.cpp
 Explanation
 -----------
 Here is the general structure of the program:
 -   You can give full path to an image in command line
    @snippet histo3D.cpp command_line_parser
    or without path, a synthetic image is generated with pixel values are a gaussian distribution @ref cv::RNG::fill center(60+/-10,40+/-5,50+/-20) in first quadrant,
    (160+/-20,10+/-5,50+/-10) in second quadrant, (90+/-10,100+/-20,50+/-20) in third quadrant, (100+/-10,10+/-5,150+/-40) in last quadrant.
    @snippet histo3D.cpp synthetic_image
    Image tridimensional histogram is calculated using opencv @ref cv::calcHist and @ref cv::normalize between 0 and 100.
    @snippet histo3D.cpp calchist_for_histo3d
    channel are 2, 1 and 0 to synchronise color with Viz axis color in objetc cv::viz::WCoordinateSystem.
    A slidebar is inserted in image window. Init slidebar value is 90, it means that only histogram cell greater than 9/100000.0 (23 pixels for an 512X512 pixels) will be display.
    @snippet histo3D.cpp slide_bar_for_thresh
    We are ready to open a viz window with a callback function to capture keyboard event in viz window. Using @ref cv::viz::Viz3d::spinOnce enable keyboard event to be capture in @ref cv::imshow window too.
    @snippet histo3D.cpp manage_viz_imshow_window
    The function DrawHistogram3D processes histogram Mat to display it in a Viz window. Number of plan, row and column in [three dimensional Mat](@ref CVMat_Details ) can be found using  this code :
    @snippet histo3D.cpp get_cube_size
    To get histogram value at a specific location we use @ref cv::Mat::at(int i0,int i1, int i2)  method with three arguments k, i and j where k is plane number, i row number and j column number.
    @snippet histo3D.cpp get_cube_values
 -   Callback function
    Principle are as mouse callback function. Key code pressed is in field code of class @ref cv::viz::KeyboardEvent.
    @snippet histo3D.cpp viz_keyboard_callback
 Results
 -------
 Here is the result of the program with no argument and threshold equal to 50.
 ![](images/histo50.png)
--- a/doc/tutorials/viz/histo3D/images/histo50.png
+++ b/doc/tutorials/viz/histo3D/images/histo50.png
--- a/doc/tutorials/viz/images/facedetect.jpg
+++ b/doc/tutorials/viz/images/facedetect.jpg
--- a/doc/tutorials/viz/images/image_effects.png
+++ b/doc/tutorials/viz/images/image_effects.png
--- a/doc/tutorials/viz/images/intro.png
+++ b/doc/tutorials/viz/images/intro.png
--- a/doc/tutorials/viz/launching_viz/images/window_demo.png
+++ b/doc/tutorials/viz/launching_viz/images/window_demo.png
--- a/doc/tutorials/viz/launching_viz/launching_viz.markdown
+++ b/doc/tutorials/viz/launching_viz/launching_viz.markdown
@ -1,64 +0,0 @@
 Launching Viz {#tutorial_launching_viz}
 =============
 Goal
 ----
 In this tutorial you will learn how to
 -   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 ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/launching_viz.cpp).
@include samples/cpp/tutorial_code/viz/launching_viz.cpp
 Explanation
 -----------
 Here is the general structure of the program:
 -   Create a window.
    @code{.cpp}
    /// Create a window
    viz::Viz3d myWindow("Viz Demo");
    @endcode
 -   Start event loop. This event loop will run until user terminates it by pressing **e**, **E**,
    **q**, **Q**.
    @code{.cpp}
    /// Start event loop
    myWindow.spin();
    @endcode
 -   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{.cpp}
    /// Access window via its name
    viz::Viz3d sameWindow = viz::getWindowByName("Viz Demo");
    @endcode
 -   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{.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);
    }
    @endcode
 Results
 -------
 Here is the result of the program.
 ![](images/window_demo.png)
--- a/doc/tutorials/viz/table_of_content_viz.markdown
+++ b/doc/tutorials/viz/table_of_content_viz.markdown
@ -1,42 +0,0 @@
 OpenCV Viz {#tutorial_table_of_content_viz}
 ==========
 -   @subpage tutorial_launching_viz
    *Compatibility:* \> OpenCV 3.0.0
    *Author:* Ozan Tonkal
    You will learn how to launch a viz window.
 -   @subpage tutorial_widget_pose
    *Compatibility:* \> OpenCV 3.0.0
    *Author:* Ozan Tonkal
    You will learn how to change pose of a widget.
 -   @subpage tutorial_transformations
    *Compatibility:* \> OpenCV 3.0.0
    *Author:* Ozan Tonkal
    You will learn how to transform between global and camera frames.
 -   @subpage tutorial_creating_widgets
    *Compatibility:* \> OpenCV 3.0.0
    *Author:* Ozan Tonkal
    You will learn how to create your own widgets.
 -   @subpage tutorial_histo3D
    *Compatibility:* \> OpenCV 3.0.0
    *Author:* Laurent Berger
    You will learn how to plot a 3D histogram.
--- a/doc/tutorials/viz/transformations/images/camera_view_point.png
+++ b/doc/tutorials/viz/transformations/images/camera_view_point.png
--- a/doc/tutorials/viz/transformations/images/global_view_point.png
+++ b/doc/tutorials/viz/transformations/images/global_view_point.png
--- a/doc/tutorials/viz/transformations/transformations.markdown
+++ b/doc/tutorials/viz/transformations/transformations.markdown
@ -1,88 +0,0 @@
 Transformations {#tutorial_transformations}
 ===============
 Goal
 ----
 In this tutorial you will learn how to
 -   How to use makeTransformToGlobal to compute pose
 -   How to use makeCameraPose and Viz3d::setViewerPose
 -   How to visualize camera position by axes and by viewing frustum
 Code
 ----
 You can download the code from [here ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/transformations.cpp).
@include samples/cpp/tutorial_code/viz/transformations.cpp
 Explanation
 -----------
 Here is the general structure of the program:
 -   Create a visualization window.
    @code{.cpp}
    /// Create a window
    viz::Viz3d myWindow("Transformations");
    @endcode
 -   Get camera pose from camera position, camera focal point and y direction.
    @code{.cpp}
    /// 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);
    @endcode
 -   Obtain transform matrix knowing the axes of camera coordinate system.
    @code{.cpp}
    /// 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);
    @endcode
 -   Create a cloud widget from bunny.ply file
    @code{.cpp}
    /// Create a cloud widget.
    Mat bunny_cloud = cvcloud_load();
    viz::WCloud cloud_widget(bunny_cloud, viz::Color::green());
    @endcode
 -   Given the pose in camera coordinate system, estimate the global pose.
    @code{.cpp}
    /// 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;
    @endcode
 -   If the view point is set to be global, visualize camera coordinate frame and viewing frustum.
    @code{.cpp}
    /// 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);
    }
    @endcode
 -   Visualize the cloud widget with the estimated global pose
    @code{.cpp}
    /// Visualize widget
    myWindow.showWidget("bunny", cloud_widget, cloud_pose_global);
    @endcode
 -   If the view point is set to be camera's, set viewer pose to **cam_pose**.
    @code{.cpp}
    /// Set the viewer pose to that of camera
    if (camera_pov)
        myWindow.setViewerPose(cam_pose);
    @endcode
 Results
 -------
 -#  Here is the result from the camera point of view.
    ![](images/camera_view_point.png)
 -#  Here is the result from global point of view.
    ![](images/global_view_point.png)
--- a/doc/tutorials/viz/widget_pose/images/widgetpose.png
+++ b/doc/tutorials/viz/widget_pose/images/widgetpose.png
--- a/doc/tutorials/viz/widget_pose/widget_pose.markdown
+++ b/doc/tutorials/viz/widget_pose/widget_pose.markdown
@ -1,85 +0,0 @@
 Pose of a widget {#tutorial_widget_pose}
 ================
 Goal
 ----
 In this tutorial you will learn how to
 -   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 ](https://github.com/opencv/opencv/tree/master/samples/cpp/tutorial_code/viz/widget_pose.cpp).
@include samples/cpp/tutorial_code/viz/widget_pose.cpp
 Explanation
 -----------
 Here is the general structure of the program:
 -   Create a visualization window.
    @code{.cpp}
    /// Create a window
    viz::Viz3d myWindow("Coordinate Frame");
    @endcode
 -   Show coordinate axes in the window using CoordinateSystemWidget.
    @code{.cpp}
    /// Add coordinate axes
    myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
    @endcode
 -   Display a line representing the axis (1,1,1).
    @code{.cpp}
    /// 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);
    @endcode
 -   Construct a cube.
    @code{.cpp}
    /// 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);
    @endcode
 -   Create rotation matrix from rodrigues vector
    @code{.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);
    @endcode
 -   Use Affine3f to set pose of the cube.
    @code{.cpp}
    /// Construct pose
    Affine3f pose(rot_mat, Vec3f(translation, translation, translation));
    myWindow.setWidgetPose("Cube Widget", pose);
    @endcode
 -   Animate the rotation using wasStopped and spinOnce
    @code{.cpp}
    while(!myWindow.wasStopped())
    {
        ...
        myWindow.spinOnce(1, true);
    }
    @endcode
 Results
 -------
 Here is the result of the program.
 \htmlonly
 <div align="center">
 <iframe width="420" height="315" src="https://www.youtube.com/embed/22HKMN657U0" frameborder="0" allowfullscreen></iframe>
 </div>
 \endhtmlonly
--- a/samples/cpp/CMakeLists.txt
+++ b/samples/cpp/CMakeLists.txt
@ -29,17 +29,8 @@ file(GLOB_RECURSE cpp_samples RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.cpp)
 if(NOT HAVE_opencv_cudaarithm OR NOT HAVE_opencv_cudafilters)
  ocv_list_filterout(cpp_samples "/gpu/")
 endif()
 if(NOT BUILD_opencv_viz OR NOT VTK_USE_FILE)
  ocv_list_filterout(cpp_samples "/viz/")
 endif()
 ocv_list_filterout(cpp_samples "real_time_pose_estimation/")
 foreach(sample_filename ${cpp_samples})
  if(sample_filename MATCHES "/viz/")
    include(${VTK_USE_FILE})
    if(COMMAND ocv_warnings_disable)  # eliminate warnings from VTK headers (include directory is not "SYSTEM")
      ocv_warnings_disable(CMAKE_CXX_FLAGS -Winconsistent-missing-override -Wsuggest-override)
    endif()
  endif()
  set(package "cpp")
  if(sample_filename MATCHES "tutorial_code")
    set(package "tutorial")
--- a/samples/cpp/tutorial_code/viz/bunny.ply
+++ b/samples/cpp/tutorial_code/viz/bunny.ply
--- a/samples/cpp/tutorial_code/viz/creating_widgets.cpp
+++ b/samples/cpp/tutorial_code/viz/creating_widgets.cpp
@ -1,122 +0,0 @@
 /**
 * @file creating_widgets.cpp
 * @brief Creating custom widgets using VTK
 * @author Ozan Cagri Tonkal
 */
 #ifndef USE_VTK
 #include <iostream>
 int main()
 {
    std::cout << "This sample requires direct compilation with VTK. Stop" << std::endl;
    return 0;
 }
 #else
 #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;
 /**
 * @function help
 * @brief Display instructions to use this tutorial program
 */
 static 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;
 }
 #endif
--- a/samples/cpp/tutorial_code/viz/histo3D.cpp
+++ b/samples/cpp/tutorial_code/viz/histo3D.cpp
@ -1,188 +0,0 @@
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
 #include <opencv2/highgui.hpp>
 #include <iostream>
 using namespace std;
 using namespace cv;
 #ifdef HAVE_OPENCV_VIZ
 #include <opencv2/viz.hpp>
 const String keys =
 "{Aide h usage ? help  |     | print this message   }"
 "{@arg1                |     | Full path to color imag (3 channels)}"
 ;
 struct Histo3DData {
    Mat histogram;
    int seuil;
    double threshold;
    Ptr<viz::Viz3d> fen3D;
    int nbWidget;
    bool status;
    double maxH;
    int code;
 };
 void DrawHistogram3D(Histo3DData &);
 void AddSlidebar(String sliderName, String windowName, int sliderMin, int sliderMax, int valeurDefaut, int *sliderVal, void(*f)(int, void *), void *r);
 void UpdateThreshold(int , void * r);
 void  KeyboardViz3d(const viz::KeyboardEvent &w, void *t);
 void DrawHistogram3D(Histo3DData &h)
 {
    //! [get_cube_size]
    int planSize = (int)h.histogram.step1(0);
    int cols = (int)h.histogram.step1(1);
    int rows = (int)planSize / cols;
    int plans = (int)h.histogram.total() / planSize;
    h.fen3D->removeAllWidgets();
    h.nbWidget=0;
    if (h.nbWidget==0)
        h.fen3D->showWidget("Axis", viz::WCoordinateSystem(10));
    //! [get_cube_size]
    //! [get_cube_values]
    for (int k = 0; k < plans; k++)
    {
        for (int i = 0; i < rows; i++)
        {
            for (int j = 0; j < cols; j++)
            {
                double x = h.histogram.at<float>(k, i, j);
                if (x >= h.threshold)
                {
                    double r=std::max(x/h.maxH,0.1);
                    viz::WCube s(Point3d(k - r / 2, i - r / 2, j - r / 2), Point3d(k + r / 2, i + r / 2, j + r / 2), false, viz::Color(j / double(plans) * 255, i / double(rows) * 255, k / double(cols) * 255));
                    h.fen3D->showWidget(format("I3d%d", h.nbWidget++), s);
                }
            }
        }
    }
    //! [get_cube_values]
    h.status = false;
 }
 //! [viz_keyboard_callback]
 void  KeyboardViz3d(const viz::KeyboardEvent &w, void *t)
 {
   Histo3DData *x=(Histo3DData *)t;
   if (w.action)
       cout << "you pressed "<< w.symbol<< " in viz window "<<x->fen3D->getWindowName()<<"\n";
   x->code= w.code;
   switch (w.code) {
   case '/':
           x->status=true;
           x->threshold *= 0.9;
       break;
   case '*':
       x->status = true;
           x->threshold *= 1.1;
       break;
    }
   if (x->status)
   {
       cout <<  x->threshold << "\n";
       DrawHistogram3D(*x);
   }
 }
 //! [viz_keyboard_callback]
 void AddSlidebar(String sliderName, String windowName, int sliderMin, int sliderMax, int defaultSlider, int *sliderVal, void(*f)(int, void *), void *r)
 {
    createTrackbar(sliderName, windowName, sliderVal, 1, f, r);
    setTrackbarMin(sliderName, windowName, sliderMin);
    setTrackbarMax(sliderName, windowName, sliderMax);
    setTrackbarPos(sliderName, windowName, defaultSlider);
 }
 void UpdateThreshold(int , void * r)
 {
    Histo3DData *h = (Histo3DData *)r;
    h->status=true;
    h->threshold = h->seuil/1000000.0;
    cout<<"Widget : "<<h->nbWidget<<","<< h->threshold<<"\n";
 }
 int main (int argc,char **argv)
 {
    //! [command_line_parser]
    CommandLineParser parser(argc, argv, keys);
    if (parser.has("help"))
    {
        parser.printMessage();
        return 0;
    }
    String nomFic = parser.get<String>(0);
    Mat img;
    if (nomFic.length() != 0)
    {
        img = imread(nomFic, IMREAD_COLOR);
        if (img.empty())
        {
            cout << "Image does not exist!";
            return 0;
        }
    }
    //! [command_line_parser]
    //! [synthetic_image]
    else
    {
        img = Mat(512,512,CV_8UC3);
        parser.printMessage();
        RNG r;
        r.fill(img(Rect(0, 0, 256, 256)), RNG::NORMAL, Vec3b(60, 40, 50), Vec3b(10, 5, 20));
        r.fill(img(Rect(256, 0, 256, 256)), RNG::NORMAL, Vec3b(160, 10, 50), Vec3b(20, 5, 10));
        r.fill(img(Rect(0, 256, 256, 256)), RNG::NORMAL, Vec3b(90, 100, 50), Vec3b(10, 20, 20));
        r.fill(img(Rect(256, 256, 256, 256)), RNG::NORMAL, Vec3b(100, 10, 150), Vec3b(10, 5, 40));
    }
    //! [synthetic_image]
    //! [calchist_for_histo3d]
    Histo3DData h;
    h.status=true;
    h.seuil=90;
    h.threshold= h.seuil/1000000.0;
    float hRange[] = { 0, 256 };
    const float* etendu[] = { hRange, hRange,hRange };
    int hBins = 32;
    int histSize[] = { hBins, hBins , hBins  };
    int channel[] = { 2, 1,0 };
    calcHist(&img, 1, channel, Mat(), h.histogram, 3, histSize, etendu, true, false);
    normalize(h.histogram, h.histogram, 100.0/(img.total()), 0, NORM_MINMAX, -1, Mat());
    minMaxIdx(h.histogram,NULL,&h.maxH,NULL,NULL);
    //! [calchist_for_histo3d]
    //! [slide_bar_for_thresh]
    namedWindow("Image");
    imshow("Image",img);
    AddSlidebar("threshold","Image",0,100,h.seuil,&h.seuil, UpdateThreshold,&h);
    waitKey(30);
    //! [slide_bar_for_thresh]
    //! [manage_viz_imshow_window]
    h.fen3D = makePtr<viz::Viz3d>("3D Histogram");
    h.nbWidget=0;
    h.fen3D->registerKeyboardCallback(KeyboardViz3d,&h);
    DrawHistogram3D(h);
    while (h.code!=27)
    {
        h.fen3D->spinOnce(1);
        if (h.status)
            DrawHistogram3D(h);
        if (h.code!=27)
            h.code= waitKey(30);
    }
    //! [manage_viz_imshow_window]
    return 0;
 }
 #else
 int main(int argc, char **argv)
 {
 cout << " you need VIZ module\n";
 return 0;
 }
 #endif
--- a/samples/cpp/tutorial_code/viz/launching_viz.cpp
+++ b/samples/cpp/tutorial_code/viz/launching_viz.cpp
@ -1,66 +0,0 @@
 /**
 * @file launching_viz.cpp
 * @brief Launching visualization window
 * @author Ozan Cagri Tonkal
 */
 #include <opencv2/viz.hpp>
 #include <iostream>
 using namespace cv;
 using namespace std;
 /**
 * @function help
 * @brief Display instructions to use this tutorial program
 */
 static 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;
 }
--- a/samples/cpp/tutorial_code/viz/transformations.cpp
+++ b/samples/cpp/tutorial_code/viz/transformations.cpp
@ -1,112 +0,0 @@
 /**
 * @file transformations.cpp
 * @brief Visualizing cloud in different positions, coordinate frames, camera frustums
 * @author Ozan Cagri Tonkal
 */
 #include <opencv2/viz.hpp>
 #include <iostream>
 #include <fstream>
 using namespace cv;
 using namespace std;
 /**
 * @function help
 * @brief Display instructions to use this tutorial program
 */
 static 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
 */
 static 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
    Vec3f 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;
 }
--- a/samples/cpp/tutorial_code/viz/widget_pose.cpp
+++ b/samples/cpp/tutorial_code/viz/widget_pose.cpp
@ -1,79 +0,0 @@
 /**
 * @file widget_pose.cpp
 * @brief Setting pose of a widget
 * @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
 */
 static 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) += (float)CV_PI * 0.01f;
        rot_vec.at<float>(0,1) += (float)CV_PI * 0.01f;
        rot_vec.at<float>(0,2) += (float)CV_PI * 0.01f;
        /// Shift on (1,1,1)
        translation_phase += (float)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;
 }