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+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+// Authors:
+//  * Ozan Tonkal, ozantonkal@gmail.com
+//  * Anatoly Baksheev, Itseez Inc.  myname.mysurname <> mycompany.com
+//
+//M*/
+
+#ifndef OPENCV_VIZ_VIZ3D_HPP
+#define OPENCV_VIZ_VIZ3D_HPP
+
+#if !defined YES_I_AGREE_THAT_VIZ_API_IS_NOT_STABLE_NOW_AND_BINARY_COMPARTIBILITY_WONT_BE_SUPPORTED && !defined CVAPI_EXPORTS
+    //#error "Viz is in beta state now. Please define macro above to use it"
+#endif
+
+#include <opencv2/core.hpp>
+#include <opencv2/viz/types.hpp>
+#include <opencv2/viz/widgets.hpp>
+
+namespace cv
+{
+    namespace viz
+    {
+
+//! @addtogroup viz
+//! @{
+
+        /** @brief The Viz3d class represents a 3D visualizer window. This class is implicitly shared. :
+        */
+        class CV_EXPORTS Viz3d
+        {
+        public:
+            typedef cv::viz::Color Color;
+            typedef void (*KeyboardCallback)(const KeyboardEvent&, void*);
+            typedef void (*MouseCallback)(const MouseEvent&, void*);
+
+            /** @brief The constructors.
+
+            @param window_name Name of the window.
+             */
+            Viz3d(const String& window_name = String());
+            Viz3d(const Viz3d&);
+            Viz3d& operator=(const Viz3d&);
+            ~Viz3d();
+
+            /** @brief Shows a widget in the window.
+
+            @param id A unique id for the widget. @param widget The widget to be displayed in the window.
+            @param pose Pose of the widget.
+             */
+            void showWidget(const String &id, const Widget &widget, const Affine3d &pose = Affine3d::Identity());
+
+            /** @brief Removes a widget from the window.
+
+            @param id The id of the widget that will be removed.
+             */
+            void removeWidget(const String &id);
+
+            /** @brief Retrieves a widget from the window.
+
+            A widget is implicitly shared; that is, if the returned widget is modified, the changes
+            will be immediately visible in the window.
+
+            @param id The id of the widget that will be returned.
+             */
+            Widget getWidget(const String &id) const;
+
+            /** @brief Removes all widgets from the window.
+            */
+            void removeAllWidgets();
+
+            /** @brief Removed all widgets and displays image scaled to whole window area.
+
+            @param image Image to be displayed.
+            @param window_size Size of Viz3d window. Default value means no change.
+             */
+            void showImage(InputArray image, const Size& window_size = Size(-1, -1));
+
+            /** @brief Sets pose of a widget in the window.
+
+            @param id The id of the widget whose pose will be set. @param pose The new pose of the widget.
+             */
+            void setWidgetPose(const String &id, const Affine3d &pose);
+
+            /** @brief Updates pose of a widget in the window by pre-multiplying its current pose.
+
+            @param id The id of the widget whose pose will be updated. @param pose The pose that the current
+            pose of the widget will be pre-multiplied by.
+             */
+            void updateWidgetPose(const String &id, const Affine3d &pose);
+
+            /** @brief Returns the current pose of a widget in the window.
+
+            @param id The id of the widget whose pose will be returned.
+             */
+            Affine3d getWidgetPose(const String &id) const;
+
+            /** @brief Sets the intrinsic parameters of the viewer using Camera.
+
+            @param camera Camera object wrapping intrinsinc parameters.
+             */
+            void setCamera(const Camera &camera);
+
+            /** @brief Returns a camera object that contains intrinsic parameters of the current viewer.
+            */
+            Camera getCamera() const;
+
+            /** @brief Returns the current pose of the viewer.
+            */
+            Affine3d getViewerPose();
+
+            /** @brief Sets pose of the viewer.
+
+            @param pose The new pose of the viewer.
+             */
+            void setViewerPose(const Affine3d &pose);
+
+            /** @brief Resets camera viewpoint to a 3D widget in the scene.
+
+            @param id Id of a 3D widget.
+             */
+            void resetCameraViewpoint(const String &id);
+
+            /** @brief Resets camera.
+            */
+            void resetCamera();
+
+            /** @brief Transforms a point in world coordinate system to window coordinate system.
+
+            @param pt Point in world coordinate system.
+            @param window_coord Output point in window coordinate system.
+             */
+            void convertToWindowCoordinates(const Point3d &pt, Point3d &window_coord);
+
+            /** @brief Transforms a point in window coordinate system to a 3D ray in world coordinate system.
+
+            @param window_coord Point in window coordinate system. @param origin Output origin of the ray.
+            @param direction Output direction of the ray.
+             */
+            void converTo3DRay(const Point3d &window_coord, Point3d &origin, Vec3d &direction);
+
+            /** @brief Returns the current size of the window.
+            */
+            Size getWindowSize() const;
+            /** @brief Sets the size of the window.
+
+            @param window_size New size of the window.
+             */
+            void setWindowSize(const Size &window_size);
+
+            /** @brief Returns the name of the window which has been set in the constructor.
+             */
+            String getWindowName() const;
+
+            /** @brief Returns the Mat screenshot of the current scene.
+            */
+            cv::Mat getScreenshot() const;
+
+            /** @brief Saves screenshot of the current scene.
+
+            @param file Name of the file.
+             */
+            void saveScreenshot(const String &file);
+
+            /** @brief Sets the position of the window in the screen.
+
+            @param window_position coordinates of the window
+             */
+            void setWindowPosition(const Point& window_position);
+
+            /** @brief Sets or unsets full-screen rendering mode.
+
+            @param mode If true, window will use full-screen mode.
+             */
+            void setFullScreen(bool mode = true);
+
+            /** @brief Sets background color.
+            */
+            void setBackgroundColor(const Color& color = Color::black(), const Color& color2 = Color::not_set());
+            void setBackgroundTexture(InputArray image = noArray());
+            void setBackgroundMeshLab();
+
+            /** @brief The window renders and starts the event loop.
+            */
+            void spin();
+
+            /** @brief Starts the event loop for a given time.
+
+            @param time Amount of time in milliseconds for the event loop to keep running.
+            @param force_redraw If true, window renders.
+             */
+            void spinOnce(int time = 1, bool force_redraw = false);
+
+            /** @brief Create a window in memory instead of on the screen.
+             */
+            void setOffScreenRendering();
+
+            /** @brief Remove all lights from the current scene.
+            */
+            void removeAllLights();
+
+            /** @brief Add a light in the scene.
+
+            @param position The position of the light.
+            @param focalPoint The point at which the light is shining
+            @param color The color of the light
+            @param diffuseColor The diffuse color of the light
+            @param ambientColor The ambient color of the light
+            @param specularColor The specular color of the light
+             */
+            void addLight(Vec3d position, Vec3d focalPoint = Vec3d(0, 0, 0), Color color = Color::white(),
+                          Color diffuseColor = Color::white(), Color ambientColor = Color::black(), Color specularColor = Color::white());
+
+            /** @brief Returns whether the event loop has been stopped.
+            */
+            bool wasStopped() const;
+            void close();
+
+            /** @brief Sets keyboard handler.
+
+            @param callback Keyboard callback (void (\*KeyboardCallbackFunction(const
+            KeyboardEvent&, void\*)).
+            @param cookie The optional parameter passed to the callback.
+             */
+            void registerKeyboardCallback(KeyboardCallback callback, void* cookie = 0);
+
+            /** @brief Sets mouse handler.
+
+            @param callback Mouse callback (void (\*MouseCallback)(const MouseEvent&, void\*)).
+            @param cookie The optional parameter passed to the callback.
+             */
+            void registerMouseCallback(MouseCallback callback, void* cookie = 0);
+
+            /** @brief Sets rendering property of a widget.
+
+            @param id Id of the widget.
+            @param property Property that will be modified.
+            @param value The new value of the property.
+
+            **Rendering property** can be one of the following:
+            -   **POINT_SIZE**
+            -   **OPACITY**
+            -   **LINE_WIDTH**
+            -   **FONT_SIZE**
+            -
+            **REPRESENTATION**: Expected values are
+            -   **REPRESENTATION_POINTS**
+            -   **REPRESENTATION_WIREFRAME**
+            -   **REPRESENTATION_SURFACE**
+            -
+            **IMMEDIATE_RENDERING**:
+            -   Turn on immediate rendering by setting the value to 1.
+            -   Turn off immediate rendering by setting the value to 0.
+            -
+            **SHADING**: Expected values are
+            -   **SHADING_FLAT**
+            -   **SHADING_GOURAUD**
+            -   **SHADING_PHONG**
+             */
+            void setRenderingProperty(const String &id, int property, double value);
+            /** @brief Returns rendering property of a widget.
+
+            @param id Id of the widget.
+            @param property Property.
+
+            **Rendering property** can be one of the following:
+            -   **POINT_SIZE**
+            -   **OPACITY**
+            -   **LINE_WIDTH**
+            -   **FONT_SIZE**
+            -
+            **REPRESENTATION**: Expected values are
+            -   **REPRESENTATION_POINTS**
+            -   **REPRESENTATION_WIREFRAME**
+            -   **REPRESENTATION_SURFACE**
+            -
+            **IMMEDIATE_RENDERING**:
+            -   Turn on immediate rendering by setting the value to 1.
+            -   Turn off immediate rendering by setting the value to 0.
+            -
+            **SHADING**: Expected values are
+            -   **SHADING_FLAT**
+            -   **SHADING_GOURAUD**
+            -   **SHADING_PHONG**
+             */
+            double getRenderingProperty(const String &id, int property);
+
+            /** @brief Sets geometry representation of the widgets to surface, wireframe or points.
+
+            @param representation Geometry representation which can be one of the following:
+            -   **REPRESENTATION_POINTS**
+            -   **REPRESENTATION_WIREFRAME**
+            -   **REPRESENTATION_SURFACE**
+             */
+            void setRepresentation(int representation);
+
+            void setGlobalWarnings(bool enabled = false);
+        private:
+
+            struct VizImpl;
+            VizImpl* impl_;
+
+            void create(const String &window_name);
+            void release();
+
+            friend class VizStorage;
+        };
+
+//! @}
+
+    } /* namespace viz */
+} /* namespace cv */
+
+#endif