generic-library/opencv
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rearrange widget constructors

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This commit is contained in:
ozantonkal 2013-07-09 15:18:44 +02:00
parent 10d955f18b
commit 200b254bad
5 changed files with 72 additions and 63 deletions
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4
modules/viz/include/opencv2/viz/widget_accessor.hpp
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@ -12,7 +12,7 @@ namespace temp_viz
//It is indended for those users who want to develop own widgets system using VTK library API. //It is indended for those users who want to develop own widgets system using VTK library API.
struct CV_EXPORTS WidgetAccessor struct CV_EXPORTS WidgetAccessor
{ {
static vtkSmartPointer<vtkProp> getActor(const Widget &widget); static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
static void setVtkProp(Widget &widget, vtkSmartPointer<vtkProp> actor); static void setProp(Widget &widget, vtkSmartPointer<vtkProp> actor);
}; };
} }

3
modules/viz/include/opencv2/viz/widgets.hpp
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@ -132,6 +132,9 @@ namespace temp_viz
TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white()); TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
TextWidget(const Widget& other) : Widget2D(other) {} TextWidget(const Widget& other) : Widget2D(other) {}
TextWidget& operator=(const Widget &other); TextWidget& operator=(const Widget &other);
void setText(const String &text);
String getText() const;
}; };
class CV_EXPORTS CloudWidget : public Widget3D class CV_EXPORTS CloudWidget : public Widget3D

88
modules/viz/src/simple_widgets.cpp
View File

@ -9,8 +9,6 @@ namespace temp_viz
/// line widget implementation /// line widget implementation
temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color) temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color)
{ {
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New(); vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
line->SetPoint1 (pt1.x, pt1.y, pt1.z); line->SetPoint1 (pt1.x, pt1.y, pt1.z);
line->SetPoint2 (pt2.x, pt2.y, pt2.z); line->SetPoint2 (pt2.x, pt2.y, pt2.z);
@ -19,9 +17,10 @@ temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const C
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(line->GetOutput ()); mapper->SetInput(line->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
@ -33,13 +32,15 @@ temp_viz::LineWidget& temp_viz::LineWidget::operator=(const Widget &other)
void temp_viz::LineWidget::setLineWidth(float line_width) void temp_viz::LineWidget::setLineWidth(float line_width)
{ {
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
actor->GetProperty()->SetLineWidth(line_width); actor->GetProperty()->SetLineWidth(line_width);
} }
float temp_viz::LineWidget::getLineWidth() float temp_viz::LineWidget::getLineWidth()
{ {
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
return actor->GetProperty()->GetLineWidth(); return actor->GetProperty()->GetLineWidth();
} }
@ -48,8 +49,6 @@ float temp_viz::LineWidget::getLineWidth()
temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color &color) temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color &color)
{ {
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New (); vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
plane->SetNormal (coefs[0], coefs[1], coefs[2]); plane->SetNormal (coefs[0], coefs[1], coefs[2]);
double norm = cv::norm(cv::Vec3f(coefs.val)); double norm = cv::norm(cv::Vec3f(coefs.val));
@ -58,17 +57,16 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(plane->GetOutput ()); mapper->SetInput(plane->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
actor->SetScale(size); actor->SetScale(size);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size, const Color &color) temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size, const Color &color)
{ {
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New (); vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
cv::Point3f coefs3(coefs[0], coefs[1], coefs[2]); cv::Point3f coefs3(coefs[0], coefs[1], coefs[2]);
double norm_sqr = 1.0 / coefs3.dot (coefs3); double norm_sqr = 1.0 / coefs3.dot (coefs3);
@ -81,10 +79,11 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(plane->GetOutput ()); mapper->SetInput(plane->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
actor->SetScale(size); actor->SetScale(size);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
@ -99,8 +98,6 @@ temp_viz::PlaneWidget& temp_viz::PlaneWidget::operator=(const Widget& other)
temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution, const Color &color) temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution, const Color &color)
{ {
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New (); vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New ();
sphere->SetRadius (radius); sphere->SetRadius (radius);
sphere->SetCenter (center.x, center.y, center.z); sphere->SetCenter (center.x, center.y, center.z);
@ -112,9 +109,10 @@ temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, in
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(sphere->GetOutput ()); mapper->SetInput(sphere->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
@ -129,8 +127,6 @@ temp_viz::SphereWidget& temp_viz::SphereWidget::operator=(const Widget &other)
temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color) temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color)
{ {
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New (); vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New ();
float startPoint[3], endPoint[3]; float startPoint[3], endPoint[3];
@ -182,9 +178,10 @@ temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(transformPD->GetOutput ()); mapper->SetInput(transformPD->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
@ -199,8 +196,6 @@ temp_viz::ArrowWidget& temp_viz::ArrowWidget::operator=(const Widget &other)
temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius, double thickness, const temp_viz::Color& color) temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius, double thickness, const temp_viz::Color& color)
{ {
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New (); vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New ();
// Maybe the resolution should be lower e.g. 50 or 25 // Maybe the resolution should be lower e.g. 50 or 25
disk->SetCircumferentialResolution (50); disk->SetCircumferentialResolution (50);
@ -219,9 +214,10 @@ temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius,
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(tf->GetOutput ()); mapper->SetInput(tf->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
@ -236,8 +232,6 @@ temp_viz::CircleWidget& temp_viz::CircleWidget::operator=(const Widget &other)
temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides, const Color &color) temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides, const Color &color)
{ {
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
const cv::Point3f pt2 = pt_on_axis + axis_direction; const cv::Point3f pt2 = pt_on_axis + axis_direction;
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New (); vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New ();
line->SetPoint1 (pt_on_axis.x, pt_on_axis.y, pt_on_axis.z); line->SetPoint1 (pt_on_axis.x, pt_on_axis.y, pt_on_axis.z);
@ -251,9 +245,10 @@ temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(tuber->GetOutput ()); mapper->SetInput(tuber->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
@ -268,20 +263,19 @@ temp_viz::CylinderWidget& temp_viz::CylinderWidget::operator=(const Widget &othe
temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color) temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color)
{ {
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New (); vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
cube->SetBounds (pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z); cube->SetBounds (pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New (); vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(cube->GetOutput ()); mapper->SetInput(cube->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
if (wire_frame) if (wire_frame)
actor->GetProperty ()->SetRepresentationToWireframe (); actor->GetProperty ()->SetRepresentationToWireframe ();
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
@ -296,8 +290,6 @@ temp_viz::CubeWidget& temp_viz::CubeWidget::operator=(const Widget &other)
temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Affine3f& affine) temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Affine3f& affine)
{ {
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New (); vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0); axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale); axes->SetScaleFactor (scale);
@ -324,7 +316,7 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
mapper->SetScalarModeToUsePointData (); mapper->SetScalarModeToUsePointData ();
mapper->SetInput(axes_tubes->GetOutput ()); mapper->SetInput(axes_tubes->GetOutput ());
vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
cv::Vec3d t = affine.translation(); cv::Vec3d t = affine.translation();
@ -340,6 +332,8 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
actor->SetOrientation(0,0,0); actor->SetOrientation(0,0,0);
actor->RotateWXYZ(r_angle*180/CV_PI,rvec[0], rvec[1], rvec[2]); actor->RotateWXYZ(r_angle*180/CV_PI,rvec[0], rvec[1], rvec[2]);
WidgetAccessor::setProp(*this, actor);
} }
temp_viz::CoordinateSystemWidget& temp_viz::CoordinateSystemWidget::operator=(const Widget &other) temp_viz::CoordinateSystemWidget& temp_viz::CoordinateSystemWidget::operator=(const Widget &other)
@ -353,9 +347,7 @@ temp_viz::CoordinateSystemWidget& temp_viz::CoordinateSystemWidget::operator=(co
temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color) temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color)
{ {
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkTextActor>::New()); vtkSmartPointer<vtkTextActor> actor = vtkSmartPointer<vtkTextActor>::New();
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetPosition (pos.x, pos.y); actor->SetPosition (pos.x, pos.y);
actor->SetInput (text.c_str ()); actor->SetInput (text.c_str ());
@ -367,6 +359,8 @@ temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int fon
Color c = vtkcolor(color); Color c = vtkcolor(color);
tprop->SetColor (c.val); tprop->SetColor (c.val);
WidgetAccessor::setProp(*this, actor);
} }
temp_viz::TextWidget& temp_viz::TextWidget::operator=(const Widget &other) temp_viz::TextWidget& temp_viz::TextWidget::operator=(const Widget &other)
@ -375,6 +369,20 @@ temp_viz::TextWidget& temp_viz::TextWidget::operator=(const Widget &other)
return *this; return *this;
} }
void temp_viz::TextWidget::setText(const String &text)
{
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
actor->SetInput(text.c_str());
}
temp_viz::String temp_viz::TextWidget::getText() const
{
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor);
return actor->GetInput();
}
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// point cloud widget implementation /// point cloud widget implementation
@ -474,9 +482,7 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size()); CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New()); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkIdType nr_points; vtkIdType nr_points;
vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points); vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
@ -510,6 +516,8 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
actor->GetProperty ()->SetInterpolationToFlat (); actor->GetProperty ()->SetInterpolationToFlat ();
actor->GetProperty ()->BackfaceCullingOn (); actor->GetProperty ()->BackfaceCullingOn ();
actor->SetMapper (mapper); actor->SetMapper (mapper);
WidgetAccessor::setProp(*this, actor);
} }
temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color) temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
@ -517,9 +525,7 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
Mat cloud = _cloud.getMat(); Mat cloud = _cloud.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New()); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkIdType nr_points; vtkIdType nr_points;
vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points); vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
@ -538,6 +544,7 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
actor->GetProperty ()->BackfaceCullingOn (); actor->GetProperty ()->BackfaceCullingOn ();
actor->SetMapper (mapper); actor->SetMapper (mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }
@ -635,8 +642,6 @@ temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4); CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
CV_Assert(cloud.size() == normals.size() && cloud.type() == normals.type()); CV_Assert(cloud.size() == normals.size() && cloud.type() == normals.type());
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New(); vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New(); vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
vtkIdType nr_normals = 0; vtkIdType nr_normals = 0;
@ -675,8 +680,9 @@ temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _
mapper->SetColorModeToMapScalars(); mapper->SetColorModeToMapScalars();
mapper->SetScalarModeToUsePointData(); mapper->SetScalarModeToUsePointData();
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
actor->SetMapper(mapper); actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
setColor(color); setColor(color);
} }

8
modules/viz/src/viz3d_impl.cpp
View File

@ -874,7 +874,7 @@ void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget
removeActorFromRenderer(wam_itr->second.actor); removeActorFromRenderer(wam_itr->second.actor);
} }
// Get the actor and set the user matrix // Get the actor and set the user matrix
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(widget)); vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(widget));
if (actor) if (actor)
{ {
// If the actor is 3D, apply pose // If the actor is 3D, apply pose
@ -882,8 +882,8 @@ void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget
actor->SetUserMatrix (matrix); actor->SetUserMatrix (matrix);
actor->Modified(); actor->Modified();
} }
renderer_->AddActor(WidgetAccessor::getActor(widget)); renderer_->AddActor(WidgetAccessor::getProp(widget));
(*widget_actor_map_)[id].actor = WidgetAccessor::getActor(widget); (*widget_actor_map_)[id].actor = WidgetAccessor::getProp(widget);
} }
void temp_viz::Viz3d::VizImpl::removeWidget(const String &id) void temp_viz::Viz3d::VizImpl::removeWidget(const String &id)
@ -902,7 +902,7 @@ temp_viz::Widget temp_viz::Viz3d::VizImpl::getWidget(const String &id) const
CV_Assert(exists); CV_Assert(exists);
Widget widget; Widget widget;
WidgetAccessor::setVtkProp(widget, wam_itr->second.actor); WidgetAccessor::setProp(widget, wam_itr->second.actor);
return widget; return widget;
} }

22
modules/viz/src/widget.cpp
View File

@ -57,12 +57,12 @@ void temp_viz::Widget::release()
/////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////
/// widget accessor implementaion /// widget accessor implementaion
vtkSmartPointer<vtkProp> temp_viz::WidgetAccessor::getActor(const Widget& widget) vtkSmartPointer<vtkProp> temp_viz::WidgetAccessor::getProp(const Widget& widget)
{ {
return widget.impl_->actor; return widget.impl_->actor;
} }
void temp_viz::WidgetAccessor::setVtkProp(Widget& widget, vtkSmartPointer<vtkProp> actor) void temp_viz::WidgetAccessor::setProp(Widget& widget, vtkSmartPointer<vtkProp> actor)
{ {
widget.impl_->actor = actor; widget.impl_->actor = actor;
} }
@ -94,14 +94,14 @@ struct temp_viz::Widget3D::MatrixConverter
temp_viz::Widget3D::Widget3D(const Widget& other) : Widget(other) temp_viz::Widget3D::Widget3D(const Widget& other) : Widget(other)
{ {
// Check if other's actor is castable to vtkProp3D // Check if other's actor is castable to vtkProp3D
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(other)); vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(other));
CV_Assert(actor); CV_Assert(actor);
} }
temp_viz::Widget3D& temp_viz::Widget3D::operator =(const Widget &other) temp_viz::Widget3D& temp_viz::Widget3D::operator =(const Widget &other)
{ {
// Check if other's actor is castable to vtkProp3D // Check if other's actor is castable to vtkProp3D
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(other)); vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(other));
CV_Assert(actor); CV_Assert(actor);
Widget::operator=(other); Widget::operator=(other);
@ -110,7 +110,7 @@ temp_viz::Widget3D& temp_viz::Widget3D::operator =(const Widget &other)
void temp_viz::Widget3D::setPose(const Affine3f &pose) void temp_viz::Widget3D::setPose(const Affine3f &pose)
{ {
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(*this)); vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor); CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix); vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
@ -120,7 +120,7 @@ void temp_viz::Widget3D::setPose(const Affine3f &pose)
void temp_viz::Widget3D::updatePose(const Affine3f &pose) void temp_viz::Widget3D::updatePose(const Affine3f &pose)
{ {
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(*this)); vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor); CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix(); vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
@ -140,7 +140,7 @@ void temp_viz::Widget3D::updatePose(const Affine3f &pose)
temp_viz::Affine3f temp_viz::Widget3D::getPose() const temp_viz::Affine3f temp_viz::Widget3D::getPose() const
{ {
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(*this)); vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor); CV_Assert(actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix(); vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
@ -151,7 +151,7 @@ temp_viz::Affine3f temp_viz::Widget3D::getPose() const
void temp_viz::Widget3D::setColor(const Color &color) void temp_viz::Widget3D::setColor(const Color &color)
{ {
// Cast to actor instead of prop3d since prop3d doesn't provide getproperty // Cast to actor instead of prop3d since prop3d doesn't provide getproperty
vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getActor(*this)); vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor); CV_Assert(actor);
Color c = vtkcolor(color); Color c = vtkcolor(color);
@ -171,14 +171,14 @@ void temp_viz::Widget3D::setColor(const Color &color)
temp_viz::Widget2D::Widget2D(const Widget &other) : Widget(other) temp_viz::Widget2D::Widget2D(const Widget &other) : Widget(other)
{ {
// Check if other's actor is castable to vtkActor2D // Check if other's actor is castable to vtkActor2D
vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getActor(other)); vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(other));
CV_Assert(actor); CV_Assert(actor);
} }
temp_viz::Widget2D& temp_viz::Widget2D::operator=(const Widget &other) temp_viz::Widget2D& temp_viz::Widget2D::operator=(const Widget &other)
{ {
// Check if other's actor is castable to vtkActor2D // Check if other's actor is castable to vtkActor2D
vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getActor(other)); vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(other));
CV_Assert(actor); CV_Assert(actor);
Widget::operator=(other); Widget::operator=(other);
return *this; return *this;
@ -186,7 +186,7 @@ temp_viz::Widget2D& temp_viz::Widget2D::operator=(const Widget &other)
void temp_viz::Widget2D::setColor(const Color &color) void temp_viz::Widget2D::setColor(const Color &color)
{ {
vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getActor(*this)); vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert(actor); CV_Assert(actor);
Color c = vtkcolor(color); Color c = vtkcolor(color);
actor->GetProperty ()->SetColor (c.val); actor->GetProperty ()->SetColor (c.val);