initial base widget implementation

modules/viz/src/types.cpp

@@ -1,7 +1,5 @@
 #include <opencv2/viz/types.hpp>
 
-
-
 //////////////////////////////////////////////////////////////////////////////////////////////////////
 /// cv::Color
 
@@ -22,3 +20,138 @@ temp_viz::Color temp_viz::Color::white()   { return Color(255, 255, 255); }
 
 temp_viz::Color temp_viz::Color::gray()    { return Color(128, 128, 128); }
 
+class temp_viz::Widget::Impl
+{
+public:
+    String id;
+    vtkSmartPointer<vtkActor> actor;
+    
+    Impl() 
+    {
+        actor = vtkSmartPointer<vtkActor>:: New();
+    }
+    
+    vtkSmartPointer<vtkActor> getActor()
+    {
+        return actor;
+    }
+    
+    void setId(const String &id)
+    {
+        this->id = id;
+    }
+    
+    const temp_viz::String & getString() const
+    {
+        return id;
+    }
+    
+    void setColor(const Color & color)
+    {
+        Color c = vtkcolor(color);
+        actor->GetMapper ()->ScalarVisibilityOff ();
+        actor->GetProperty ()->SetColor (c.val);
+        actor->GetProperty ()->SetEdgeColor (c.val);
+        actor->GetProperty ()->SetAmbient (0.8);
+        actor->GetProperty ()->SetDiffuse (0.8);
+        actor->GetProperty ()->SetSpecular (0.8);
+        actor->GetProperty ()->SetLighting (0);
+        actor->Modified ();
+    }
+    
+    void setPose(const Affine3f &pose)
+    {
+        vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
+        actor->SetUserMatrix (matrix);
+        actor->Modified ();
+    }
+
+    void updatePose(const Affine3f &pose)
+    {
+        vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+        Matx44f matrix_cv;
+        convertToCvMatrix(matrix, matrix_cv);
+        matrix = convertToVtkMatrix ((pose * Affine3f(matrix_cv)).matrix);
+
+        actor->SetUserMatrix (matrix);
+        actor->Modified ();
+    }
+    
+    Affine3f getPose() const
+    {
+        vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+        Matx44f matrix_cv;
+        convertToCvMatrix(matrix, matrix_cv);
+        return Affine3f(matrix_cv);
+    }
+    
+protected:
+    
+    vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f &m) const
+    {
+        vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
+        for (int i = 0; i < 4; i++)
+            for (int k = 0; k < 4; k++)
+                vtk_matrix->SetElement(i, k, m(i, k));
+        return vtk_matrix;
+    }
+    
+    void convertToCvMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, cv::Matx44f &m) const
+    {
+        for (int i = 0; i < 4; i++)
+            for (int k = 0; k < 4; k++)
+                m(i,k) = vtk_matrix->GetElement (i, k);
+    }
+    
+};
+
+temp_viz::Widget::Widget()
+{
+    impl_ = new Impl();
+    impl_->setId("id");
+}
+
+temp_viz::Widget::Widget(const String &id)
+{
+    impl_ = new Impl();
+    impl_->setId("id");
+}
+
+temp_viz::Widget::Widget(const Widget &other)
+{
+    impl_ = other.impl_;
+}
+
+void temp_viz::Widget::setId(const String &id)
+{
+    impl_->setId(id);
+}
+
+void temp_viz::Widget::setColor(const Color &color)
+{
+    impl_->setColor(color);
+}
+
+void temp_viz::Widget::setPose(const Affine3f &pose)
+{
+    impl_->setPose(pose);
+}
+
+void temp_viz::Widget::updatePose(const Affine3f &pose)
+{
+    impl_->updatePose(pose);
+}
+
+temp_viz::Affine3f temp_viz::Widget::getPose() const
+{
+    return impl_->getPose();
+}
+
+// TODO Check if HAVE_VTK
+#include "opencv2/viz/widget_accessor.hpp"
+
+vtkSmartPointer<vtkActor> temp_viz::WidgetAccessor::getActor(const temp_viz::Widget &widget)
+{
+    return widget.impl_->actor;
+}
+