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getShapePose/setShapePose simplification

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little code beautification, formatting
This commit is contained in:
Anatoly Baksheev
2013-07-01 23:29:33 +04:00
parent 2229d91c50
commit e0b7e63787
9 changed files with 170 additions and 209 deletions
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89
modules/viz/src/q/viz3d_impl.hpp
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@@ -17,11 +17,11 @@ class CV_EXPORTS Viz3d::VizImpl
public:
typedef cv::Ptr<VizImpl> Ptr;
VizImpl (const std::string &name = std::string());
VizImpl (const String &name = String());
virtual ~VizImpl ();
void setFullScreen (bool mode);
void setWindowName (const std::string &name);
void setWindowName (const String &name);
/** \brief Register a callback function for keyboard input
* \param[in] callback function that will be registered as a callback for a keyboard event
@@ -68,34 +68,34 @@ public:
* |
* y
*/
void addCoordinateSystem (double scale, const cv::Affine3f& t, const std::string &id = "coordinate");
void addCoordinateSystem (double scale, const Affine3f& t, const String& id = "coordinate");
/** \brief Removes a previously added 3D axes (coordinate system)
*/
bool removeCoordinateSystem (const std::string &id = "coordinate");
bool removePointCloud (const std::string &id = "cloud");
inline bool removePolygonMesh (const std::string &id = "polygon")
bool removeCoordinateSystem (const String& id = "coordinate");
bool removePointCloud (const String& id = "cloud");
inline bool removePolygonMesh (const String& id = "polygon")
{
// Polygon Meshes are represented internally as point clouds with special cell array structures since 1.4
return removePointCloud (id);
}
bool removeShape (const std::string &id = "cloud");
bool removeShape (const String& id = "cloud");
bool removeText3D (const std::string &id = "cloud");
bool removeText3D (const String& id = "cloud");
bool removeAllPointClouds ();
bool removeAllShapes ();
void setBackgroundColor (const Color& color);
bool addText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize = 10, const std::string &id = "");
bool updateText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize = 10, const std::string &id = "");
bool addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
bool updateText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
/** \brief Set the pose of an existing shape. Returns false if the shape doesn't exist, true if the pose was succesfully updated. */
bool updateShapePose (const std::string &id, const cv::Affine3f& pose);
bool updateShapePose (const String& id, const Affine3f& pose);
bool addText3D (const std::string &text, const cv::Point3f &position, const Color& color, double textScale = 1.0, const std::string &id = "");
bool addText3D (const String &text, const Point3f &position, const Color& color, double textScale = 1.0, const String& id = "");
bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const std::string &id = "cloud");
bool addPointCloudNormals (const cv::Mat &cloud, const cv::Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
/** \brief If the id exists, updates the point cloud; otherwise, adds a new point cloud to the scene
* \param[in] id a variable to identify the point cloud
@@ -106,23 +106,23 @@ public:
void showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose = Affine3f::Identity());
void showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose = Affine3f::Identity());
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const std::string &id = "polygon");
bool addPolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
bool updatePolygonMesh (const Mesh3d& mesh, const cv::Mat& mask, const String& id = "polygon");
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const std::string &id = "polyline");
bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
void setPointCloudColor (const Color& color, const std::string &id = "cloud");
bool setPointCloudRenderingProperties (int property, double value, const std::string &id = "cloud");
bool getPointCloudRenderingProperties (int property, double &value, const std::string &id = "cloud");
void setPointCloudColor (const Color& color, const String& id = "cloud");
bool setPointCloudRenderingProperties (int property, double value, const String& id = "cloud");
bool getPointCloudRenderingProperties (int property, double &value, const String& id = "cloud");
bool setShapeRenderingProperties (int property, double value, const std::string &id);
void setShapeColor (const Color& color, const std::string &id);
bool setShapeRenderingProperties (int property, double value, const String& id);
void setShapeColor (const Color& color, const String& id);
/** \brief Set whether the point cloud is selected or not
* \param[in] selected whether the cloud is selected or not (true = selected)
* \param[in] id the point cloud object id (default: cloud)
*/
bool setPointCloudSelected (const bool selected, const std::string &id = "cloud" );
bool setPointCloudSelected (const bool selected, const String& id = "cloud" );
/** \brief Returns true when the user tried to close the window */
bool wasStopped () const { if (interactor_ != NULL) return (stopped_); else return true; }
@@ -138,27 +138,27 @@ public:
interactor_->TerminateApp ();
}
void showLine (const String &id, const cv::Point3f &pt1, const cv::Point3f &pt2, const Color &color);
void showPlane (const String &id, const cv::Vec4f &coefs, const Color &color);
void showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt, const Color &color);
void showCube (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
void showCylinder (const String &id, const Point3f &pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color &color);
void showCircle (const String &id, const Point3f &pt, double radius, const Color &color);
void showSphere (const String &id, const Point3f &pt, double radius, const Color &color);
void showArrow (const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
void showLine (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color);
void showPlane (const String& id, const cv::Vec4f &coefs, const Color& color);
void showPlane (const String& id ,const cv::Vec4f &coefs, const Point3f& pt, const Color& color);
void showCube (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color);
void showCylinder (const String& id, const Point3f& pt_on_axis, const Point3f &axis_direction, double radius, int num_sides, const Color& color);
void showCircle (const String& id, const Point3f& pt, double radius, const Color& color);
void showSphere (const String& id, const Point3f& pt, double radius, const Color& color);
void showArrow (const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color);
Affine3f getShapePose (const String &id);
bool setShapePose (const String &id, const Affine3f &pose);
Affine3f getShapePose (const String& id);
void setShapePose (const String& id, const Affine3f& pose);
bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon");
bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, bool display_length, const std::string &id = "arrow");
bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color_line, const Color& color_text, const std::string &id = "arrow");
bool addPolygon(const cv::Mat& cloud, const Color& color, const String& id = "polygon");
bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color, bool display_length, const String& id = "arrow");
bool addArrow (const Point3f& pt1, const Point3f& pt2, const Color& color_line, const Color& color_text, const String& id = "arrow");
// Add a vtkPolydata as a mesh
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const std::string & id = "PolyData");
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, vtkSmartPointer<vtkTransform> transform, const std::string &id = "PolyData");
bool addModelFromPLYFile (const std::string &filename, const std::string &id = "PLYModel");
bool addModelFromPLYFile (const std::string &filename, vtkSmartPointer<vtkTransform> transform, const std::string &id = "PLYModel");
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const String& id = "PolyData");
bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, vtkSmartPointer<vtkTransform> transform, const String& id = "PolyData");
bool addModelFromPLYFile (const String &filename, const String& id = "PLYModel");
bool addModelFromPLYFile (const String &filename, vtkSmartPointer<vtkTransform> transform, const String& id = "PLYModel");
/** \brief Changes the visual representation for all actors to surface representation. */
void setRepresentationToSurfaceForAllActors ();
@@ -187,7 +187,7 @@ public:
/** \brief Reset the camera direction from {0, 0, 0} to the center_{x, y, z} of a given dataset.
* \param[in] id the point cloud object id (default: cloud)
*/
void resetCameraViewpoint (const std::string &id = "cloud");
void resetCameraViewpoint (const String& id = "cloud");
/** \brief Set the camera pose given by position, viewpoint and up vector
* \param[in] pos_x the x coordinate of the camera location
@@ -217,7 +217,7 @@ public:
* \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
* \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters
*/
void setCameraParameters (const cv::Matx33f& intrinsics, const cv::Affine3f& extrinsics);
void setCameraParameters (const cv::Matx33f& intrinsics, const Affine3f& extrinsics);
/** \brief Set the camera parameters by given a full camera data structure.
* \param[in] camera camera structure containing all the camera parameters.
@@ -237,8 +237,8 @@ public:
void getCameras (Camera& camera);
/** \brief Get the current viewing pose. */
cv::Affine3f getViewerPose ();
void saveScreenshot (const std::string &file);
Affine3f getViewerPose ();
void saveScreenshot (const String &file);
/** \brief Return a pointer to the underlying VTK Render Window used. */
//vtkSmartPointer<vtkRenderWindow> getRenderWindow () { return (window_); }
@@ -351,6 +351,9 @@ private:
void convertToVtkMatrix (const cv::Matx44f& m, vtkSmartPointer<vtkMatrix4x4> &vtk_matrix);
void convertToCvMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, cv::Matx44f &m);
vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f &m);
cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix);
/** \brief Convert origin and orientation to vtkMatrix4x4
* \param[in] origin the point cloud origin
* \param[in] orientation the point cloud orientation