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slight refactoring of widget system code

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This commit is contained in:
Anatoly Baksheev 2013-07-04 13:54:00 +04:00
parent daa2a205a4
commit efa7f09048
12 changed files with 195 additions and 180 deletions
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3
modules/viz/include/opencv2/viz.hpp
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@ -1,3 +1,6 @@
#pragma once
#include <opencv2/viz/types.hpp>
#include <opencv2/viz/widgets.hpp>
#include <opencv2/viz/viz3d.hpp>

34
modules/viz/include/opencv2/viz/types.hpp
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@ -36,8 +36,6 @@ namespace temp_viz
using cv::DataType;
struct CV_EXPORTS ModelCoefficients
{
std::vector<float> values;
@ -81,6 +79,8 @@ namespace temp_viz
std::vector<Vertices> polygons;
};
/////////////////////////////////////////////////////////////////////////////
/// Utility functions
inline Color vtkcolor(const Color& color)
{
@ -90,11 +90,7 @@ namespace temp_viz
}
inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); }
template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); }
inline bool isNan(float x)
{
@ -113,30 +109,4 @@ namespace temp_viz
template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
{ return isNan(p.x) || isNan(p.y) || isNan(p.z); }
class Widget
{
public:
Widget();
Widget(const Widget &other);
Widget& operator =(const Widget &other);
void copyTo(Widget &dst);
void setColor(const Color &color);
void setPose(const Affine3f &pose);
void updatePose(const Affine3f &pose);
Affine3f getPose() const;
private:
class Impl;
cv::Ptr<Impl> impl_;
friend struct WidgetAccessor;
};
class LineWidget : public Widget
{
public:
LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color(255,255,255));
};
}

5
modules/viz/include/opencv2/viz/viz3d.hpp
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@ -10,6 +10,7 @@
#include <string>
#include <opencv2/viz/types.hpp>
#include <opencv2/viz/widgets.hpp>
#include <opencv2/viz/events.hpp>
namespace temp_viz
@ -33,8 +34,8 @@ namespace temp_viz
bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
void showLine(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color = Color::white());
void showPlane(const String& id, const Vec4f& coefs, const Color& color = Color::white());
void showPlane(const String& id, const Vec4f& coefs, const Point3f& pt, const Color& color = Color::white());
void showPlane(const String& id, const Vec4f& coeffs, const Color& color = Color::white());
void showPlane(const String& id, const Vec4f& coeffs, const Point3f& pt, const Color& color = Color::white());
void showCube(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color = Color::white());
void showCylinder(const String& id, const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int num_sides, const Color& color = Color::white());
void showCircle(const String& id, const Point3f& pt, double radius, const Color& color = Color::white());

12
modules/viz/include/opencv2/viz/widget_accessor.hpp
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@ -1,11 +1,15 @@
#pragma once
#include <opencv2/viz/types.hpp>
#include <opencv2/viz/widgets.hpp>
#include <vtkSmartPointer.h>
#include <vtkLODActor.h>
namespace temp_viz
{
struct WidgetAccessor
//The class is only that depends on VTK in its interface.
//It is indended for those user who want to develop own widgets system using VTK library API.
struct CV_EXPORTS WidgetAccessor
{
static CV_EXPORTS vtkSmartPointer<vtkLODActor> getActor(const Widget &widget);
static vtkSmartPointer<vtkLODActor> getActor(const Widget &widget);
};
}
}

38
modules/viz/include/opencv2/viz/widgets.hpp Normal file
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@ -0,0 +1,38 @@
#pragma once
#include <opencv2/viz/types.hpp>
namespace temp_viz
{
/////////////////////////////////////////////////////////////////////////////
/// brief The base class for all widgets
class CV_EXPORTS Widget
{
public:
Widget();
Widget(const Widget &other);
Widget& operator =(const Widget &other);
void copyTo(Widget &dst);
void setColor(const Color &color);
void setPose(const Affine3f &pose);
void updatePose(const Affine3f &pose);
Affine3f getPose() const;
private:
class Impl;
cv::Ptr<Impl> impl_;
friend struct WidgetAccessor;
};
class CV_EXPORTS LineWidget : public Widget
{
public:
LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
};
}

2
modules/viz/src/precomp.hpp
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@ -154,3 +154,5 @@
#include <q/shapes.h>
#include "opencv2/viz/widget_accessor.hpp"
#include <opencv2/viz/widgets.hpp>

18
modules/viz/src/simple_widgets.cpp Normal file
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@ -0,0 +1,18 @@
#include "precomp.hpp"
temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color)
{
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
line->SetPoint1 (pt1.x, pt1.y, pt1.z);
line->SetPoint2 (pt2.x, pt2.y, pt2.z);
line->Update ();
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(line->GetOutput ());
vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this);
actor->SetMapper(mapper);
setColor(color);
}

131
modules/viz/src/types.cpp
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@ -20,134 +20,3 @@ 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<vtkLODActor> actor;
Impl()
{
actor = vtkSmartPointer<vtkLODActor>::New ();
}
vtkSmartPointer<vtkLODActor> getActor()
{
return actor;
}
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();
}
temp_viz::Widget::Widget(const Widget &other)
{
impl_ = other.impl_;
}
temp_viz::Widget& temp_viz::Widget::operator =(const Widget &other)
{
if (this != &other)
impl_ = other.impl_;
return *this;
}
void temp_viz::Widget::copyTo(Widget &dst)
{
// TODO Deep copy the data if there is any
}
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();
}
#include "opencv2/viz/widget_accessor.hpp"
vtkSmartPointer<vtkLODActor> temp_viz::WidgetAccessor::getActor(const temp_viz::Widget &widget)
{
return widget.impl_->actor;
}
temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color) : Widget()
{
// Create the line and set actor's data
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
mapper->SetInput(createLine(pt1,pt2));
temp_viz::WidgetAccessor::getActor(*this)->SetMapper(mapper);
setColor(color);
}

8
modules/viz/src/viz3d.cpp
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@ -77,14 +77,14 @@ void temp_viz::Viz3d::showLine(const String& id, const Point3f& pt1, const Point
impl_->showLine(id, pt1, pt2, color);
}
void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coefs, const Color& color)
void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coeffs, const Color& color)
{
impl_->showPlane(id, coefs, color);
impl_->showPlane(id, coeffs, color);
}
void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coefs, const Point3f& pt, const Color& color)
void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coeffs, const Point3f& pt, const Color& color)
{
impl_->showPlane(id, coefs, pt, color);
impl_->showPlane(id, coeffs, pt, color);
}
void temp_viz::Viz3d::showCube(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)

12
modules/viz/src/viz3d_impl.cpp
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@ -416,7 +416,7 @@ void temp_viz::Viz3d::VizImpl::showLine (const String& id, const Point3f& pt1, c
}
}
void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coefs, const Color& color)
void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coeffs, const Color& color)
{
// Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
@ -426,7 +426,7 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coe
if (exists)
{
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs));
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coeffs));
actor->GetProperty ()->SetColor (c.val);
actor->GetMapper ()->ScalarVisibilityOff ();
actor->Modified ();
@ -434,7 +434,7 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coe
else
{
// Create a plane
vtkSmartPointer<vtkDataSet> data = createPlane (coefs);
vtkSmartPointer<vtkDataSet> data = createPlane (coeffs);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
@ -451,7 +451,7 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coe
}
}
void temp_viz::Viz3d::VizImpl::showPlane (const String& id ,const cv::Vec4f &coefs, const Point3f& pt, const Color& color)
void temp_viz::Viz3d::VizImpl::showPlane (const String& id ,const cv::Vec4f &coeffs, const Point3f& pt, const Color& color)
{
// Check if this Id already exists
ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
@ -461,7 +461,7 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String& id ,const cv::Vec4f &coe
if (exists)
{
vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs, pt));
reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coeffs, pt));
actor->GetProperty ()->SetColor (c.val);
actor->GetMapper ()->ScalarVisibilityOff ();
actor->Modified ();
@ -469,7 +469,7 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String& id ,const cv::Vec4f &coe
else
{
// Create a plane
vtkSmartPointer<vtkDataSet> data = createPlane (coefs, pt);
vtkSmartPointer<vtkDataSet> data = createPlane (coeffs, pt);
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;

110
modules/viz/src/widget.cpp Normal file
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@ -0,0 +1,110 @@
#include "precomp.hpp"
class temp_viz::Widget::Impl
{
public:
vtkSmartPointer<vtkLODActor> actor;
Impl() : actor(vtkSmartPointer<vtkLODActor>::New()) {}
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 = convertToMatx(matrix);
Affine3f updated_pose = pose * Affine3f(matrix_cv);
matrix = convertToVtkMatrix(updated_pose.matrix);
actor->SetUserMatrix (matrix);
actor->Modified ();
}
Affine3f getPose() const
{
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
Matx44f matrix_cv = convertToMatx(matrix);
return Affine3f(matrix_cv);
}
protected:
static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f& m)
{
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;
}
static cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
{
cv::Matx44f m;
for (int i = 0; i < 4; i++)
for (int k = 0; k < 4; k++)
m(i, k) = vtk_matrix->GetElement (i, k);
return m;
}
};
///////////////////////////////////////////////////////////////////////////////////////////////
/// stream accessor implementaion
vtkSmartPointer<vtkLODActor> temp_viz::WidgetAccessor::getActor(const Widget& widget)
{
return widget.impl_->actor;
}
///////////////////////////////////////////////////////////////////////////////////////////////
/// widget implementaion
temp_viz::Widget::Widget()
{
impl_ = new Impl();
}
temp_viz::Widget::Widget(const Widget& other)
{
impl_ = other.impl_;
}
temp_viz::Widget& temp_viz::Widget::operator =(const Widget &other)
{
if (this != &other)
impl_ = other.impl_;
return *this;
}
void temp_viz::Widget::copyTo(Widget& /*dst*/)
{
// TODO Deep copy the data if there is any
}
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(); }

2
modules/viz/test/test_viz3d.cpp
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@ -47,7 +47,7 @@
#include <fstream>
#include <string>
#include <opencv2/viz/types.hpp>
#include <opencv2/viz.hpp>
#include <opencv2/viz/mesh_load.hpp>
cv::Mat cvcloud_load()