implement assignment operator and copy constructor for all widgets existing

modules/viz/include/opencv2/viz/viz3d.hpp

@@ -47,10 +47,11 @@ namespace temp_viz
         bool wasStopped() const;
         
         void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
-        bool removeWidget(const String &id);
+        void removeWidget(const String &id);
+        Widget getWidget(const String &id) const;
         
-        bool setWidgetPose(const String &id, const Affine3f &pose);
-        bool updateWidgetPose(const String &id, const Affine3f &pose);
+        void setWidgetPose(const String &id, const Affine3f &pose);
+        void updateWidgetPose(const String &id, const Affine3f &pose);
         Affine3f getWidgetPose(const String &id) const;
     private:
         Viz3d(const Viz3d&);

modules/viz/include/opencv2/viz/widgets.hpp

@@ -31,6 +31,8 @@ namespace temp_viz
     {
     public:
         Widget3D() {}
+        Widget3D(const Widget& other);
+        Widget3D& operator =(const Widget &other);
         
         void setPose(const Affine3f &pose);
         void updatePose(const Affine3f &pose);
@@ -49,6 +51,8 @@ namespace temp_viz
     {
     public:
         Widget2D() {}
+        Widget2D(const Widget &other);
+        Widget2D& operator=(const Widget &other);
     };
     
 
@@ -56,6 +60,8 @@ namespace temp_viz
     {
     public:
         LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
+        LineWidget(const Widget &other) : Widget3D(other) {}
+        LineWidget& operator=(const Widget &other);
         
         void setLineWidth(float line_width);
         float getLineWidth();
@@ -66,48 +72,64 @@ namespace temp_viz
     public:
         PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
         PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
+        PlaneWidget(const Widget& other) : Widget3D(other) {}
+        PlaneWidget& operator=(const Widget& other);
     };
     
     class CV_EXPORTS SphereWidget : public Widget3D
     {
     public:
         SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white());
+        SphereWidget(const Widget &other) : Widget3D(other) {}
+        SphereWidget& operator=(const Widget &other);
     };
     
     class CV_EXPORTS ArrowWidget : public Widget3D
     {
     public:
         ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color = Color::white());
+        ArrowWidget(const Widget &other) : Widget3D(other) {}
+        ArrowWidget& operator=(const Widget &other);
     };
 
     class CV_EXPORTS CircleWidget : public Widget3D
     {
     public:
         CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
+        CircleWidget(const Widget& other) : Widget3D(other) {}
+        CircleWidget& operator=(const Widget &other);
     };
     
     class CV_EXPORTS CylinderWidget : public Widget3D
     {
     public:
         CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
+        CylinderWidget(const Widget& other) : Widget3D(other) {}
+        CylinderWidget& operator=(const Widget &other);
     };
     
     class CV_EXPORTS CubeWidget : public Widget3D
     {
     public:
         CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
+        CubeWidget(const Widget& other) : Widget3D(other) {}
+        CubeWidget& operator=(const Widget &other);
     };
     
     class CV_EXPORTS CoordinateSystemWidget : public Widget3D
     {
     public:
         CoordinateSystemWidget(double scale, const Affine3f& affine);
+        CoordinateSystemWidget(const Widget &other) : Widget3D(other) {}
+        CoordinateSystemWidget& operator=(const Widget &other);
     };
     
     class CV_EXPORTS TextWidget : public Widget2D
     {
     public:
         TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
+        TextWidget(const Widget& other) : Widget2D(other) {}
+        TextWidget& operator=(const Widget &other);
     };
     
     class CV_EXPORTS CloudWidget : public Widget3D
@@ -115,6 +137,9 @@ namespace temp_viz
     public:
         CloudWidget(InputArray _cloud, InputArray _colors);
         CloudWidget(InputArray _cloud, const Color &color = Color::white());
+        CloudWidget(const Widget &other) : Widget3D(other) {}
+        CloudWidget& operator=(const Widget &other);
+        
     private:
         struct CreateCloudWidget;
     };
@@ -123,6 +148,9 @@ namespace temp_viz
     {
     public:
         CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
+        CloudNormalsWidget(const Widget &other) : Widget3D(other) {}
+        CloudNormalsWidget& operator=(const Widget &other);
+
     private:
         struct ApplyCloudNormals;
     };

modules/viz/src/q/viz3d_impl.hpp

@@ -200,10 +200,11 @@ public:
     void setSize (int xw, int yw);
     
     void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
-    bool removeWidget(const String &id);
+    void removeWidget(const String &id);
+    Widget getWidget(const String &id) const;
     
-    bool setWidgetPose(const String &id, const Affine3f &pose);
-    bool updateWidgetPose(const String &id, const Affine3f &pose);
+    void setWidgetPose(const String &id, const Affine3f &pose);
+    void updateWidgetPose(const String &id, const Affine3f &pose);
     Affine3f getWidgetPose(const String &id) const;
     
     void all_data();

modules/viz/src/simple_widgets.cpp

@@ -25,6 +25,12 @@ temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const C
     setColor(color);
 }
 
+temp_viz::LineWidget& temp_viz::LineWidget::operator=(const Widget &other)
+{
+    Widget3D::operator=(other);
+    return *this;
+}
+
 void temp_viz::LineWidget::setLineWidth(float line_width)
 {
     vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
@@ -82,6 +88,12 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double
     setColor(color);
 }
 
+temp_viz::PlaneWidget& temp_viz::PlaneWidget::operator=(const Widget& other)
+{
+    Widget3D::operator=(other);
+    return *this;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// sphere widget implementation
 
@@ -106,6 +118,12 @@ temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, in
     setColor(color);
 }
 
+temp_viz::SphereWidget& temp_viz::SphereWidget::operator=(const Widget &other)
+{
+    Widget3D::operator=(other);
+    return *this;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// arrow widget implementation
 
@@ -170,6 +188,12 @@ temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const
     setColor(color);
 }
 
+temp_viz::ArrowWidget& temp_viz::ArrowWidget::operator=(const Widget &other)
+{
+    Widget3D::operator=(other);
+    return *this;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// circle widget implementation
 
@@ -201,6 +225,12 @@ temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius,
     setColor(color);
 }
 
+temp_viz::CircleWidget& temp_viz::CircleWidget::operator=(const Widget &other)
+{
+    Widget3D::operator=(other);
+    return *this;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// cylinder widget implementation
 
@@ -227,6 +257,12 @@ temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3
     setColor(color);
 }
 
+temp_viz::CylinderWidget& temp_viz::CylinderWidget::operator=(const Widget &other)
+{
+    Widget3D::operator=(other);
+    return *this;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// cylinder widget implementation
 
@@ -249,6 +285,12 @@ temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, b
     setColor(color);
 }
 
+temp_viz::CubeWidget& temp_viz::CubeWidget::operator=(const Widget &other)
+{
+    Widget3D::operator=(other);
+    return *this;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// coordinate system widget implementation
 
@@ -300,6 +342,12 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
     actor->RotateWXYZ(r_angle*180/CV_PI,rvec[0], rvec[1], rvec[2]);
 }
 
+temp_viz::CoordinateSystemWidget& temp_viz::CoordinateSystemWidget::operator=(const Widget &other)
+{
+    Widget3D::operator=(other);
+    return *this;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// text widget implementation
 
@@ -321,6 +369,12 @@ temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int fon
     tprop->SetColor (c.val);
 }
 
+temp_viz::TextWidget& temp_viz::TextWidget::operator=(const Widget &other)
+{
+    Widget2D::operator=(other);
+    return *this;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// point cloud widget implementation
 
@@ -487,6 +541,12 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
     setColor(color);
 }
 
+temp_viz::CloudWidget& temp_viz::CloudWidget::operator=(const Widget &other)
+{
+    Widget3D::operator=(other);
+    return *this;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// cloud normals widget implementation
 
@@ -618,4 +678,10 @@ temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _
     vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetMapper(mapper);
     setColor(color);
+}
+
+temp_viz::CloudNormalsWidget& temp_viz::CloudNormalsWidget::operator=(const Widget &other)
+{
+    Widget3D::operator=(other);
+    return *this;
 }
\ No newline at end of file

modules/viz/src/viz3d.cpp

@@ -84,19 +84,24 @@ void temp_viz::Viz3d::showWidget(const String &id, const Widget &widget, const A
     impl_->showWidget(id, widget, pose);
 }
 
-bool temp_viz::Viz3d::removeWidget(const String &id)
+void temp_viz::Viz3d::removeWidget(const String &id)
 {
-    return impl_->removeWidget(id);
+    impl_->removeWidget(id);
 }
 
-bool temp_viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose)
+temp_viz::Widget temp_viz::Viz3d::getWidget(const String &id) const
 {
-    return impl_->setWidgetPose(id, pose);
+    return impl_->getWidget(id);
 }
 
-bool temp_viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose)
+void temp_viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose)
 {
-    return impl_->updateWidgetPose(id, pose);
+    impl_->setWidgetPose(id, pose);
+}
+
+void temp_viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose)
+{
+    impl_->updateWidgetPose(id, pose);
 }
 
 temp_viz::Affine3f temp_viz::Viz3d::getWidgetPose(const String &id) const

modules/viz/src/viz3d_impl.cpp

@@ -874,9 +874,10 @@ void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget
         removeActorFromRenderer(wam_itr->second.actor);
     }
     // Get the actor and set the user matrix
-    vtkLODActor *actor;
-    if (actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(widget)))
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(widget));
+    if (actor)
     {
+        // If the actor is 3D, apply pose
         vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
         actor->SetUserMatrix (matrix);
         actor->Modified();
@@ -885,61 +886,61 @@ void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget
     (*widget_actor_map_)[id].actor = WidgetAccessor::getActor(widget);
 }
 
-bool temp_viz::Viz3d::VizImpl::removeWidget(const String &id)
+void temp_viz::Viz3d::VizImpl::removeWidget(const String &id)
 {
     WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
     bool exists = wam_itr != widget_actor_map_->end();
     CV_Assert(exists);
+    CV_Assert(removeActorFromRenderer (wam_itr->second.actor));
+    widget_actor_map_->erase(wam_itr);
+}
 
-    if (!removeActorFromRenderer (wam_itr->second.actor))
-        return false;
+temp_viz::Widget temp_viz::Viz3d::VizImpl::getWidget(const String &id) const
+{
+    WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = wam_itr != widget_actor_map_->end();
+    CV_Assert(exists);
     
-    widget_actor_map_->erase(wam_itr);
-    return true;
+    Widget widget;
+    WidgetAccessor::setVtkProp(widget, wam_itr->second.actor);
+    return widget;
 }
 
-bool temp_viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3f &pose)
+void temp_viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3f &pose)
 {
     WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
     bool exists = wam_itr != widget_actor_map_->end();
     CV_Assert(exists);
     
-    vtkLODActor *actor;
-    if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
-    {
-        vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
-        actor->SetUserMatrix (matrix);
-        actor->Modified ();
-        return true;
-    }
-    return false;
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second.actor);
+    CV_Assert(actor);
+    
+    vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
+    actor->SetUserMatrix (matrix);
+    actor->Modified ();
 }
 
-bool temp_viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f &pose)
+void temp_viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f &pose)
 {
     WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
     bool exists = wam_itr != widget_actor_map_->end();
     CV_Assert(exists);
     
-    vtkLODActor *actor;
-    if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second.actor);
+    CV_Assert(actor);
+    
+    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+    if (!matrix)
     {
-        vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
-        if (!matrix)
-        {
-            setWidgetPose(id, pose);
-            return true;
-        }
-        Matx44f matrix_cv = convertToMatx(matrix);
-
-        Affine3f updated_pose = pose * Affine3f(matrix_cv);
-        matrix = convertToVtkMatrix(updated_pose.matrix);
-
-        actor->SetUserMatrix (matrix);
-        actor->Modified ();
-        return true;
+        setWidgetPose(id, pose);
+        return ;
     }
-    return false;
+    Matx44f matrix_cv = convertToMatx(matrix);
+    Affine3f updated_pose = pose * Affine3f(matrix_cv);
+    matrix = convertToVtkMatrix(updated_pose.matrix);
+
+    actor->SetUserMatrix (matrix);
+    actor->Modified ();
 }
 
 temp_viz::Affine3f temp_viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
@@ -948,12 +949,10 @@ temp_viz::Affine3f temp_viz::Viz3d::VizImpl::getWidgetPose(const String &id) con
     bool exists = wam_itr != widget_actor_map_->end();
     CV_Assert(exists);
     
-    vtkLODActor *actor;
-    if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
-    {
-        vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
-        Matx44f matrix_cv = convertToMatx(matrix);
-        return Affine3f(matrix_cv);
-    }
-    return Affine3f();
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second.actor);
+    CV_Assert(actor);
+    
+    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+    Matx44f matrix_cv = convertToMatx(matrix);
+    return Affine3f(matrix_cv);
 }
\ No newline at end of file

modules/viz/src/widget.cpp

@@ -22,7 +22,7 @@ temp_viz::Widget::Widget(const Widget &other) : impl_(other.impl_)
     if (impl_) CV_XADD(&impl_->ref_counter, 1);
 }
 
-temp_viz::Widget& temp_viz::Widget::operator =(const Widget &other)
+temp_viz::Widget& temp_viz::Widget::operator=(const Widget &other)
 {
     if (this != &other)
     {
@@ -91,6 +91,23 @@ struct temp_viz::Widget3D::MatrixConverter
     }
 };
 
+temp_viz::Widget3D::Widget3D(const Widget& other) : Widget(other)
+{
+    // Check if other's actor is castable to vtkProp3D
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(other));
+    CV_Assert(actor);
+}
+
+temp_viz::Widget3D& temp_viz::Widget3D::operator =(const Widget &other)
+{
+    // Check if other's actor is castable to vtkProp3D
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(other));
+    CV_Assert(actor);
+    
+    Widget::operator=(other);
+    return *this;
+}
+
 void temp_viz::Widget3D::setPose(const Affine3f &pose)
 {
     vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(*this));
@@ -147,3 +164,22 @@ void temp_viz::Widget3D::setColor(const Color &color)
     actor->GetProperty ()->SetLighting (0);
     actor->Modified ();
 }
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget2D implementation
+
+temp_viz::Widget2D::Widget2D(const Widget &other) : Widget(other)
+{
+    // Check if other's actor is castable to vtkActor2D
+    vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getActor(other));
+    CV_Assert(actor);
+}
+
+temp_viz::Widget2D& temp_viz::Widget2D::operator=(const Widget &other)
+{
+    // Check if other's actor is castable to vtkActor2D
+    vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getActor(other));
+    CV_Assert(actor);
+    Widget::operator=(other);
+    return *this;
+}
\ No newline at end of file