move frompolyfile to widget class as static method, remove addpolygon and its alikes

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

@@ -27,13 +27,6 @@ namespace cv
 
             void setBackgroundColor(const Color& color = Color::black());
 
-            //to refactor
-            bool addPolygonMesh(const Mesh3d& mesh, const String& id = "polygon");
-            bool updatePolygonMesh(const Mesh3d& mesh, const String& id = "polygon");
-            bool addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id = "polyline");
-            bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon");
-
-
             void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
             void removeWidget(const String &id);
             Widget getWidget(const String &id) const;

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

@@ -16,6 +16,8 @@ namespace cv
             Widget();
             Widget(const Widget &other);
             Widget& operator =(const Widget &other);
+            
+            static Widget fromPlyFile(const String &file_name);
 
             ~Widget();
 

modules/viz/src/shape_widgets.cpp

@@ -969,7 +969,6 @@ cv::viz::CameraPositionWidget::CameraPositionWidget(const Matx33f &K, const Mat
     
     // Create a camera
     vtkSmartPointer<vtkCamera> camera = vtkSmartPointer<vtkCamera>::New();
-    float f_x = K(0,0);
     float f_y = K(1,1);
     float c_y = K(1,2);
     float aspect_ratio = float(image.cols)/float(image.rows);

modules/viz/src/viz3d.cpp

@@ -44,26 +44,6 @@ void cv::viz::Viz3d::release()
 
 void cv::viz::Viz3d::setBackgroundColor(const Color& color) { impl_->setBackgroundColor(color); }
 
-bool cv::viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id)
-{
-    return impl_->addPolygonMesh(mesh, Mat(), id);
-}
-
-bool cv::viz::Viz3d::updatePolygonMesh (const Mesh3d& mesh, const String& id)
-{
-    return impl_->updatePolygonMesh(mesh, Mat(), id);
-}
-
-bool cv::viz::Viz3d::addPolylineFromPolygonMesh (const Mesh3d& mesh, const String& id)
-{
-    return impl_->addPolylineFromPolygonMesh(mesh, id);
-}
-
-bool cv::viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const String& id)
-{
-    return impl_->addPolygon(cloud, color, id);
-}
-
 void cv::viz::Viz3d::spin() { impl_->spin(); }
 void cv::viz::Viz3d::spinOnce (int time, bool force_redraw) { impl_->spinOnce(time, force_redraw); }
 bool cv::viz::Viz3d::wasStopped() const { return impl_->wasStopped(); }
@@ -94,4 +74,4 @@ void cv::viz::Viz3d::converTo3DRay(const Point3d &window_coord, Point3d &origin,
 
 cv::Size cv::viz::Viz3d::getWindowSize() const { return impl_->getWindowSize(); }
 void cv::viz::Viz3d::setWindowSize(const Size &window_size) { impl_->setWindowSize(window_size.width, window_size.height); }
-cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); }
\ No newline at end of file
+cv::String cv::viz::Viz3d::getWindowName() const { return impl_->getWindowName(); }

modules/viz/src/viz3d_impl.hpp

@@ -19,30 +19,11 @@ public:
 
     void removeAllWidgets();
 
-    //to refactor
-    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 String& id = "polyline");
-
     // to refactor: Widget3D:: & Viz3d::
     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 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)
-         */
-    // probably should just remove
-    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; }
 
@@ -60,30 +41,6 @@ public:
         }
     }
 
-
-
-
-
-
-
-
-
-
-    
-    // to refactor
-    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");
-
-    // Probably remove this
-    bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, const String& id = "PolyData");
-    bool addModelFromPolyData (vtkSmartPointer<vtkPolyData> polydata, vtkSmartPointer<vtkTransform> transform, const String& id = "PolyData");
-
-    // I think this should be moved to 'static Widget Widget::fromPlyFile(const String&)';
-    bool addModelFromPLYFile (const String &filename, const String& id = "PLYModel");
-    bool addModelFromPLYFile (const String &filename, vtkSmartPointer<vtkTransform> transform, const String& id = "PLYModel");
-
-
     // to implement in Viz3d with shorter name
     void setRepresentationToSurfaceForAllActors();
     void setRepresentationToPointsForAllActors();

modules/viz/src/widget.cpp

@@ -54,6 +54,46 @@ void cv::viz::Widget::release()
     }
 }
 
+cv::viz::Widget cv::viz::Widget::fromPlyFile(const String &file_name)
+{
+    vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New ();
+    reader->SetFileName (file_name.c_str ());
+    
+    vtkSmartPointer<vtkDataSet> data = reader->GetOutput();
+    CV_Assert(data);
+
+    vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New();
+
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput (data);
+
+    vtkSmartPointer<vtkDataArray> scalars = data->GetPointData ()->GetScalars ();
+    if (scalars)
+    {
+        cv::Vec3d minmax(scalars->GetRange());
+        mapper->SetScalarRange(minmax.val);
+        mapper->SetScalarModeToUsePointData ();
+
+        // interpolation OFF, if data is a vtkPolyData that contains only vertices, ON for anything else.
+        vtkPolyData* polyData = vtkPolyData::SafeDownCast (data);
+        bool interpolation = (polyData && polyData->GetNumberOfCells () != polyData->GetNumberOfVerts ());
+
+        mapper->SetInterpolateScalarsBeforeMapping (interpolation);
+        mapper->ScalarVisibilityOn ();
+    }
+    mapper->ImmediateModeRenderingOff ();
+
+    actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, data->GetNumberOfPoints () / 10)));
+    actor->GetProperty ()->SetInterpolationToFlat ();
+    actor->GetProperty ()->BackfaceCullingOn ();
+
+    actor->SetMapper (mapper);
+    
+    Widget widget;
+    widget.impl_->prop = actor;
+    return widget;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// widget accessor implementaion