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Commit d324c03b authored by ozantonkal's avatar ozantonkal
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initial redesigning widgets

parent 061c28cd
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Showing with 61 additions and 24 deletions
modules/viz/include/opencv2/viz/widget_accessor.hpp
View file @ d324c03b
......@@ -13,5 +13,6 @@ namespace temp_viz
struct CV_EXPORTS WidgetAccessor
{
static vtkSmartPointer<vtkProp> getActor(const Widget &widget);
static void setVtkProp(Widget &widget, vtkSmartPointer<vtkProp> actor);
};
}
modules/viz/include/opencv2/viz/widgets.hpp
View file @ d324c03b
......@@ -16,29 +16,41 @@ namespace temp_viz
~Widget();
void copyTo(Widget &dst);
private:
class Impl;
Impl *impl_;
friend struct WidgetAccessor;
};
/////////////////////////////////////////////////////////////////////////////
/// The base class for all 3D widgets
class CV_EXPORTS Widget3D : public Widget
{
public:
Widget3D();
void setColor(const Color &color);
void setPose(const Affine3f &pose);
void updatePose(const Affine3f &pose);
Affine3f getPose() const;
protected:
Widget(bool text_widget);
void setColor(const Color &color);
private:
class Impl;
Impl* impl_;
struct MatrixConverter;
void create();
void release();
void create(bool text_widget);
};
friend struct WidgetAccessor;
/////////////////////////////////////////////////////////////////////////////
/// The base class for all 2D widgets
class CV_EXPORTS Widget2D : public Widget
{
public:
Widget2D();
};
class CV_EXPORTS LineWidget : public Widget
class CV_EXPORTS LineWidget : public Widget3D
{
public:
LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
......@@ -47,58 +59,56 @@ namespace temp_viz
float getLineWidth();
};
class CV_EXPORTS PlaneWidget : public Widget
class CV_EXPORTS PlaneWidget : public Widget3D
{
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());
};
class CV_EXPORTS SphereWidget : public Widget
class CV_EXPORTS SphereWidget : public Widget3D
{
public:
SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white());
};
class CV_EXPORTS ArrowWidget : public Widget
class CV_EXPORTS ArrowWidget : public Widget3D
{
public:
ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color = Color::white());
};
class CV_EXPORTS CircleWidget : public Widget
class CV_EXPORTS CircleWidget : public Widget3D
{
public:
CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
};
class CV_EXPORTS CylinderWidget : public Widget
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());
};
class CV_EXPORTS CubeWidget : public Widget
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());
};
class CV_EXPORTS CoordinateSystemWidget : public Widget
class CV_EXPORTS CoordinateSystemWidget : public Widget3D
{
public:
CoordinateSystemWidget(double scale, const Affine3f& affine);
};
class CV_EXPORTS TextWidget : public Widget
class CV_EXPORTS TextWidget : public Widget2D
{
public:
TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
// TODO Overload setColor method, and hide setPose, updatePose, getPose methods
};
class CV_EXPORTS CloudWidget : public Widget
class CV_EXPORTS CloudWidget : public Widget3D
{
public:
CloudWidget(InputArray _cloud, InputArray _colors);
......@@ -107,7 +117,7 @@ namespace temp_viz
struct CreateCloudWidget;
};
class CV_EXPORTS CloudNormalsWidget : public Widget
class CV_EXPORTS CloudNormalsWidget : public Widget3D
{
public:
CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
......
modules/viz/src/simple_widgets.cpp
View file @ d324c03b
......@@ -9,6 +9,8 @@ namespace temp_viz
/// line widget implementation
temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color)
{
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
line->SetPoint1 (pt1.x, pt1.y, pt1.z);
line->SetPoint2 (pt2.x, pt2.y, pt2.z);
......@@ -40,6 +42,8 @@ float temp_viz::LineWidget::getLineWidth()
temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color &color)
{
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
plane->SetNormal (coefs[0], coefs[1], coefs[2]);
double norm = cv::norm(cv::Vec3f(coefs.val));
......@@ -57,6 +61,8 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color
temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size, const Color &color)
{
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
cv::Point3f coefs3(coefs[0], coefs[1], coefs[2]);
double norm_sqr = 1.0 / coefs3.dot (coefs3);
......@@ -81,6 +87,8 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double
temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution, const Color &color)
{
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New ();
sphere->SetRadius (radius);
sphere->SetCenter (center.x, center.y, center.z);
......@@ -103,6 +111,8 @@ temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, in
temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color)
{
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New ();
float startPoint[3], endPoint[3];
......@@ -165,6 +175,8 @@ temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const
temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius, double thickness, const temp_viz::Color& color)
{
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New ();
// Maybe the resolution should be lower e.g. 50 or 25
disk->SetCircumferentialResolution (50);
......@@ -194,6 +206,8 @@ temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius,
temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides, const Color &color)
{
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
const cv::Point3f pt2 = pt_on_axis + axis_direction;
vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New ();
line->SetPoint1 (pt_on_axis.x, pt_on_axis.y, pt_on_axis.z);
......@@ -218,6 +232,8 @@ temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3
temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color)
{
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
cube->SetBounds (pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z);
......@@ -238,6 +254,8 @@ temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, b
temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Affine3f& affine)
{
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
......@@ -285,8 +303,10 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
///////////////////////////////////////////////////////////////////////////////////////////////
/// text widget implementation
temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color) : Widget(true)
temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color)
{
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkTextActor>::New());
vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getActor(*this));
actor->SetPosition (pos.x, pos.y);
actor->SetInput (text.c_str ());
......@@ -400,6 +420,8 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkIdType nr_points;
vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
......@@ -441,6 +463,8 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
Mat cloud = _cloud.getMat();
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
vtkIdType nr_points;
vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
......@@ -551,6 +575,8 @@ temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _
CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
CV_Assert(cloud.size() == normals.size() && cloud.type() == normals.type());
WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
vtkIdType nr_normals = 0;
......
modules/viz/src/widget.cpp
View file @ d324c03b
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