Merge pull request #15 from ozantonkal/implementing_widgets

Implementing widgets

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

@@ -26,16 +26,11 @@ namespace temp_viz
 
         void setBackgroundColor(const Color& color = Color::black());
 
-        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 addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
         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 addText (const String &text, int xpos, int ypos, const Color& color, int fontsize = 10, const String& id = "");
         bool addPolygon(const Mat& cloud, const Color& color, const String& id = "polygon");
 
         void spin ();
@@ -47,10 +42,11 @@ 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/widget_accessor.hpp

@@ -2,7 +2,7 @@
 
 #include <opencv2/core/cvdef.h>
 #include <vtkSmartPointer.h>
-#include <vtkLODActor.h>
+#include <vtkProp.h>
 
 namespace temp_viz
 {
@@ -12,6 +12,7 @@ namespace temp_viz
     //It is indended for those users who want to develop own widgets system using VTK library API.
     struct CV_EXPORTS WidgetAccessor
     {
-        static vtkSmartPointer<vtkProp> getActor(const Widget &widget);
+        static vtkSmartPointer<vtkProp> getProp(const Widget &widget);
+        static void setProp(Widget &widget, vtkSmartPointer<vtkProp> prop);
     };
 }

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

@@ -13,32 +13,48 @@ namespace temp_viz
         Widget();
         Widget(const Widget &other);
         Widget& operator =(const Widget &other);
-
-        ~Widget();
         
-        void copyTo(Widget &dst);
+        ~Widget();
 
-        void setColor(const Color &color);
+        template<typename _W> _W cast();
+    private:
+        class Impl;
+        Impl *impl_;
+        friend struct WidgetAccessor;
+        
+        void create();
+        void release();
+    };
+    
+    /////////////////////////////////////////////////////////////////////////////
+    /// The base class for all 3D widgets
+    class CV_EXPORTS Widget3D : public Widget
+    {
+    public:
+        Widget3D() {}
+        
         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);
+    };
+    
+    /////////////////////////////////////////////////////////////////////////////
+    /// The base class for all 2D widgets
+    class CV_EXPORTS Widget2D : public Widget
+    {
+    public:
+        Widget2D() {}
         
-        friend struct WidgetAccessor;
+        void setColor(const Color &color);
     };
-
-
-    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());
@@ -46,72 +62,119 @@ namespace temp_viz
         void setLineWidth(float line_width);
         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 PolyLineWidget : public Widget3D
+    {
+    public:
+        PolyLineWidget(InputArray _points, const Color &color = Color::white());
+        
+    private:
+        struct CopyImpl;
+    };
+    
+    class CV_EXPORTS GridWidget : public Widget3D
+    {
+    public:
+        GridWidget(Vec2i dimensions, Vec2d spacing, const Color &color = Color::white());
+    };
+    
+    class CV_EXPORTS Text3DWidget : public Widget3D
+    {
+    public:
+        Text3DWidget(const String &text, const Point3f &position, double text_scale = 1.0, const Color &color = Color::white());
+        
+        void setText(const String &text);
+        String getText() const;
+    };
+    
+    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
+        void setText(const String &text);
+        String getText() const;
     };
     
-    class CV_EXPORTS CloudWidget : public Widget
+    class CV_EXPORTS CloudWidget : public Widget3D
     {
     public:
         CloudWidget(InputArray _cloud, InputArray _colors);
         CloudWidget(InputArray _cloud, const Color &color = Color::white());
+        
     private:
         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());
+
     private:
         struct ApplyCloudNormals;
     };
+
+    template<> CV_EXPORTS Widget2D Widget::cast<Widget2D>();
+    template<> CV_EXPORTS Widget3D Widget::cast<Widget3D>();
+    template<> CV_EXPORTS LineWidget Widget::cast<LineWidget>();
+    template<> CV_EXPORTS PlaneWidget Widget::cast<PlaneWidget>();
+    template<> CV_EXPORTS SphereWidget Widget::cast<SphereWidget>();
+    template<> CV_EXPORTS CylinderWidget Widget::cast<CylinderWidget>();
+    template<> CV_EXPORTS ArrowWidget Widget::cast<ArrowWidget>();
+    template<> CV_EXPORTS CircleWidget Widget::cast<CircleWidget>();
+    template<> CV_EXPORTS CubeWidget Widget::cast<CubeWidget>();
+    template<> CV_EXPORTS CoordinateSystemWidget Widget::cast<CoordinateSystemWidget>();
+    template<> CV_EXPORTS PolyLineWidget Widget::cast<PolyLineWidget>();
+    template<> CV_EXPORTS GridWidget Widget::cast<GridWidget>();
+    template<> CV_EXPORTS Text3DWidget Widget::cast<Text3DWidget>();
+    template<> CV_EXPORTS TextWidget Widget::cast<TextWidget>();
+    template<> CV_EXPORTS CloudWidget Widget::cast<CloudWidget>();
+    template<> CV_EXPORTS CloudNormalsWidget Widget::cast<CloudNormalsWidget>();
 }
+
+
+

modules/viz/src/q/viz3d_impl.hpp

@@ -52,36 +52,15 @@ public:
 
     void setBackgroundColor (const Color& color);
 
-    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 String& id, const Affine3f& pose);
-
-    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 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
-      * \param[in] cloud cloud input in x,y,z coordinates
-      * \param[in] colors color input in the same order of the points or single uniform color
-      * \param[in] pose transform to be applied on the point cloud
-      */
-    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 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");
 
-    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 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)
@@ -200,10 +179,11 @@ 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/viz3d.cpp

@@ -17,21 +17,6 @@ void temp_viz::Viz3d::setBackgroundColor(const Color& color)
     impl_->setBackgroundColor(color);
 }
 
-void temp_viz::Viz3d::showPointCloud(const String& id, InputArray cloud, InputArray colors, const Affine3f& pose)
-{
-    impl_->showPointCloud(id, cloud, colors, pose);
-}
-
-void temp_viz::Viz3d::showPointCloud(const String& id, InputArray cloud, const Color& color, const Affine3f& pose)
-{
-    impl_->showPointCloud(id, cloud, color, pose);
-}
-
-bool temp_viz::Viz3d::addPointCloudNormals (const Mat &cloud, const Mat& normals, int level, float scale, const String& id)
-{
-    return impl_->addPointCloudNormals(cloud, normals, level, scale, id);
-}
-
 bool temp_viz::Viz3d::addPolygonMesh (const Mesh3d& mesh, const String& id)
 {
     return impl_->addPolygonMesh(mesh, Mat(), id);
@@ -47,11 +32,6 @@ bool temp_viz::Viz3d::addPolylineFromPolygonMesh (const Mesh3d& mesh, const Stri
     return impl_->addPolylineFromPolygonMesh(mesh, id);
 }
 
-bool temp_viz::Viz3d::addText (const String &text, int xpos, int ypos, const Color& color, int fontsize, const String& id)
-{
-    return impl_->addText(text, xpos, ypos, color, fontsize, id);
-}
-
 bool temp_viz::Viz3d::addPolygon(const Mat& cloud, const Color& color, const String& id)
 {
     return impl_->addPolygon(cloud, color, id);
@@ -84,19 +64,24 @@ 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)
+{
+    impl_->removeWidget(id);
+}
+
+temp_viz::Widget temp_viz::Viz3d::getWidget(const String &id) const
 {
-    return impl_->removeWidget(id);
+    return impl_->getWidget(id);
 }
 
-bool temp_viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose)
+void temp_viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose)
 {
-    return impl_->setWidgetPose(id, pose);
+    impl_->setWidgetPose(id, pose);
 }
 
-bool temp_viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose)
+void temp_viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose)
 {
-    return impl_->updateWidgetPose(id, pose);
+    impl_->updateWidgetPose(id, pose);
 }
 
 temp_viz::Affine3f temp_viz::Viz3d::getWidgetPose(const String &id) const

modules/viz/src/viz_main.cpp

@@ -350,21 +350,6 @@ void temp_viz::Viz3d::VizImpl::setBackgroundColor (const Color& color)
     renderer_->SetBackground (c.val);
 }
 
-/////////////////////////////////////////////////////////////////////////////////////////////
-void temp_viz::Viz3d::VizImpl::setPointCloudColor (const Color& color, const std::string &id)
-{
-    CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
-    if (am_it != cloud_actor_map_->end ())
-    {
-        vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second.actor);
-
-        Color c = vtkcolor(color);
-        actor->GetProperty ()->SetColor (c.val);
-        actor->GetMapper ()->ScalarVisibilityOff ();
-        actor->Modified ();
-    }
-}
-
 /////////////////////////////////////////////////////////////////////////////////////////////
 bool temp_viz::Viz3d::VizImpl::getPointCloudRenderingProperties (int property, double &value, const std::string &id)
 {
@@ -470,26 +455,6 @@ bool temp_viz::Viz3d::VizImpl::setPointCloudSelected (const bool selected, const
     return true;
 }
 
-/////////////////////////////////////////////////////////////////////////////////////////////
-void temp_viz::Viz3d::VizImpl::setShapeColor (const Color& color, const std::string &id)
-{
-    ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
-    if (am_it != shape_actor_map_->end ())
-    {
-        vtkActor* actor = vtkActor::SafeDownCast (am_it->second);
-
-        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 ();
-    }
-}
-
 /////////////////////////////////////////////////////////////////////////////////////////////
 bool temp_viz::Viz3d::VizImpl::setShapeRenderingProperties (int property, double value, const std::string &id)
 {
@@ -618,28 +583,6 @@ void temp_viz::Viz3d::VizImpl::updateCamera ()
     renderer_->Render ();
 }
 
-/////////////////////////////////////////////////////////////////////////////////////////////
-bool temp_viz::Viz3d::VizImpl::updateShapePose (const std::string &id, const cv::Affine3f& pose)
-{
-    ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
-
-    vtkLODActor* actor;
-
-    if (am_it == shape_actor_map_->end ())
-        return (false);
-    else
-        actor = vtkLODActor::SafeDownCast (am_it->second);
-
-    vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
-
-    convertToVtkMatrix (pose.matrix, matrix);
-
-    actor->SetUserMatrix (matrix);
-    actor->Modified ();
-
-    return (true);
-}
-
 /////////////////////////////////////////////////////////////////////////////////////////////
 void temp_viz::Viz3d::VizImpl::getCameras (temp_viz::Camera& camera)
 {
@@ -916,62 +859,6 @@ bool temp_viz::Viz3d::VizImpl::addModelFromPLYFile (const std::string &filename,
     return (true);
 }
 
-/////////////////////////////////////////////////////////////////////////////////////////////
-bool temp_viz::Viz3d::VizImpl::addText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize, const std::string &id)
-{
-   std::string tid = id.empty() ? text : id;
-
-    // Check to see if this ID entry already exists (has it been already added to the visualizer?)
-    ShapeActorMap::iterator am_it = shape_actor_map_->find (tid);
-    if (am_it != shape_actor_map_->end ())
-        return std::cout << "[addText] A text with id <"<<id <<"> already exists! Please choose a different id and retry.\n" << std::endl, false;
-
-    // Create an Actor
-    vtkSmartPointer<vtkTextActor> actor = vtkSmartPointer<vtkTextActor>::New ();
-    actor->SetPosition (xpos, ypos);
-    actor->SetInput (text.c_str ());
-
-    vtkSmartPointer<vtkTextProperty> tprop = actor->GetTextProperty ();
-    tprop->SetFontSize (fontsize);
-    tprop->SetFontFamilyToArial ();
-    tprop->SetJustificationToLeft ();
-    tprop->BoldOn ();
-
-    Color c = vtkcolor(color);
-    tprop->SetColor (c.val);
-    renderer_->AddActor(actor);
-
-    // Save the pointer/ID pair to the global actor map
-    (*shape_actor_map_)[tid] = actor;
-    return (true);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////
-bool temp_viz::Viz3d::VizImpl::updateText (const std::string &text, int xpos, int ypos, const Color& color, int fontsize, const std::string &id)
-{
-    std::string tid = id.empty() ? text : id;
-
-    ShapeActorMap::iterator am_it = shape_actor_map_->find (tid);
-    if (am_it == shape_actor_map_->end ())
-        return false;
-
-    // Retrieve the Actor
-    vtkTextActor *actor = vtkTextActor::SafeDownCast (am_it->second);
-
-    actor->SetPosition (xpos, ypos);
-    actor->SetInput (text.c_str ());
-
-    vtkTextProperty* tprop = actor->GetTextProperty ();
-    tprop->SetFontSize (fontsize);
-
-    Color c = vtkcolor(color);
-    tprop->SetColor (c.val);
-
-    actor->Modified ();
-
-    return (true);
-}
-
 bool temp_viz::Viz3d::VizImpl::addPolylineFromPolygonMesh (const Mesh3d& mesh, const std::string &id)
 {
     CV_Assert(mesh.cloud.rows == 1 && mesh.cloud.type() == CV_32FC3);

modules/viz/src/widget.cpp

 #include "precomp.hpp"
 
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget implementation
+
 class temp_viz::Widget::Impl
 {
 public:
-    vtkSmartPointer<vtkProp> actor;
+    vtkSmartPointer<vtkProp> prop;
     int ref_counter;
-
-    Impl() : actor(vtkSmartPointer<vtkLODActor>::New()) {}
     
-    Impl(bool text_widget) 
-    {
-        if (text_widget)
-            actor = vtkSmartPointer<vtkTextActor>::New();
-        else
-            actor = vtkSmartPointer<vtkLeaderActor2D>::New();
-    }
+    Impl() : prop(0) {}
+};
 
-    void setColor(const Color& color)
-    {
-        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
-        Color c = vtkcolor(color);
-        lod_actor->GetMapper ()->ScalarVisibilityOff ();
-        lod_actor->GetProperty ()->SetColor (c.val);
-        lod_actor->GetProperty ()->SetEdgeColor (c.val);
-        lod_actor->GetProperty ()->SetAmbient (0.8);
-        lod_actor->GetProperty ()->SetDiffuse (0.8);
-        lod_actor->GetProperty ()->SetSpecular (0.8);
-        lod_actor->GetProperty ()->SetLighting (0);
-        lod_actor->Modified ();
-    }
+temp_viz::Widget::Widget() : impl_(0)
+{
+    create();
+}
 
-    void setPose(const Affine3f& pose)
-    {
-        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
-        vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
-        lod_actor->SetUserMatrix (matrix);
-        lod_actor->Modified ();
-    }
+temp_viz::Widget::Widget(const Widget &other) : impl_(other.impl_) 
+{
+    if (impl_) CV_XADD(&impl_->ref_counter, 1);
+}
 
-    void updatePose(const Affine3f& pose)
+temp_viz::Widget& temp_viz::Widget::operator=(const Widget &other)
+{
+    if (this != &other)
     {
-        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
-        vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
-        if (!matrix)
-        {
-            setPose(pose);
-            return ;
-        }
-        Matx44f matrix_cv = convertToMatx(matrix);
-
-        Affine3f updated_pose = pose * Affine3f(matrix_cv);
-        matrix = convertToVtkMatrix(updated_pose.matrix);
-
-        lod_actor->SetUserMatrix (matrix);
-        lod_actor->Modified ();
+        release();
+        impl_ = other.impl_;
+        if (impl_) CV_XADD(&impl_->ref_counter, 1);
     }
+    return *this;
+}
 
-    Affine3f getPose() const
-    {
-        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
-        vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
-        Matx44f matrix_cv = convertToMatx(matrix);
-        return Affine3f(matrix_cv);
-    }
+temp_viz::Widget::~Widget()
+{
+    release();
+}
 
-protected:
+void temp_viz::Widget::create()
+{
+    if (impl_) release();
+    impl_ = new Impl();
+    impl_->ref_counter = 1;
+}
 
-    static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f& m)
+void temp_viz::Widget::release()
+{
+    if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
     {
-        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;
+        delete impl_;
+        impl_ = 0;
     }
+}
 
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget accessor implementaion
+
+vtkSmartPointer<vtkProp> temp_viz::WidgetAccessor::getProp(const Widget& widget)
+{
+    return widget.impl_->prop;
+}
+
+void temp_viz::WidgetAccessor::setProp(Widget& widget, vtkSmartPointer<vtkProp> prop)
+{
+    widget.impl_->prop = prop;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget3D implementation
+
+struct temp_viz::Widget3D::MatrixConverter
+{
     static cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
     {
         cv::Matx44f m;
@@ -83,85 +80,102 @@ protected:
                 m(i, k) = vtk_matrix->GetElement (i, k);
         return m;
     }
+    
+    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;
+    }
 };
 
-
-///////////////////////////////////////////////////////////////////////////////////////////////
-/// stream accessor implementaion
-
-vtkSmartPointer<vtkProp> temp_viz::WidgetAccessor::getActor(const Widget& widget)
+void temp_viz::Widget3D::setPose(const Affine3f &pose)
 {
-    return widget.impl_->actor;
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert(actor);
+    
+    vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
+    actor->SetUserMatrix (matrix);
+    actor->Modified ();
 }
 
-///////////////////////////////////////////////////////////////////////////////////////////////
-/// widget implementaion
-
-temp_viz::Widget::Widget() : impl_(0)
+void temp_viz::Widget3D::updatePose(const Affine3f &pose)
 {
-    create();
-}
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert(actor);
+    
+    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+    if (!matrix)
+    {
+        setPose(pose);
+        return ;
+    }
+    Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
 
-temp_viz::Widget::Widget(bool text_widget) : impl_(0)
-{
-    create(text_widget);
-}
+    Affine3f updated_pose = pose * Affine3f(matrix_cv);
+    matrix = MatrixConverter::convertToVtkMatrix(updated_pose.matrix);
 
-temp_viz::Widget::Widget(const Widget& other) : impl_(other.impl_)
-{
-    if (impl_)
-        CV_XADD(&impl_->ref_counter, 1);
+    actor->SetUserMatrix (matrix);
+    actor->Modified ();
 }
 
-temp_viz::Widget& temp_viz::Widget::operator =(const Widget &other)
+temp_viz::Affine3f temp_viz::Widget3D::getPose() const
 {
-    if (this != &other)
-    {
-        release();
-        impl_ = other.impl_;
-        if (impl_)
-            CV_XADD(&impl_->ref_counter, 1);
-    }
-    return *this;
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert(actor);
+    
+    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+    Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
+    return Affine3f(matrix_cv);
 }
 
-temp_viz::Widget::~Widget()
+void temp_viz::Widget3D::setColor(const Color &color)
 {
-    release();
+    // Cast to actor instead of prop3d since prop3d doesn't provide getproperty
+    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert(actor);
+    
+    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 temp_viz::Widget::copyTo(Widget& /*dst*/)
+template<> temp_viz::Widget3D temp_viz::Widget::cast<temp_viz::Widget3D>()
 {
-    // TODO Deep copy the data if there is any
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert(actor);
+
+    Widget3D widget;
+    WidgetAccessor::setProp(widget, actor);
+    return widget;
 }
 
-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(); }
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget2D implementation
 
-void temp_viz::Widget::create()
+void temp_viz::Widget2D::setColor(const Color &color)
 {
-    if (impl_)
-        release();
-    impl_ = new Impl();
-    impl_->ref_counter = 1;
+    vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert(actor);
+    Color c = vtkcolor(color);
+    actor->GetProperty ()->SetColor (c.val);
+    actor->Modified ();
 }
 
-void temp_viz::Widget::release()
+template<> temp_viz::Widget2D temp_viz::Widget::cast<temp_viz::Widget2D>()
 {
-    if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
-    {
-        delete impl_;
-        impl_ = 0;
-    }
-}
+    vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
+    CV_Assert(actor);
 
-void temp_viz::Widget::create(bool text_widget)
-{
-    if (impl_)
-        release();
-    impl_ = new Impl(text_widget);
-    impl_->ref_counter = 1;
+    Widget2D widget;
+    WidgetAccessor::setProp(widget, actor);
+    return widget;
 }
-

modules/viz/test/test_viz3d.cpp

@@ -112,16 +112,40 @@ TEST(Viz_viz3d, accuracy)
     v.showWidget("coordinateSystem", csw);
 //     v.showWidget("text",tw);
 //     v.showWidget("pcw",pcw);
-    v.showWidget("pcw2",pcw2);
+//     v.showWidget("pcw2",pcw2);
     
-    temp_viz::LineWidget lw2 = lw;
+//     temp_viz::LineWidget lw2 = lw;
 //     v.showPointCloud("cld",cloud, colors);
     
     cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0));
 
 //     v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
     temp_viz::CloudNormalsWidget cnw(cloud, normals);
-    v.showWidget("n", cnw);
+//     v.showWidget("n", cnw);
+    
+//     lw = v.getWidget("n").cast<temp_viz::LineWidget>();
+//     pw = v.getWidget("n").cast<temp_viz::PlaneWidget>();
+    
+    cv::Mat points(1, 4, CV_64FC4);
+    
+    cv::Vec4d* data = points.ptr<cv::Vec4d>();
+    data[0] = cv::Vec4d(0.0,0.0,0.0,0.0);
+    data[1] = cv::Vec4d(1.0,1.0,1.0,1.0);
+    data[2] = cv::Vec4d(0.0,2.0,0.0,0.0);
+    data[3] = cv::Vec4d(3.0,4.0,1.0,1.0);
+    points = points.reshape(0, 2);
+    
+    temp_viz::PolyLineWidget plw(points);
+//     v.showWidget("polyline",plw);
+//     lw = v.getWidget("polyline").cast<temp_viz::LineWidget>();
+    
+    temp_viz::GridWidget gw(temp_viz::Vec2i(10,10), temp_viz::Vec2d(0.1,0.1));
+    v.showWidget("grid", gw);
+    lw = v.getWidget("grid").cast<temp_viz::LineWidget>();
+    
+    temp_viz::Text3DWidget t3w("OpenCV", cv::Point3f(0.0, 2.0, 0.0), 1.0, temp_viz::Color(255,255,0));
+    v.showWidget("txt3d", t3w);
+//     float grid_x_angle = 0.0;
     
     while(!v.wasStopped())
     {
@@ -129,28 +153,30 @@ TEST(Viz_viz3d, accuracy)
         cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
         cv::Affine3f cloudPosition2(angle_x, angle_y, angle_z, cv::Vec3f(pos_x+0.2, pos_y+0.2, pos_z+0.2));
 
-        lw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
-        lw.setLineWidth(lw.getLineWidth()+pos_x * 10);
+        lw.setColor(temp_viz::Color(col_blue, col_green, col_red));
+//         lw.setLineWidth(pos_x * 10);
         
-        pw.setColor(temp_viz::Color(col_blue, col_green, col_red));
+        plw.setColor(temp_viz::Color(col_blue, col_green, col_red));
         
         sw.setPose(cloudPosition);
 //         pw.setPose(cloudPosition);
         aw.setPose(cloudPosition);
         cw.setPose(cloudPosition);
         cyw.setPose(cloudPosition);
-        lw.setPose(cloudPosition);
+//         lw.setPose(cloudPosition);
         cuw.setPose(cloudPosition);
 //         cnw.setPose(cloudPosition);
 //         v.showWidget("pcw",pcw, cloudPosition);
 //         v.showWidget("pcw2",pcw2, cloudPosition2);
 //         v.showWidget("plane", pw, cloudPosition);
         
-        v.setWidgetPose("n",cloudPosition);
-        v.setWidgetPose("pcw2", cloudPosition);
+//         v.setWidgetPose("n",cloudPosition);
+//         v.setWidgetPose("pcw2", cloudPosition);
         cnw.setColor(temp_viz::Color(col_blue, col_green, col_red));
         pcw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
         
+        gw.updatePose(temp_viz::Affine3f(0.0, 0.1, 0.0, cv::Vec3f(0.0,0.0,0.0)));
+        
         angle_x += 0.1f;
         angle_y -= 0.1f;
         angle_z += 0.1f;