clean unnecessary methods, make text3d face camera

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 ();

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)

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);

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);