remove cloudactormap, shapeactormap. only vtkProp is stored and view…

remove cloudactormap, shapeactormap. only vtkProp is stored and view transformation can be obtained using GetUserMatrix of vtkProp3D

modules/viz/src/interactor_style.cpp

@@ -432,17 +432,17 @@ cv::viz::InteractorStyle::OnKeyDown ()
 
         vtkSmartPointer<vtkCamera> cam = CurrentRenderer->GetActiveCamera ();
 
-        static CloudActorMap::iterator it = actors_->begin ();
+        static WidgetActorMap::iterator it = widget_actor_map_->begin ();
         // it might be that some actors don't have a valid transformation set -> we skip them to avoid a seg fault.
         bool found_transformation = false;
 
-        for (size_t idx = 0; idx < actors_->size (); ++idx, ++it)
+        for (size_t idx = 0; idx < widget_actor_map_->size (); ++idx, ++it)
         {
-            if (it == actors_->end ())
-                it = actors_->begin ();
-
-            const CloudActor& actor = it->second;
-            if (actor.viewpoint_transformation_.GetPointer ())
+            if (it == widget_actor_map_->end ())
+                it = widget_actor_map_->begin ();
+            
+            vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second);
+            if (actor && actor->GetUserMatrix())
             {
                 found_transformation = true;
                 break;
@@ -452,18 +452,18 @@ cv::viz::InteractorStyle::OnKeyDown ()
         // if a valid transformation was found, use it otherwise fall back to default view point.
         if (found_transformation)
         {
-            const CloudActor& actor = it->second;
-            cam->SetPosition (actor.viewpoint_transformation_->GetElement (0, 3),
-                              actor.viewpoint_transformation_->GetElement (1, 3),
-                              actor.viewpoint_transformation_->GetElement (2, 3));
-
-            cam->SetFocalPoint (actor.viewpoint_transformation_->GetElement (0, 3) - actor.viewpoint_transformation_->GetElement (0, 2),
-                                actor.viewpoint_transformation_->GetElement (1, 3) - actor.viewpoint_transformation_->GetElement (1, 2),
-                                actor.viewpoint_transformation_->GetElement (2, 3) - actor.viewpoint_transformation_->GetElement (2, 2));
-
-            cam->SetViewUp (actor.viewpoint_transformation_->GetElement (0, 1),
-                            actor.viewpoint_transformation_->GetElement (1, 1),
-                            actor.viewpoint_transformation_->GetElement (2, 1));
+            vtkProp3D * actor = vtkProp3D::SafeDownCast(it->second);
+            cam->SetPosition (actor->GetUserMatrix()->GetElement (0, 3),
+                              actor->GetUserMatrix()->GetElement (1, 3),
+                              actor->GetUserMatrix()->GetElement (2, 3));
+
+            cam->SetFocalPoint (actor->GetUserMatrix()->GetElement (0, 3) - actor->GetUserMatrix()->GetElement (0, 2),
+                                actor->GetUserMatrix()->GetElement (1, 3) - actor->GetUserMatrix()->GetElement (1, 2),
+                                actor->GetUserMatrix()->GetElement (2, 3) - actor->GetUserMatrix()->GetElement (2, 2));
+
+            cam->SetViewUp (actor->GetUserMatrix()->GetElement (0, 1),
+                            actor->GetUserMatrix()->GetElement (1, 1),
+                            actor->GetUserMatrix()->GetElement (2, 1));
         }
         else
         {
@@ -473,10 +473,10 @@ cv::viz::InteractorStyle::OnKeyDown ()
         }
 
         // go to the next actor for the next key-press event.
-        if (it != actors_->end ())
+        if (it != widget_actor_map_->end ())
             ++it;
         else
-            it = actors_->begin ();
+            it = widget_actor_map_->begin ();
 
         CurrentRenderer->SetActiveCamera (cam);
         CurrentRenderer->ResetCameraClippingRange ();

modules/viz/src/interactor_style.h

@@ -50,7 +50,7 @@ namespace cv
             /** \brief Initialization routine. Must be called before anything else. */
             virtual void Initialize ();
 
-            inline void setCloudActorMap (const Ptr<CloudActorMap>& actors) { actors_ = actors; }
+            inline void setWidgetActorMap (const Ptr<WidgetActorMap>& actors) { widget_actor_map_ = actors; }
             void setRenderer (vtkSmartPointer<vtkRenderer>& ren) { renderer_ = ren; }
             void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0);
             void registerKeyboardCallback(void (*callback)(const KeyboardEvent&, void*), void * cookie = 0);
@@ -73,8 +73,8 @@ namespace cv
             vtkSmartPointer<vtkRenderer> renderer_;
 
             /** \brief Actor map stored internally. */
-            cv::Ptr<CloudActorMap> actors_;
-
+            cv::Ptr<WidgetActorMap> widget_actor_map_;
+            
             /** \brief The current window width/height. */
             Vec2i win_size_;
 

modules/viz/src/viz3d_impl.cpp

@@ -11,8 +11,6 @@ vtkRenderWindowInteractor* vtkRenderWindowInteractorFixNew ()
 /////////////////////////////////////////////////////////////////////////////////////////////
 cv::viz::Viz3d::VizImpl::VizImpl (const std::string &name)
     :  style_ (vtkSmartPointer<cv::viz::InteractorStyle>::New ())
-    , cloud_actor_map_ (new CloudActorMap)
-    , shape_actor_map_ (new ShapeActorMap)
     , widget_actor_map_ (new WidgetActorMap)
     , s_lastDone_(0.0)
 {
@@ -30,7 +28,7 @@ cv::viz::Viz3d::VizImpl::VizImpl (const std::string &name)
     // Create the interactor style
     style_->Initialize ();
     style_->setRenderer (renderer_);
-    style_->setCloudActorMap (cloud_actor_map_);
+    style_->setWidgetActorMap (widget_actor_map_);
     style_->UseTimersOn ();
 
     /////////////////////////////////////////////////
@@ -358,11 +356,13 @@ void cv::viz::Viz3d::VizImpl::converTo3DRay(const Point3d &window_coord, Point3d
 /////////////////////////////////////////////////////////////////////////////////////////////
 void cv::viz::Viz3d::VizImpl::resetCameraViewpoint (const std::string &id)
 {
-    // TODO Cloud actor is not used
     vtkSmartPointer<vtkMatrix4x4> camera_pose;
-    static CloudActorMap::iterator it = cloud_actor_map_->find (id);
-    if (it != cloud_actor_map_->end ())
-        camera_pose = it->second.viewpoint_transformation_;
+    static WidgetActorMap::iterator it = widget_actor_map_->find (id);
+    if (it != widget_actor_map_->end ())
+    {
+        vtkProp3D *actor = vtkProp3D::SafeDownCast(it->second);
+        camera_pose = actor->GetUserMatrix();
+    }
     else
         return;
 
@@ -370,10 +370,6 @@ void cv::viz::Viz3d::VizImpl::resetCameraViewpoint (const std::string &id)
     if (!camera_pose)
         return;
 
-    // set all renderer to this viewpoint
-    //rens_->InitTraversal ();
-
-
     vtkSmartPointer<vtkCamera> cam = renderer_->GetActiveCamera ();
     cam->SetPosition (camera_pose->GetElement (0, 3),
                       camera_pose->GetElement (1, 3),
@@ -522,7 +518,7 @@ void cv::viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget,
     if (exists)
     {
         // Remove it if it exists and add it again
-        removeActorFromRenderer(wam_itr->second.actor);
+        removeActorFromRenderer(wam_itr->second);
     }
     // Get the actor and set the user matrix
     vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(widget));
@@ -541,7 +537,7 @@ void cv::viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget,
     }
 
     renderer_->AddActor(WidgetAccessor::getProp(widget));
-    (*widget_actor_map_)[id].actor = WidgetAccessor::getProp(widget);
+    (*widget_actor_map_)[id] = WidgetAccessor::getProp(widget);
 }
 
 void cv::viz::Viz3d::VizImpl::removeWidget(const String &id)
@@ -549,7 +545,7 @@ void cv::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));
+    CV_Assert(removeActorFromRenderer (wam_itr->second));
     widget_actor_map_->erase(wam_itr);
 }
 
@@ -560,7 +556,7 @@ cv::viz::Widget cv::viz::Viz3d::VizImpl::getWidget(const String &id) const
     CV_Assert(exists);
 
     Widget widget;
-    WidgetAccessor::setProp(widget, wam_itr->second.actor);
+    WidgetAccessor::setProp(widget, wam_itr->second);
     return widget;
 }
 
@@ -570,7 +566,7 @@ void cv::viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3f &po
     bool exists = wam_itr != widget_actor_map_->end();
     CV_Assert(exists);
 
-    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second.actor);
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
     CV_Assert(actor);
 
     vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
@@ -584,7 +580,7 @@ void cv::viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f
     bool exists = wam_itr != widget_actor_map_->end();
     CV_Assert(exists);
 
-    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second.actor);
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
     CV_Assert(actor);
 
     vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
@@ -607,7 +603,7 @@ cv::Affine3f cv::viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
     bool exists = wam_itr != widget_actor_map_->end();
     CV_Assert(exists);
 
-    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second.actor);
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(wam_itr->second);
     CV_Assert(actor);
 
     vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();

modules/viz/src/viz3d_impl.hpp

@@ -144,10 +144,10 @@ private:
     vtkSmartPointer<InteractorStyle> style_;
 
     /** \brief Internal list with actor pointers and name IDs for point clouds. */
-    cv::Ptr<CloudActorMap> cloud_actor_map_;
+//     cv::Ptr<CloudActorMap> cloud_actor_map_;
 
     /** \brief Internal list with actor pointers and name IDs for shapes. */
-    cv::Ptr<ShapeActorMap> shape_actor_map_;
+//     cv::Ptr<ShapeActorMap> shape_actor_map_;
     
     /** \brief Internal list with actor pointers and name IDs for all widget actors */
     cv::Ptr<WidgetActorMap> widget_actor_map_;

modules/viz/src/viz_types.h

@@ -6,29 +6,7 @@ namespace cv
 {
     namespace viz
     {
-        struct CV_EXPORTS CloudActor
-        {
-            /** \brief The actor holding the data to render. */
-            vtkSmartPointer<vtkLODActor> actor;
-
-            /** \brief The viewpoint transformation matrix. */
-            vtkSmartPointer<vtkMatrix4x4> viewpoint_transformation_;
-
-            /** \brief Internal cell array. Used for optimizing updatePointCloud. */
-            vtkSmartPointer<vtkIdTypeArray> cells;
-        };
-
-        // TODO This will be used to contain both cloud and shape actors
-        struct CV_EXPORTS WidgetActor
-        {
-            vtkSmartPointer<vtkProp> actor;
-            vtkSmartPointer<vtkMatrix4x4> viewpoint_transformation_;
-            vtkSmartPointer<vtkIdTypeArray> cells;
-        };
-
-        typedef std::map<std::string, CloudActor> CloudActorMap;
-        typedef std::map<std::string, vtkSmartPointer<vtkProp> > ShapeActorMap;
-        typedef std::map<std::string, WidgetActor> WidgetActorMap;
+        typedef std::map<std::string, vtkSmartPointer<vtkProp> > WidgetActorMap;
     }
 }