fix vtkActor to vtkLODActor, initial implementation LineWidget, showWidget

modules/viz/include/opencv2/viz/types.hpp

@@ -118,17 +118,22 @@ namespace temp_viz
     {
     public:
         Widget();
-        Widget(const String &id);
         Widget(const Widget &other);
         
-        void setId(const String &id);
         void setColor(const Color &color);
         void setPose(const Affine3f &pose);
         void updatePose(const Affine3f &pose);
         Affine3f getPose() const;
+        
     private:
         class Impl;
         cv::Ptr<Impl> impl_;
         friend struct WidgetAccessor;
     }; 
+    
+    class LineWidget : public Widget
+    {
+    public:
+        LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color);
+    };
 }

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

@@ -69,6 +69,8 @@ namespace temp_viz
         void registerMouseCallback(void (*callback)(const MouseEvent&, void*), void* cookie = 0);
 
         bool wasStopped() const;
+        
+        void showWidget(const String &id, const Widget &widget);
     private:
         Viz3d(const Viz3d&);
         Viz3d& operator=(const Viz3d&);

modules/viz/include/opencv2/viz/widget_accessor.hpp

@@ -1,12 +1,11 @@
 #pragma once
 
-#include "precomp.hpp"
+#include <opencv2/viz/types.hpp>
-#include "types.hpp"
 
 namespace temp_viz
 {
     struct WidgetAccessor
     {
-        static CV_EXPORTS vtkSmartPointer<vtkActor> getActor(const Widget &widget);
+        static CV_EXPORTS vtkSmartPointer<vtkLODActor> getActor(const Widget &widget);
     };
 }

modules/viz/src/q/viz3d_impl.hpp

@@ -245,6 +245,9 @@ public:
 
     void setPosition (int x, int y);
     void setSize (int xw, int yw);
+    
+    void showWidget(const String &id, const Widget &widget);
+    void all_data();
 
 private:
     vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
@@ -311,6 +314,9 @@ private:
 
     /** \brief Internal list with actor pointers and name IDs for shapes. */
     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_;
 
     /** \brief Boolean that holds whether or not the camera parameters were manually initialized*/
     bool camera_set_;

modules/viz/src/q/viz_types.h

@@ -15,8 +15,17 @@ namespace temp_viz
         /** \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;
 }
 

modules/viz/src/types.cpp

@@ -24,28 +24,18 @@ class temp_viz::Widget::Impl
 {
 public:
     String id;
-    vtkSmartPointer<vtkActor> actor;
+    vtkSmartPointer<vtkLODActor> actor;
     
     Impl() 
     {
-        actor = vtkSmartPointer<vtkActor>:: New();
+        actor = vtkSmartPointer<vtkLODActor>::New ();
     }
     
-    vtkSmartPointer<vtkActor> getActor()
+    vtkSmartPointer<vtkLODActor> getActor()
     {
         return actor;
     }
     
-    void setId(const String &id)
-    {
-        this->id = id;
-    }
-    
-    const temp_viz::String & getString() const
-    {
-        return id;
-    }
-    
     void setColor(const Color & color)
     {
         Color c = vtkcolor(color);
@@ -85,11 +75,22 @@ public:
         return Affine3f(matrix_cv);
     }
     
+    void setActorMapperInput(const vtkSmartPointer<vtkDataSet> &data)
+    {   
+        vtkSmartPointer<vtkDataSetMapper> mapper = reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ());
+        if (mapper == 0)
+        {
+            mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+            actor->SetMapper(mapper);
+        }
+        mapper->SetInput (data);
+    }
+    
 protected:
     
     vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f &m) const
     {
-        vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New();
+        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));
@@ -101,20 +102,12 @@ protected:
         for (int i = 0; i < 4; i++)
             for (int k = 0; k < 4; k++)
                 m(i,k) = vtk_matrix->GetElement (i, k);
-    }
+    }    
-    
 };
 
 temp_viz::Widget::Widget()
 {
     impl_ = new Impl();
-    impl_->setId("id");
-}
-
-temp_viz::Widget::Widget(const String &id)
-{
-    impl_ = new Impl();
-    impl_->setId("id");
 }
 
 temp_viz::Widget::Widget(const Widget &other)
@@ -122,11 +115,6 @@ temp_viz::Widget::Widget(const Widget &other)
     impl_ = other.impl_;
 }
 
-void temp_viz::Widget::setId(const String &id)
-{
-    impl_->setId(id);
-}
-
 void temp_viz::Widget::setColor(const Color &color)
 {
     impl_->setColor(color);
@@ -147,11 +135,18 @@ temp_viz::Affine3f temp_viz::Widget::getPose() const
     return impl_->getPose();
 }
 
-// TODO Check if HAVE_VTK
 #include "opencv2/viz/widget_accessor.hpp"
 
-vtkSmartPointer<vtkActor> temp_viz::WidgetAccessor::getActor(const temp_viz::Widget &widget)
+vtkSmartPointer<vtkLODActor> temp_viz::WidgetAccessor::getActor(const temp_viz::Widget &widget)
 {
     return widget.impl_->actor;
 }
 
+temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color) : Widget()
+{
+    // Create the line and set actor's data
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput(createLine(pt1,pt2));
+    temp_viz::WidgetAccessor::getActor(*this)->SetMapper(mapper);
+    setColor(color);
+}

modules/viz/src/viz3d.cpp

@@ -139,3 +139,7 @@ void temp_viz::Viz3d::registerMouseCallback(void (*callback)(const MouseEvent&,
 
 bool temp_viz::Viz3d::wasStopped() const { return impl_->wasStopped(); }
 
+void temp_viz::Viz3d::showWidget(const String &id, const Widget &widget)
+{
+    impl_->showWidget(id, widget);
+}

modules/viz/src/viz3d_impl.cpp

@@ -1168,3 +1168,18 @@ bool temp_viz::Viz3d::VizImpl::addPolygon (const cv::Mat& cloud, const Color& co
 
     return (true);
 }
+
+#include "opencv2/viz/widget_accessor.hpp"
+
+void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget)
+{
+    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = !(wam_itr == widget_actor_map_->end());
+    if (exists)
+    {
+        // Remove it if it exists and add it again
+        removeActorFromRenderer(wam_itr->second.actor);
+    }
+    renderer_->AddActor(WidgetAccessor::getActor(widget));
+    (*widget_actor_map_)[id].actor = WidgetAccessor::getActor(widget);
+}

modules/viz/src/viz_main.cpp

@@ -17,6 +17,7 @@ temp_viz::Viz3d::VizImpl::VizImpl (const std::string &name)
     :  style_ (vtkSmartPointer<temp_viz::InteractorStyle>::New ())
     , cloud_actor_map_ (new CloudActorMap)
     , shape_actor_map_ (new ShapeActorMap)
+    , widget_actor_map_ (new WidgetActorMap)
     , s_lastDone_(0.0)
 {
     renderer_ = vtkSmartPointer<vtkRenderer>::New ();

modules/viz/test/test_viz3d.cpp

@@ -94,6 +94,8 @@ TEST(Viz_viz3d, accuracy)
     v.showCircle("circle1", cv::Point3f(0,0,0), 1.0, temp_viz::Color(0,255,0));
     v.showSphere("sphere1", cv::Point3f(0,0,0), 0.5, temp_viz::Color(0,0,255));
     v.showArrow("arrow1", cv::Point3f(0,0,0), cv::Point3f(1,1,1), temp_viz::Color(255,0,0));
+    temp_viz::LineWidget lw(cv::Point3f(0.0,0.0,0.0), cv::Point3f(1.0,1.0,1.0), temp_viz::Color(0,255,0));
+    v.showWidget("line", lw);
     
     while(!v.wasStopped())
     {
@@ -110,6 +112,7 @@ TEST(Viz_viz3d, accuracy)
         v.setShapePose("circle1", cloudPosition);
         v.setShapePose("sphere1", cloudPosition);
         v.setShapePose("arrow1", cloudPosition);
+        lw.setColor(temp_viz::Color(col_blue, col_green, col_red));
         
         angle_x += 0.1f;
         angle_y -= 0.1f;