slight refactoring of widget system code

modules/viz/include/opencv2/viz.hpp

@@ -1,3 +1,6 @@
 #pragma once
 
+#include <opencv2/viz/types.hpp>
+#include <opencv2/viz/widgets.hpp>
 #include <opencv2/viz/viz3d.hpp>
+

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

@@ -36,8 +36,6 @@ namespace temp_viz
     using cv::DataType;
 
 
-
-
     struct CV_EXPORTS ModelCoefficients
     {
         std::vector<float> values;
@@ -81,6 +79,8 @@ namespace temp_viz
         std::vector<Vertices> polygons;
     };
 
+    /////////////////////////////////////////////////////////////////////////////
+    /// Utility functions
 
     inline Color vtkcolor(const Color& color)
     {
@@ -90,12 +90,8 @@ namespace temp_viz
     }
 
     inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); }
-
-
-
     template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); }
     
-    
     inline bool isNan(float x)
     {
         unsigned int *u = reinterpret_cast<unsigned int *>(&x);
@@ -113,30 +109,4 @@ namespace temp_viz
 
     template<typename _Tp> inline bool isNan(const Point3_<_Tp>& p)
     { return isNan(p.x) || isNan(p.y) || isNan(p.z); }
-    
-    class Widget
-    {
-    public:
-        Widget();
-        Widget(const Widget &other);
-        Widget& operator =(const Widget &other);
-        
-        void copyTo(Widget &dst);
-        
-        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 = Color(255,255,255));
-    };
 }

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

@@ -10,6 +10,7 @@
 
 #include <string>
 #include <opencv2/viz/types.hpp>
+#include <opencv2/viz/widgets.hpp>
 #include <opencv2/viz/events.hpp>
 
 namespace temp_viz
@@ -33,8 +34,8 @@ namespace temp_viz
         bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String& id = "cloud");
         
         void showLine(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color = Color::white());
-        void showPlane(const String& id, const Vec4f& coefs, const Color& color = Color::white());
+        void showPlane(const String& id, const Vec4f& coeffs, const Color& color = Color::white());
-        void showPlane(const String& id, const Vec4f& coefs, const Point3f& pt, const Color& color = Color::white());
+        void showPlane(const String& id, const Vec4f& coeffs, const Point3f& pt, const Color& color = Color::white());
         void showCube(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color = Color::white());
         void showCylinder(const String& id, const Point3f& pt_on_axis, const Point3f&  axis_direction, double radius, int num_sides, const Color& color = Color::white());
         void showCircle(const String& id, const Point3f& pt, double radius, const Color& color = Color::white());

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

@@ -1,11 +1,15 @@
 #pragma once
 
-#include <opencv2/viz/types.hpp>
+#include <opencv2/viz/widgets.hpp>
+#include <vtkSmartPointer.h>
+#include <vtkLODActor.h>
 
 namespace temp_viz
 {
-    struct WidgetAccessor
+    //The class is only that depends on VTK in its interface.
+    //It is indended for those user who want to develop own widgets system using VTK library API.
+    struct CV_EXPORTS WidgetAccessor
     {
-        static CV_EXPORTS vtkSmartPointer<vtkLODActor> getActor(const Widget &widget);
+        static  vtkSmartPointer<vtkLODActor> getActor(const Widget &widget);
     };
 }

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

@@ -0,0 +1,38 @@
+#pragma once
+
+#include <opencv2/viz/types.hpp>
+
+
+namespace temp_viz
+{
+    /////////////////////////////////////////////////////////////////////////////
+    /// brief The base class for all widgets
+    class CV_EXPORTS Widget
+    {
+    public:
+        Widget();
+        Widget(const Widget &other);
+        Widget& operator =(const Widget &other);
+
+        void copyTo(Widget &dst);
+
+        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 CV_EXPORTS LineWidget : public Widget
+    {
+    public:
+        LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
+    };
+
+
+}

modules/viz/src/precomp.hpp

@@ -154,3 +154,5 @@
 
 
 #include <q/shapes.h>
+#include "opencv2/viz/widget_accessor.hpp"
+#include <opencv2/viz/widgets.hpp>

modules/viz/src/simple_widgets.cpp

@@ -0,0 +1,18 @@
+#include "precomp.hpp"
+
+
+temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color)
+{
+    vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
+    line->SetPoint1 (pt1.x, pt1.y, pt1.z);
+    line->SetPoint2 (pt2.x, pt2.y, pt2.z);
+    line->Update ();
+
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput(line->GetOutput ());
+
+    vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this);
+    actor->SetMapper(mapper);
+
+    setColor(color);
+}

modules/viz/src/types.cpp

@@ -20,134 +20,3 @@ temp_viz::Color temp_viz::Color::white()   { return Color(255, 255, 255); }
 
 temp_viz::Color temp_viz::Color::gray()    { return Color(128, 128, 128); }
 
-class temp_viz::Widget::Impl
-{
-public:
-    String id;
-    vtkSmartPointer<vtkLODActor> actor;
-    
-    Impl() 
-    {
-        actor = vtkSmartPointer<vtkLODActor>::New ();
-    }
-    
-    vtkSmartPointer<vtkLODActor> getActor()
-    {
-        return actor;
-    }
-    
-    void setColor(const Color & color)
-    {
-        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 setPose(const Affine3f &pose)
-    {
-        vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
-        actor->SetUserMatrix (matrix);
-        actor->Modified ();
-    }
-
-    void updatePose(const Affine3f &pose)
-    {
-        vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
-        Matx44f matrix_cv;
-        convertToCvMatrix(matrix, matrix_cv);
-        matrix = convertToVtkMatrix ((pose * Affine3f(matrix_cv)).matrix);
-
-        actor->SetUserMatrix (matrix);
-        actor->Modified ();
-    }
-    
-    Affine3f getPose() const
-    {
-        vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
-        Matx44f matrix_cv;
-        convertToCvMatrix(matrix, matrix_cv);
-        return Affine3f(matrix_cv);
-    }
-    
-protected:
-    
-    vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f &m) const
-    {
-        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;
-    }
-    
-    void convertToCvMatrix (const vtkSmartPointer<vtkMatrix4x4> &vtk_matrix, cv::Matx44f &m) const
-    {
-        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();
-}
-
-temp_viz::Widget::Widget(const Widget &other)
-{
-    impl_ = other.impl_;
-}
-
-temp_viz::Widget& temp_viz::Widget::operator =(const Widget &other)
-{
-    if (this != &other)
-        impl_ = other.impl_;
-    return *this;
-}
-
-void temp_viz::Widget::copyTo(Widget &dst)
-{
-    // TODO Deep copy the data if there is any
-}
-
-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();
-}
-
-#include "opencv2/viz/widget_accessor.hpp"
-
-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

@@ -77,14 +77,14 @@ void temp_viz::Viz3d::showLine(const String& id, const Point3f& pt1, const Point
     impl_->showLine(id, pt1, pt2, color);
 }
 
-void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coefs, const Color& color)
+void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coeffs, const Color& color)
 {
-    impl_->showPlane(id, coefs, color);
+    impl_->showPlane(id, coeffs, color);
 }
 
-void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coefs, const Point3f& pt, const Color& color)
+void temp_viz::Viz3d::showPlane(const String& id, const Vec4f &coeffs, const Point3f& pt, const Color& color)
 {
-    impl_->showPlane(id, coefs, pt, color);
+    impl_->showPlane(id, coeffs, pt, color);
 }
 
 void temp_viz::Viz3d::showCube(const String& id, const Point3f& pt1, const Point3f& pt2, const Color& color)

modules/viz/src/viz3d_impl.cpp

@@ -416,7 +416,7 @@ void temp_viz::Viz3d::VizImpl::showLine (const String& id, const Point3f& pt1, c
     }
 }
 
-void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coefs, const Color& color)
+void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coeffs, const Color& color)
 {
     // Check if this Id already exists
     ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
@@ -426,7 +426,7 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coe
     if (exists)
     {
         vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
-        reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs));
+        reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coeffs));
         actor->GetProperty ()->SetColor (c.val);
         actor->GetMapper ()->ScalarVisibilityOff ();
         actor->Modified ();
@@ -434,7 +434,7 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coe
     else
     {
         // Create a plane
-        vtkSmartPointer<vtkDataSet> data = createPlane (coefs);
+        vtkSmartPointer<vtkDataSet> data = createPlane (coeffs);
 
         // Create an Actor
         vtkSmartPointer<vtkLODActor> actor;
@@ -451,7 +451,7 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String& id, const cv::Vec4f &coe
     }
 }
 
-void temp_viz::Viz3d::VizImpl::showPlane (const String& id ,const cv::Vec4f &coefs, const Point3f& pt, const Color& color)
+void temp_viz::Viz3d::VizImpl::showPlane (const String& id ,const cv::Vec4f &coeffs, const Point3f& pt, const Color& color)
 {
     // Check if this Id already exists
     ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
@@ -461,7 +461,7 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String& id ,const cv::Vec4f &coe
     if (exists)
     {
         vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
-        reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs, pt));
+        reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coeffs, pt));
         actor->GetProperty ()->SetColor (c.val);
         actor->GetMapper ()->ScalarVisibilityOff ();
         actor->Modified ();
@@ -469,7 +469,7 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String& id ,const cv::Vec4f &coe
     else
     {
         // Create a plane
-        vtkSmartPointer<vtkDataSet> data = createPlane (coefs, pt);
+        vtkSmartPointer<vtkDataSet> data = createPlane (coeffs, pt);
 
         // Create an Actor
         vtkSmartPointer<vtkLODActor> actor;

modules/viz/src/widget.cpp

@@ -0,0 +1,110 @@
+#include "precomp.hpp"
+
+class temp_viz::Widget::Impl
+{
+public:
+    vtkSmartPointer<vtkLODActor> actor;
+
+    Impl() : actor(vtkSmartPointer<vtkLODActor>::New()) {}
+
+    void setColor(const Color& color)
+    {
+        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 setPose(const Affine3f& pose)
+    {
+        vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
+        actor->SetUserMatrix (matrix);
+        actor->Modified ();
+    }
+
+    void updatePose(const Affine3f& pose)
+    {
+        vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+        Matx44f matrix_cv = convertToMatx(matrix);
+
+        Affine3f updated_pose = pose * Affine3f(matrix_cv);
+        matrix = convertToVtkMatrix(updated_pose.matrix);
+
+        actor->SetUserMatrix (matrix);
+        actor->Modified ();
+    }
+
+    Affine3f getPose() const
+    {
+        vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+        Matx44f matrix_cv = convertToMatx(matrix);
+        return Affine3f(matrix_cv);
+    }
+
+protected:
+
+    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;
+    }
+
+    static cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
+    {
+        cv::Matx44f m;
+        for (int i = 0; i < 4; i++)
+            for (int k = 0; k < 4; k++)
+                m(i, k) = vtk_matrix->GetElement (i, k);
+        return m;
+    }
+};
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// stream accessor implementaion
+
+vtkSmartPointer<vtkLODActor> temp_viz::WidgetAccessor::getActor(const Widget& widget)
+{
+    return widget.impl_->actor;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget implementaion
+
+temp_viz::Widget::Widget()
+{
+    impl_ = new Impl();
+}
+
+temp_viz::Widget::Widget(const Widget& other)
+{
+    impl_ = other.impl_;
+}
+
+temp_viz::Widget& temp_viz::Widget::operator =(const Widget &other)
+{
+    if (this != &other)
+        impl_ = other.impl_;
+    return *this;
+}
+
+void temp_viz::Widget::copyTo(Widget& /*dst*/)
+{
+    // TODO Deep copy the data if there is any
+}
+
+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(); }
+
+
+

modules/viz/test/test_viz3d.cpp

@@ -47,7 +47,7 @@
 #include <fstream>
 #include <string>
 
-#include <opencv2/viz/types.hpp>
+#include <opencv2/viz.hpp>
 #include <opencv2/viz/mesh_load.hpp>
 
 cv::Mat cvcloud_load()