slight refactoring of widget system code

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(); }
+
+
+