2013-07-04 17:54:00 +08:00
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#include "precomp.hpp"
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2013-07-09 16:21:57 +08:00
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///////////////////////////////////////////////////////////////////////////////////////////////
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/// widget implementation
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2013-07-04 17:54:00 +08:00
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class temp_viz::Widget::Impl
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{
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public:
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2013-07-09 23:35:26 +08:00
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vtkSmartPointer<vtkProp> prop;
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2013-07-09 17:07:21 +08:00
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int ref_counter;
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Impl() : prop(0) {}
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2013-07-09 16:21:57 +08:00
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};
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2013-07-04 17:54:00 +08:00
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2013-07-09 16:21:57 +08:00
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temp_viz::Widget::Widget() : impl_(0)
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{
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2013-07-09 17:07:21 +08:00
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create();
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2013-07-09 16:21:57 +08:00
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}
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2013-07-04 17:54:00 +08:00
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2013-07-09 17:07:21 +08:00
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temp_viz::Widget::Widget(const Widget &other) : impl_(other.impl_)
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{
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if (impl_) CV_XADD(&impl_->ref_counter, 1);
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2013-07-09 16:21:57 +08:00
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}
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2013-07-04 17:54:00 +08:00
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2013-07-09 20:12:49 +08:00
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temp_viz::Widget& temp_viz::Widget::operator=(const Widget &other)
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{
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if (this != &other)
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{
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release();
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2013-07-09 16:21:57 +08:00
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impl_ = other.impl_;
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2013-07-09 17:07:21 +08:00
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if (impl_) CV_XADD(&impl_->ref_counter, 1);
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2013-07-04 17:54:00 +08:00
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}
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2013-07-09 16:21:57 +08:00
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return *this;
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}
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2013-07-04 17:54:00 +08:00
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2013-07-09 16:21:57 +08:00
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temp_viz::Widget::~Widget()
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{
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2013-07-09 17:07:21 +08:00
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release();
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}
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void temp_viz::Widget::create()
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{
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if (impl_) release();
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impl_ = new Impl();
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impl_->ref_counter = 1;
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}
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void temp_viz::Widget::release()
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{
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if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
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{
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2013-07-09 16:21:57 +08:00
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delete impl_;
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impl_ = 0;
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2013-07-04 17:54:00 +08:00
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}
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2013-07-09 16:21:57 +08:00
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}
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2013-07-04 17:54:00 +08:00
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///////////////////////////////////////////////////////////////////////////////////////////////
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2013-07-09 17:07:21 +08:00
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/// widget accessor implementaion
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2013-07-04 17:54:00 +08:00
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2013-07-09 21:18:44 +08:00
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vtkSmartPointer<vtkProp> temp_viz::WidgetAccessor::getProp(const Widget& widget)
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{
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return widget.impl_->prop;
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2013-07-04 17:54:00 +08:00
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}
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void temp_viz::WidgetAccessor::setProp(Widget& widget, vtkSmartPointer<vtkProp> prop)
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{
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widget.impl_->prop = prop;
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2013-07-09 16:21:57 +08:00
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}
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2013-07-04 17:54:00 +08:00
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///////////////////////////////////////////////////////////////////////////////////////////////
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/// widget3D implementation
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struct temp_viz::Widget3D::MatrixConverter
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{
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static cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
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{
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cv::Matx44f m;
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for (int i = 0; i < 4; i++)
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for (int k = 0; k < 4; k++)
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m(i, k) = vtk_matrix->GetElement (i, k);
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return m;
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}
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static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f& m)
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{
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vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
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for (int i = 0; i < 4; i++)
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for (int k = 0; k < 4; k++)
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vtk_matrix->SetElement(i, k, m(i, k));
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return vtk_matrix;
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}
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};
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temp_viz::Widget3D::Widget3D(const Widget& other) : Widget(other)
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{
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// Check if other's actor is castable to vtkProp3D
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vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(other));
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CV_Assert(actor);
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}
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temp_viz::Widget3D& temp_viz::Widget3D::operator =(const Widget &other)
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{
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// Check if other's actor is castable to vtkProp3D
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vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(other));
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CV_Assert(actor);
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Widget::operator=(other);
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return *this;
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}
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void temp_viz::Widget3D::setPose(const Affine3f &pose)
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{
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vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
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CV_Assert(actor);
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vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
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actor->SetUserMatrix (matrix);
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actor->Modified ();
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2013-07-04 17:54:00 +08:00
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}
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void temp_viz::Widget3D::updatePose(const Affine3f &pose)
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{
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vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
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CV_Assert(actor);
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vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
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if (!matrix)
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{
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setPose(pose);
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return ;
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2013-07-04 20:57:49 +08:00
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}
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Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
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Affine3f updated_pose = pose * Affine3f(matrix_cv);
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matrix = MatrixConverter::convertToVtkMatrix(updated_pose.matrix);
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actor->SetUserMatrix (matrix);
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actor->Modified ();
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2013-07-04 17:54:00 +08:00
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}
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temp_viz::Affine3f temp_viz::Widget3D::getPose() const
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{
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vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
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CV_Assert(actor);
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vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
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Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
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return Affine3f(matrix_cv);
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}
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2013-07-09 16:21:57 +08:00
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void temp_viz::Widget3D::setColor(const Color &color)
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{
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// Cast to actor instead of prop3d since prop3d doesn't provide getproperty
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vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getProp(*this));
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CV_Assert(actor);
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Color c = vtkcolor(color);
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actor->GetMapper ()->ScalarVisibilityOff ();
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actor->GetProperty ()->SetColor (c.val);
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actor->GetProperty ()->SetEdgeColor (c.val);
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actor->GetProperty ()->SetAmbient (0.8);
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actor->GetProperty ()->SetDiffuse (0.8);
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actor->GetProperty ()->SetSpecular (0.8);
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actor->GetProperty ()->SetLighting (0);
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actor->Modified ();
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}
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2013-07-10 00:02:43 +08:00
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template<> temp_viz::Widget3D temp_viz::Widget::cast<temp_viz::Widget3D>()
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{
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vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
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CV_Assert(actor);
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Widget3D widget;
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WidgetAccessor::setProp(widget, actor);
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return widget;
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}
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2013-07-09 20:12:49 +08:00
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///////////////////////////////////////////////////////////////////////////////////////////////
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/// widget2D implementation
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temp_viz::Widget2D::Widget2D(const Widget &other) : Widget(other)
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{
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// Check if other's actor is castable to vtkActor2D
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vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(other));
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CV_Assert(actor);
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}
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temp_viz::Widget2D& temp_viz::Widget2D::operator=(const Widget &other)
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{
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// Check if other's actor is castable to vtkActor2D
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vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(other));
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CV_Assert(actor);
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Widget::operator=(other);
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return *this;
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2013-07-09 20:28:55 +08:00
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}
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void temp_viz::Widget2D::setColor(const Color &color)
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{
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vtkActor2D *actor = vtkActor2D::SafeDownCast(WidgetAccessor::getProp(*this));
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CV_Assert(actor);
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Color c = vtkcolor(color);
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actor->GetProperty ()->SetColor (c.val);
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actor->Modified ();
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2013-07-09 23:35:26 +08:00
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}
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