remove old matrix API, replace with OpenCV one

(CvMat)

Author: Daniele Giunchi

src/mafPluginVTK/mafDataBoundaryAlgorithmVTK.cpp

@@ -61,13 +61,13 @@ mafCore::mafProxyInterface *mafDataBoundaryAlgorithmVTK::calculateBoundary(doubl
         vtkMatrix4x4 *mat = vtkMatrix4x4::New();
         mat->Identity();
         for(int i=0;i<3;++i)
-            mat->SetElement(i,0,matrix->get(i,0));
+            mat->SetElement(i,0,cvmGet(matrix,i,0));
         for(int i=0;i<3;++i)
-            mat->SetElement(i,1,matrix->get(i,1));
+            mat->SetElement(i,1,cvmGet(matrix,i,1));
         for(int i=0;i<3;++i)
-            mat->SetElement(i,2,matrix->get(i,2));
+            mat->SetElement(i,2,cvmGet(matrix,i,2));
         for(int i=0;i<3;++i)
-            mat->SetElement(i,3,matrix->get(i,3));
+            mat->SetElement(i,3,cvmGet(matrix,i,3));
 
         t->SetMatrix(mat);
         t->Update();

src/mafResources/mafDataSet.cpp

@@ -26,8 +26,9 @@ mafDataSet::mafDataSet(const QString code_location) : mafObject(code_location),
 mafDataSet::~mafDataSet() {
     // External data must be destroyed by the creator if no pointer to destructor function has been given.
     mafDEL(m_DataBoundaryAlgorithm);
-    delete m_Matrix;
-    m_Matrix = NULL;
+    if(m_Matrix != NULL) {
+        cvReleaseMat(&m_Matrix);
+    }
 }
 
 void mafDataSet::setBoundaryAlgorithm(mafDataBoundaryAlgorithm *algorithm) {
@@ -88,9 +89,10 @@ void mafDataSet::setPoseMatrix(const mafPoseMatrix *matrix) {
         return;
     }
     if(m_Matrix == NULL) {
-        m_Matrix = new mafPoseMatrix();
+        m_Matrix = cvCreateMat(4,4,CV_64FC1);
     }
-    *m_Matrix = *matrix;
+
+    cvCopy(matrix, m_Matrix);
     setModified();
 }
 
@@ -132,14 +134,14 @@ void mafDataSet::setMemento(mafMemento *memento, bool deep_memento) {
     foreach(item, *list) {
         if(item.m_Name == "poseMatrix") {
             //Restore the pose matrix
-            mafPoseMatrix *mat = new mafPoseMatrix();
+            mafPoseMatrix *mat = cvCreateMat(4,4,CV_64FC1);
             int counter = 0;
             int r = 0;
             for ( ; r < 4; ++r) {
                 int c = 0;
                 for ( ; c < 4 ; ++c) {
                     double val = item.m_Value.toList()[counter].toDouble();
-                    mat->put(r,c,val);
+                    cvmSet(mat,r,c,val);
                     ++counter;
                 }
             }

src/mafResources/mafDataSetCollection.cpp

@@ -103,13 +103,13 @@ void mafDataSetCollection::orientations(double ori[3], double t) {
     double sx, sy;
 
     // Extract the rotation sub-matrix and calculate the angles considering the Yaw-Pitch-Roll convention.
-    nx = m->get(0,0);
-    ny = m->get(1,0);
-    nz = m->get(2,0);
-    ax = m->get(0,2);
-    ay = m->get(1,2);
-    sx = m->get(0,1);
-    sy = m->get(1,1);
+    nx = cvmGet(m,0,0);
+    ny = cvmGet(m,1,0);
+    nz = cvmGet(m,2,0);
+    ax = cvmGet(m,0,2);
+    ay = cvmGet(m,1,2);
+    sx = cvmGet(m,0,1);
+    sy = cvmGet(m,1,1);
 
     ori[Z_AXIS] = atan2(ny, nx);
     ori[Y_AXIS] = atan2(-nz, cos(ori[Z_AXIS])*nx + sin(ori[Z_AXIS])*ny);
@@ -143,7 +143,7 @@ void mafDataSetCollection::position(double pos[3], double t) {
 
     // Extract the position vector from the matrix and write it into the array.
     for(int i = 0; i < 3; ++i) {
-        pos[i] = m->get(i,3);
+        pos[i] = cvmGet(m,i,3);
     }
 }
 
@@ -170,51 +170,58 @@ mafPoseMatrix *mafDataSetCollection::poseMatrix(double t) {
 
 void mafDataSetCollection::writePosition(double x, double y, double z, mafPoseMatrix *m) {
     // Write the position vector into the given matrix.
-    m->put(0,3, x);
-    m->put(1,3, y);
-    m->put(2,3, z);
+    cvmSet(m,0,3,x);
+    cvmSet(m,1,3,y);
+    cvmSet(m,2,3,z);
 }
 
 void mafDataSetCollection::writeOrientation(double rx, double ry, double rz, mafPoseMatrix *m) {
-    // calculate the rotation sub-matrix considering the Yaw-Pitch-Roll convention.
-    mafPoseMatrix Rz;
-    mafPoseMatrix Ry;
-    mafPoseMatrix Rx;
-
-    Rz.set_identity();
-    Ry.set_identity();
-    Rx.set_identity();
+    // calculate the rotation sub-matrix considering the Yaw-Pitch-Roll convention.    
+    mafPoseMatrix *Rz = cvCreateMat(4,4,CV_64FC1);
+    cvSetIdentity(Rz);
+    mafPoseMatrix *Ry = cvCreateMat(4,4,CV_64FC1);
+    cvSetIdentity(Ry);
+    mafPoseMatrix *Rx = cvCreateMat(4,4,CV_64FC1);
+    cvSetIdentity(Rx);
 
     double rx_rad, ry_rad, rz_rad;
     rx_rad = degreesToRadiant(rx);
     ry_rad = degreesToRadiant(ry);
     rz_rad = degreesToRadiant(rz);
 
-    Rz.put(0,0,cos(rz_rad));
-    Rz.put(1,1,cos(rz_rad));
-    Rz.put(0,1,-sin(rz_rad));
-    Rz.put(1,0,sin(rz_rad));
+    cvmSet(Rz,0,0,cos(rz_rad));
+    cvmSet(Rz,1,1,cos(rz_rad));
+    cvmSet(Rz,0,1,-sin(rz_rad));
+    cvmSet(Rz,1,0,sin(rz_rad));
 
-    Ry.put(0,0,cos(ry_rad));
-    Ry.put(2,2,cos(ry_rad));
-    Ry.put(0,2,sin(ry_rad));
-    Ry.put(2,0,-sin(ry_rad));
+    cvmSet(Ry,0,0,cos(ry_rad));
+    cvmSet(Ry,2,2,cos(ry_rad));
+    cvmSet(Ry,0,2,sin(ry_rad));
+    cvmSet(Ry,2,0,-sin(ry_rad));
 
-    Rx.put(1,1,cos(rx_rad));
-    Rx.put(2,2,cos(rx_rad));
-    Rx.put(1,2,-sin(rx_rad));
-    Rx.put(2,1,sin(rx_rad));
+    cvmSet(Rx,1,1,cos(rx_rad));
+    cvmSet(Rx,2,2,cos(rx_rad));
+    cvmSet(Rx,1,2,-sin(rx_rad));
+    cvmSet(Rx,2,1,sin(rx_rad));
 
     // Store the old position for the matrix m
     double pos[3];
     for(int i = 0; i < 3; ++i) {
-        pos[i] = m->get(i,3);
+        pos[i] = cvmGet(m,i,3);
     }
 
     // Copy into 'm' the result of the matrix multiplication.
-    *m = Rz * Ry * Rx;
+    mafPoseMatrix *T = cvCreateMat(4,4,CV_64FC1);
+    cvMatMul(Rz, Ry, T);
+    cvMatMul(T, Rx, m);
     // Re-Apply the position
     writePosition(pos[0], pos[1], pos[2], m);
+    cvReleaseMat(&Rx);
+    cvReleaseMat(&Ry);
+    cvReleaseMat(&Rz);
+    cvReleaseMat(&T);
+
+
 }
 
 bool mafDataSetCollection::insertItem(mafDataSet *item, double t) {
@@ -303,13 +310,12 @@ mafDataSet *mafDataSetCollection::itemAt(double t) {
         item = mafNEW(mafResources::mafDataSet);
         item->setParent(this);
         mafPoseMatrix *m;
-        m = new mafPoseMatrix();
-        m->set_identity();
+        m = cvCreateMat(4,4,CV_64FC1);
+        cvSetIdentity(m);
         item->setPoseMatrix(m);
         insertItem(item, ts);
         item->release();
-        delete m;
-        m = NULL;
+        cvReleaseMat(&m);
     }
     return item;
 }

src/mafResources/mafMementoDataSet.cpp

@@ -38,7 +38,8 @@ mafMementoDataSet::mafMementoDataSet(const mafObject *obj, bool binary, const QS
       for ( ; r < 4; ++r) {
           int c = 0;
           for ( ; c < 4 ; ++c ) {
-              matrixList.append(matrix->get(r, c));
+              matrixList.append(cvmGet(matrix,r,c));
+
           }
       }
       mafMementoPropertyItem item;

src/mafResources/mafResourcesDefinitions.h

@@ -28,9 +28,8 @@
 #include <mafProxyInterface.h>
 
 
-// vnl includes
-#include <vnl/vnl_double_4x4.h>
-#include <vnl/vnl_vector_fixed.h>
+// OpenCV includes
+#include <cv.h>
 
 namespace mafResources {
 
@@ -40,7 +39,7 @@ class mafResource;
 class mafVME;
 
 /// Type definition for MAF3 pose matrix.
-typedef vnl_double_4x4 mafPoseMatrix;
+typedef CvMat mafPoseMatrix;
 
 /// Type definition for a list of mafResource.
 typedef QList<mafResource *> mafResourceList;

test/mafPluginVTKTest/mafDataBoundaryAlgorithmVTKTest.cpp

@@ -61,9 +61,8 @@ private slots:
         m_DataSourceContainer.setClassTypeNameFunction(vtkClassTypeNameExtract);
         m_DataSourceContainer = m_DataSource->GetOutputPort(0);
 
-
-        mafPoseMatrix *newMatrix = new mafPoseMatrix();
-        newMatrix->set_identity();
+        mafPoseMatrix *newMatrix = cvCreateMat(4,4,CV_64FC1);
+        cvSetIdentity(newMatrix);
 
         m_DataSetCube = mafNEW(mafResources::mafDataSet);
         mafDataBoundaryAlgorithmVTK *boundaryAlgorithm;

test/mafResourcesTest/mafDataSetCollectionTest.cpp

@@ -130,31 +130,33 @@ void mafDataSetCollectionTest::collectionPoseMatrixTest() {
 
 void mafDataSetCollectionTest::collectionInsertItemTest() {
     // Create a test matrix to add to the collection.
-    mafPoseMatrix *new_matrix = new mafPoseMatrix();
-    new_matrix->set_identity();
-    new_matrix->put(0,3,5.0);
-    new_matrix->put(1,3,2.3);
-    new_matrix->put(2,3,4.1);
+    mafPoseMatrix *newMatrix = cvCreateMat(4,4,CV_64FC1);
+    cvSetIdentity(newMatrix);
+    
+    cvmSet(newMatrix, 0, 3, 5.0);
+    cvmSet(newMatrix, 1, 3, 1.3);
+    cvmSet(newMatrix, 2, 3, 4.1);
 
     mafDataSet *item = mafNEW(mafResources::mafDataSet);
-    item->setPoseMatrix(new_matrix);
+    item->setPoseMatrix(newMatrix);
 
     // Insert a new pose matrix at the given timestamp.
     //! <snippet>
     bool result_insert = m_Collection->insertItem(item, 1.5);
     //! </snippet>
-
+    cv::Mat mat;
+    
     QVERIFY(result_insert);
 
     //! <snippet>
     mafPoseMatrix *m = m_Collection->poseMatrix(1.5);
     //! </snippet>
-    QVERIFY(*m == *new_matrix);
+    
+    QVERIFY(cvmGet(m, 1,2) == cvmGet(newMatrix, 1,2));
 
     mafDEL(item);
 
-    delete new_matrix;
-    new_matrix = NULL;
+    cvReleaseMat(&newMatrix);
 }
 
 void mafDataSetCollectionTest::collectionDataSetTest() {
@@ -201,14 +203,15 @@ void mafDataSetCollectionTest::collectionDataSetTest() {
 
 void mafDataSetCollectionTest::collectionRemoveItemTest() {
     // Create a test matrix to add to the collection.
-    mafPoseMatrix *new_matrix = new mafPoseMatrix();
-    new_matrix->set_identity();
-    new_matrix->put(0,3,5.0);
-    new_matrix->put(1,3,2.3);
-    new_matrix->put(2,3,4.1);
+    mafPoseMatrix *newMatrix = cvCreateMat(4,4,CV_64FC1);
+    cvSetIdentity(newMatrix);
+    
+    cvmSet(newMatrix, 0, 3, 5.0);
+    cvmSet(newMatrix, 1, 3, 1.3);
+    cvmSet(newMatrix, 2, 3, 4.1);
 
     mafDataSet *item = mafNEW(mafResources::mafDataSet);
-    item->setPoseMatrix(new_matrix);
+    item->setPoseMatrix(newMatrix);
 
     // Add a new item at a new timestamp.
     bool result_insert = m_Collection->insertItem(item, 3.5);

test/mafResourcesTest/mafMementoDataSetCollectionTest.cpp

@@ -91,9 +91,9 @@ void mafMementoDataSetCollectionTest::mafMementoDataSetCollectionAllocationTest(
     //Create dataset for the collection
     mafDataSet *firstData = mafNEW(mafResources::mafDataSet);
     mafDataSet *secondData = mafNEW(mafResources::mafDataSet);
-    mafPoseMatrix *matrix = new mafPoseMatrix();
-    matrix->set_identity();
-    matrix->put(0,0,3);
+    mafPoseMatrix *matrix = cvCreateMat(4,4,CV_64FC1);
+    cvSetIdentity(matrix);
+    cvmSet(matrix, 0,0,3);
     firstData->setPoseMatrix(matrix);
 
     //Fill the mafDataSetCollection
@@ -109,7 +109,7 @@ void mafMementoDataSetCollectionTest::mafMementoDataSetCollectionAllocationTest(
     mafMemento *returnMemento = newCollection->createMemento();
     QVERIFY(memento->isEqual(returnMemento));
 
-    delete matrix;
+    cvReleaseMat(&matrix);
     mafDEL(secondData);
     mafDEL(firstData);
     mafDEL(vme);

test/mafResourcesTest/mafMementoDataSetTest.cpp

@@ -160,9 +160,10 @@ void mafMementoDataSetTest::mafMementoDataSetCustomAllocationTest() {
     container.setExternalCodecType("CUSTOM");
     m_DataSet->setDataValue(&container);
 
-    mafPoseMatrix *matrix = new mafPoseMatrix();
-    matrix->set_identity();
-    matrix->put(0,0,3);
+    mafPoseMatrix *matrix = cvCreateMat(4,4,CV_64FC1);
+    cvSetIdentity(matrix);
+    cvmSet(matrix, 0,0,3);
+
     m_DataSet->setPoseMatrix(matrix);
 
     //Plug the codec
@@ -190,7 +191,7 @@ void mafMementoDataSetTest::mafMementoDataSetCustomAllocationTest() {
     mafMemento *returnMemento = returnDataSet->createMemento();
     QVERIFY(memento->isEqual(returnDataSet));
 
-    delete matrix;
+    cvReleaseMat(&matrix);
     mafDEL(returnDataSet);
     mafDEL(returnMemento);
     mafDEL(memento);

test/mafResourcesTest/mafMementoVMETest.cpp

@@ -197,9 +197,10 @@ void mafMementoVMETest::mafMementoVMECustomAllocationTest() {
     mafDataSet *dataSet = mafNEW(mafResources::mafDataSet);
     dataSet->setDataValue(&container);
 
-    mafPoseMatrix *matrix = new mafPoseMatrix();
-    matrix->set_identity();
-    matrix->put(0,0,3);
+    mafPoseMatrix *matrix = cvCreateMat(4,4,CV_64FC1);
+    cvSetIdentity(matrix);
+    cvmSet(matrix, 0,0,3);
+
     dataSet->setPoseMatrix(matrix);
 
     //Create second dataSet
@@ -210,9 +211,10 @@ void mafMementoVMETest::mafMementoVMECustomAllocationTest() {
     mafDataSet *dataSet2 = mafNEW(mafResources::mafDataSet);
     dataSet2->setDataValue(&container2);
 
-    mafPoseMatrix *matrix2 = new mafPoseMatrix();
-    matrix2->set_identity();
-    matrix2->put(1,0,5);
+    mafPoseMatrix *matrix2 = cvCreateMat(4,4,CV_64FC1);
+    cvSetIdentity(matrix2);
+    cvmSet(matrix2, 1,0,5);
+
     dataSet2->setPoseMatrix(matrix2);
 
     mafDataSetCollection *collection = m_VME->dataSetCollection();