Merge pull request #14 from ozantonkal/implementing_widgets

Implementing widgets

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

@@ -48,6 +48,10 @@ namespace temp_viz
         
         void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
         bool removeWidget(const String &id);
+        
+        bool setWidgetPose(const String &id, const Affine3f &pose);
+        bool updateWidgetPose(const String &id, const Affine3f &pose);
+        Affine3f getWidgetPose(const String &id) const;
     private:
         Viz3d(const Viz3d&);
         Viz3d& operator=(const Viz3d&);

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

@@ -81,7 +81,7 @@ namespace temp_viz
     class CV_EXPORTS CubeWidget : public Widget
     {
     public:
-        CubeWidget(const Point3f& pt_min, const Point3f& pt_max, const Color &color = Color::white());
+        CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
     };
     
     class CV_EXPORTS CoordinateSystemWidget : public Widget
@@ -97,4 +97,21 @@ namespace temp_viz
         
         // TODO Overload setColor method, and hide setPose, updatePose, getPose methods
     };
+    
+    class CV_EXPORTS CloudWidget : public Widget
+    {
+    public:
+        CloudWidget(InputArray _cloud, InputArray _colors);
+        CloudWidget(InputArray _cloud, const Color &color = Color::white());
+    private:
+        struct CreateCloudWidget;
+    };
+    
+    class CV_EXPORTS CloudNormalsWidget : public Widget
+    {
+    public:
+        CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());
+    private:
+        struct ApplyCloudNormals;
+    };
 }

modules/viz/src/q/viz3d_impl.hpp

@@ -202,6 +202,10 @@ public:
     void showWidget(const String &id, const Widget &widget, const Affine3f &pose = Affine3f::Identity());
     bool removeWidget(const String &id);
     
+    bool setWidgetPose(const String &id, const Affine3f &pose);
+    bool updateWidgetPose(const String &id, const Affine3f &pose);
+    Affine3f getWidgetPose(const String &id) const;
+    
     void all_data();
 
 private:

modules/viz/src/simple_widgets.cpp

 #include "precomp.hpp"
 
+namespace temp_viz
+{
+    template<typename _Tp> Vec<_Tp, 3>* vtkpoints_data(vtkSmartPointer<vtkPoints>& points);
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// line widget implementation
 temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color)
@@ -12,7 +17,7 @@ temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const C
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
     mapper->SetInput(line->GetOutput ());
 
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetMapper(mapper);
 
     setColor(color);
@@ -20,13 +25,13 @@ temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const C
 
 void temp_viz::LineWidget::setLineWidth(float line_width)
 {
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->GetProperty()->SetLineWidth(line_width);
 }
 
 float temp_viz::LineWidget::getLineWidth()
 {
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     return actor->GetProperty()->GetLineWidth();
 }
 
@@ -43,7 +48,7 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
     mapper->SetInput(plane->GetOutput ());
     
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetMapper(mapper);
     actor->SetScale(size);
     
@@ -64,7 +69,7 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
     mapper->SetInput(plane->GetOutput ());
 
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetMapper(mapper);
     actor->SetScale(size);
 
@@ -87,7 +92,7 @@ temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, in
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
     mapper->SetInput(sphere->GetOutput ());
 
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetMapper(mapper);
 
     setColor(color);
@@ -149,7 +154,7 @@ temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
     mapper->SetInput(transformPD->GetOutput ());
 
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetMapper(mapper);
     
     setColor(color);
@@ -178,7 +183,7 @@ temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius,
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
     mapper->SetInput(tf->GetOutput ());
 
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetMapper(mapper);
     
     setColor(color);
@@ -202,7 +207,7 @@ temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
     mapper->SetInput(tuber->GetOutput ());
 
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetMapper(mapper);
     
     setColor(color);
@@ -211,7 +216,7 @@ temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// cylinder widget implementation
 
-temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, const Color &color)
+temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color)
 {
     vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
     cube->SetBounds (pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z);
@@ -219,9 +224,12 @@ temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, c
     vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
     mapper->SetInput(cube->GetOutput ());
 
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetMapper(mapper);
     
+    if (wire_frame)
+        actor->GetProperty ()->SetRepresentationToWireframe ();
+    
     setColor(color);
 }
 
@@ -256,7 +264,7 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
     mapper->SetScalarModeToUsePointData ();
     mapper->SetInput(axes_tubes->GetOutput ());
 
-    vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkLODActor *actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetMapper(mapper);
 
     cv::Vec3d t = affine.translation();
@@ -274,9 +282,12 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
     actor->RotateWXYZ(r_angle*180/CV_PI,rvec[0], rvec[1], rvec[2]);
 }
 
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// text widget implementation
+
 temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color) : Widget(true)
 {
-    vtkSmartPointer<vtkTextActor> actor = vtkTextActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetPosition (pos.x, pos.y);
     actor->SetInput (text.c_str ());
 
@@ -289,3 +300,296 @@ temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int fon
     Color c = vtkcolor(color);
     tprop->SetColor (c.val);
 }
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// point cloud widget implementation
+
+struct temp_viz::CloudWidget::CreateCloudWidget
+{
+    static inline vtkSmartPointer<vtkPolyData> create(const Mat &cloud, vtkIdType &nr_points)
+    {
+        vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New ();
+        vtkSmartPointer<vtkCellArray> vertices = vtkSmartPointer<vtkCellArray>::New ();
+        
+        polydata->SetVerts (vertices);
+        
+        vtkSmartPointer<vtkPoints> points = polydata->GetPoints();
+        vtkSmartPointer<vtkIdTypeArray> initcells;
+        nr_points = cloud.total();
+        
+        points = polydata->GetPoints ();
+
+        if (!points)
+        {
+            points = vtkSmartPointer<vtkPoints>::New ();
+            if (cloud.depth() == CV_32F)
+                points->SetDataTypeToFloat();
+            else if (cloud.depth() == CV_64F)
+                points->SetDataTypeToDouble();
+            polydata->SetPoints (points);
+        }
+        points->SetNumberOfPoints (nr_points);
+        
+        if (cloud.depth() == CV_32F)
+        {
+            // Get a pointer to the beginning of the data array
+            Vec3f *data_beg = vtkpoints_data<float>(points);
+            Vec3f *data_end = NanFilter::copy(cloud, data_beg, cloud);
+            nr_points = data_end - data_beg;
+        }
+        else if (cloud.depth() == CV_64F)
+        {
+            // Get a pointer to the beginning of the data array
+            Vec3d *data_beg = vtkpoints_data<double>(points);
+            Vec3d *data_end = NanFilter::copy(cloud, data_beg, cloud);
+            nr_points = data_end - data_beg;
+        }
+        points->SetNumberOfPoints (nr_points);
+        
+        // Update cells
+        vtkSmartPointer<vtkIdTypeArray> cells = vertices->GetData ();
+        // If no init cells and cells has not been initialized...
+        if (!cells)
+            cells = vtkSmartPointer<vtkIdTypeArray>::New ();
+
+        // If we have less values then we need to recreate the array
+        if (cells->GetNumberOfTuples () < nr_points)
+        {
+            cells = vtkSmartPointer<vtkIdTypeArray>::New ();
+
+            // If init cells is given, and there's enough data in it, use it
+            if (initcells && initcells->GetNumberOfTuples () >= nr_points)
+            {
+                cells->DeepCopy (initcells);
+                cells->SetNumberOfComponents (2);
+                cells->SetNumberOfTuples (nr_points);
+            }
+            else
+            {
+                // If the number of tuples is still too small, we need to recreate the array
+                cells->SetNumberOfComponents (2);
+                cells->SetNumberOfTuples (nr_points);
+                vtkIdType *cell = cells->GetPointer (0);
+                // Fill it with 1s
+                std::fill_n (cell, nr_points * 2, 1);
+                cell++;
+                for (vtkIdType i = 0; i < nr_points; ++i, cell += 2)
+                    *cell = i;
+                // Save the results in initcells
+                initcells = vtkSmartPointer<vtkIdTypeArray>::New ();
+                initcells->DeepCopy (cells);
+            }
+        }
+        else
+        {
+            // The assumption here is that the current set of cells has more data than needed
+            cells->SetNumberOfComponents (2);
+            cells->SetNumberOfTuples (nr_points);
+        }
+        
+        // Set the cells and the vertices
+        vertices->SetCells (nr_points, cells);
+        return polydata;
+    }
+};
+
+temp_viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
+{
+    Mat cloud = _cloud.getMat();
+    Mat colors = _colors.getMat();
+    CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
+    CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
+    
+    vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkIdType nr_points;
+    vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
+
+    // Filter colors
+    Vec3b* colors_data = new Vec3b[nr_points];
+    NanFilter::copy(colors, colors_data, cloud);
+
+    vtkSmartPointer<vtkUnsignedCharArray> scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
+    scalars->SetNumberOfComponents (3);
+    scalars->SetNumberOfTuples (nr_points);
+    scalars->SetArray (colors_data->val, 3 * nr_points, 0);
+
+    // Assign the colors
+    polydata->GetPointData ()->SetScalars (scalars);
+    
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput (polydata);
+
+    cv::Vec3d minmax(scalars->GetRange());
+    mapper->SetScalarRange(minmax.val);
+    mapper->SetScalarModeToUsePointData ();
+
+    bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
+
+    mapper->SetInterpolateScalarsBeforeMapping (interpolation);
+    mapper->ScalarVisibilityOn ();
+        
+    mapper->ImmediateModeRenderingOff ();
+    
+    actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, polydata->GetNumberOfPoints () / 10)));
+    actor->GetProperty ()->SetInterpolationToFlat ();
+    actor->GetProperty ()->BackfaceCullingOn ();
+    actor->SetMapper (mapper);
+}
+
+temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
+{
+    Mat cloud = _cloud.getMat();
+    CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
+    
+    vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    vtkIdType nr_points;
+    vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
+    
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput (polydata);
+
+    bool interpolation = (polydata && polydata->GetNumberOfCells () != polydata->GetNumberOfVerts ());
+
+    mapper->SetInterpolateScalarsBeforeMapping (interpolation);
+    mapper->ScalarVisibilityOff ();
+        
+    mapper->ImmediateModeRenderingOff ();
+    
+    actor->SetNumberOfCloudPoints (int (std::max<vtkIdType> (1, polydata->GetNumberOfPoints () / 10)));
+    actor->GetProperty ()->SetInterpolationToFlat ();
+    actor->GetProperty ()->BackfaceCullingOn ();
+    actor->SetMapper (mapper);
+    
+    setColor(color);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// cloud normals widget implementation
+
+struct temp_viz::CloudNormalsWidget::ApplyCloudNormals
+{
+    template<typename _Tp>
+    struct Impl 
+    {
+        static vtkSmartPointer<vtkCellArray> applyOrganized(const cv::Mat &cloud, const cv::Mat& normals, 
+                                                            int level, float scale, _Tp *&pts, vtkIdType &nr_normals)
+        {
+            vtkIdType point_step = static_cast<vtkIdType> (sqrt (double (level)));
+            nr_normals = (static_cast<vtkIdType> ((cloud.cols - 1)/ point_step) + 1) *
+                    (static_cast<vtkIdType> ((cloud.rows - 1) / point_step) + 1);
+            vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
+            
+            pts = new _Tp[2 * nr_normals * 3];
+
+            int cch = cloud.channels();
+            vtkIdType cell_count = 0;    
+            for (vtkIdType y = 0; y < cloud.rows; y += point_step)
+            {
+                const _Tp *prow = cloud.ptr<_Tp>(y);
+                const _Tp *nrow = normals.ptr<_Tp>(y);
+                for (vtkIdType x = 0; x < cloud.cols; x += point_step * cch)
+                {
+                    pts[2 * cell_count * 3 + 0] = prow[x];
+                    pts[2 * cell_count * 3 + 1] = prow[x+1];
+                    pts[2 * cell_count * 3 + 2] = prow[x+2];
+                    pts[2 * cell_count * 3 + 3] = prow[x] + nrow[x] * scale;
+                    pts[2 * cell_count * 3 + 4] = prow[x+1] + nrow[x+1] * scale;
+                    pts[2 * cell_count * 3 + 5] = prow[x+2] + nrow[x+2] * scale;
+
+                    lines->InsertNextCell (2);
+                    lines->InsertCellPoint (2 * cell_count);
+                    lines->InsertCellPoint (2 * cell_count + 1);
+                    cell_count++;
+                }
+            }
+            return lines;
+        }
+        
+        static vtkSmartPointer<vtkCellArray> applyUnorganized(const cv::Mat &cloud, const cv::Mat& normals, 
+                                                              int level, float scale, _Tp *&pts, vtkIdType &nr_normals)
+        {
+            vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
+            nr_normals = (cloud.size().area() - 1) / level + 1 ;
+            pts = new _Tp[2 * nr_normals * 3];
+
+            int cch = cloud.channels();
+            const _Tp *p = cloud.ptr<_Tp>();
+            const _Tp *n = normals.ptr<_Tp>();
+            for (vtkIdType i = 0, j = 0; j < nr_normals; j++, i = j * level * cch)
+            {
+                
+                pts[2 * j * 3 + 0] = p[i];
+                pts[2 * j * 3 + 1] = p[i+1];
+                pts[2 * j * 3 + 2] = p[i+2];
+                pts[2 * j * 3 + 3] = p[i] + n[i] * scale;
+                pts[2 * j * 3 + 4] = p[i+1] + n[i+1] * scale;
+                pts[2 * j * 3 + 5] = p[i+2] + n[i+2] * scale;
+
+                lines->InsertNextCell (2);
+                lines->InsertCellPoint (2 * j);
+                lines->InsertCellPoint (2 * j + 1);
+            }
+            return lines;
+        }
+    };
+    
+    template<typename _Tp>
+    static inline vtkSmartPointer<vtkCellArray> apply(const cv::Mat &cloud, const cv::Mat& normals, 
+                                                               int level, float scale, _Tp *&pts, vtkIdType &nr_normals)
+    {
+        if (cloud.cols > 1 && cloud.rows > 1)
+            return ApplyCloudNormals::Impl<_Tp>::applyOrganized(cloud, normals, level, scale, pts, nr_normals);
+        else
+            return ApplyCloudNormals::Impl<_Tp>::applyUnorganized(cloud, normals, level, scale, pts, nr_normals);
+    }
+};
+
+temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level, float scale, const Color &color)
+{
+    Mat cloud = _cloud.getMat();
+    Mat normals = _normals.getMat();
+    CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
+    CV_Assert(cloud.size() == normals.size() && cloud.type() == normals.type());
+    
+    vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
+    vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
+    vtkIdType nr_normals = 0;
+    
+    if (cloud.depth() == CV_32F)
+    {
+        points->SetDataTypeToFloat();
+    
+        vtkSmartPointer<vtkFloatArray> data = vtkSmartPointer<vtkFloatArray>::New ();
+        data->SetNumberOfComponents (3);
+        
+        float* pts = 0;
+        lines = ApplyCloudNormals::apply(cloud, normals, level, scale, pts, nr_normals);
+        data->SetArray (&pts[0], 2 * nr_normals * 3, 0);
+        points->SetData (data);
+    }
+    else
+    {
+        points->SetDataTypeToDouble();
+    
+        vtkSmartPointer<vtkDoubleArray> data = vtkSmartPointer<vtkDoubleArray>::New ();
+        data->SetNumberOfComponents (3);
+        
+        double* pts = 0;
+        lines = ApplyCloudNormals::apply(cloud, normals, level, scale, pts, nr_normals);
+        data->SetArray (&pts[0], 2 * nr_normals * 3, 0);
+        points->SetData (data);
+    }
+
+    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
+    polyData->SetPoints (points);
+    polyData->SetLines (lines);
+
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput (polyData);
+    mapper->SetColorModeToMapScalars();
+    mapper->SetScalarModeToUsePointData();
+    
+    vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    actor->SetMapper(mapper);
+    setColor(color);
+}
\ No newline at end of file

modules/viz/src/viz3d.cpp

@@ -88,3 +88,18 @@ bool temp_viz::Viz3d::removeWidget(const String &id)
 {
     return impl_->removeWidget(id);
 }
+
+bool temp_viz::Viz3d::setWidgetPose(const String &id, const Affine3f &pose)
+{
+    return impl_->setWidgetPose(id, pose);
+}
+
+bool temp_viz::Viz3d::updateWidgetPose(const String &id, const Affine3f &pose)
+{
+    return impl_->updateWidgetPose(id, pose);
+}
+
+temp_viz::Affine3f temp_viz::Viz3d::getWidgetPose(const String &id) const
+{
+    return impl_->getWidgetPose(id);
+}

modules/viz/src/viz3d_impl.cpp

@@ -874,7 +874,7 @@ void temp_viz::Viz3d::VizImpl::showWidget(const String &id, const Widget &widget
         removeActorFromRenderer(wam_itr->second.actor);
     }
     // Get the actor and set the user matrix
-    vtkSmartPointer<vtkLODActor> actor;
+    vtkLODActor *actor;
     if (actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(widget)))
     {
         vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
@@ -889,9 +889,7 @@ bool temp_viz::Viz3d::VizImpl::removeWidget(const String &id)
 {
     WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
     bool exists = wam_itr != widget_actor_map_->end();
-    
-    if (!exists)
-        return std::cout << "[removeWidget] A widget with id <" << id << "> does not exist!" << std::endl, false;
+    CV_Assert(exists);
 
     if (!removeActorFromRenderer (wam_itr->second.actor))
         return false;
@@ -899,3 +897,63 @@ bool temp_viz::Viz3d::VizImpl::removeWidget(const String &id)
     widget_actor_map_->erase(wam_itr);
     return true;
 }
+
+bool temp_viz::Viz3d::VizImpl::setWidgetPose(const String &id, const Affine3f &pose)
+{
+    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = wam_itr != widget_actor_map_->end();
+    CV_Assert(exists);
+    
+    vtkLODActor *actor;
+    if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
+    {
+        vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
+        actor->SetUserMatrix (matrix);
+        actor->Modified ();
+        return true;
+    }
+    return false;
+}
+
+bool temp_viz::Viz3d::VizImpl::updateWidgetPose(const String &id, const Affine3f &pose)
+{
+    WidgetActorMap::iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = wam_itr != widget_actor_map_->end();
+    CV_Assert(exists);
+    
+    vtkLODActor *actor;
+    if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
+    {
+        vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+        if (!matrix)
+        {
+            setWidgetPose(id, pose);
+            return true;
+        }
+        Matx44f matrix_cv = convertToMatx(matrix);
+
+        Affine3f updated_pose = pose * Affine3f(matrix_cv);
+        matrix = convertToVtkMatrix(updated_pose.matrix);
+
+        actor->SetUserMatrix (matrix);
+        actor->Modified ();
+        return true;
+    }
+    return false;
+}
+
+temp_viz::Affine3f temp_viz::Viz3d::VizImpl::getWidgetPose(const String &id) const
+{
+    WidgetActorMap::const_iterator wam_itr = widget_actor_map_->find(id);
+    bool exists = wam_itr != widget_actor_map_->end();
+    CV_Assert(exists);
+    
+    vtkLODActor *actor;
+    if ((actor = vtkLODActor::SafeDownCast(wam_itr->second.actor)))
+    {
+        vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+        Matx44f matrix_cv = convertToMatx(matrix);
+        return Affine3f(matrix_cv);
+    }
+    return Affine3f();
+}
\ No newline at end of file

modules/viz/src/widget.cpp

@@ -18,7 +18,7 @@ public:
 
     void setColor(const Color& color)
     {
-        vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
+        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
         Color c = vtkcolor(color);
         lod_actor->GetMapper ()->ScalarVisibilityOff ();
         lod_actor->GetProperty ()->SetColor (c.val);
@@ -32,7 +32,7 @@ public:
 
     void setPose(const Affine3f& pose)
     {
-        vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
+        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
         vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
         lod_actor->SetUserMatrix (matrix);
         lod_actor->Modified ();
@@ -40,7 +40,7 @@ public:
 
     void updatePose(const Affine3f& pose)
     {
-        vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
+        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
         vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
         if (!matrix)
         {
@@ -58,7 +58,7 @@ public:
 
     Affine3f getPose() const
     {
-        vtkSmartPointer<vtkLODActor> lod_actor = vtkLODActor::SafeDownCast(actor);
+        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
         vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
         Matx44f matrix_cv = convertToMatx(matrix);
         return Affine3f(matrix_cv);

modules/viz/test/test_viz3d.cpp

@@ -96,26 +96,38 @@ TEST(Viz_viz3d, accuracy)
     temp_viz::ArrowWidget aw(cv::Point3f(0,0,0), cv::Point3f(1,1,1), temp_viz::Color(255,0,0));
     temp_viz::CircleWidget cw(cv::Point3f(0,0,0), 0.5, 0.01, temp_viz::Color(0,255,0));
     temp_viz::CylinderWidget cyw(cv::Point3f(0,0,0), cv::Point3f(-1,-1,-1), 0.5, 30, temp_viz::Color(0,255,0));
-    temp_viz::CubeWidget cuw(cv::Point3f(-2,-2,-2), cv::Point3f(-1,-1,-1), temp_viz::Color(0,0,255));
+    temp_viz::CubeWidget cuw(cv::Point3f(-2,-2,-2), cv::Point3f(-1,-1,-1));
     temp_viz::CoordinateSystemWidget csw(1.0f, cv::Affine3f::Identity());
     temp_viz::TextWidget tw("TEST", cv::Point2i(100,100), 20);
+    temp_viz::CloudWidget pcw(cloud, colors);
+    temp_viz::CloudWidget pcw2(cloud, temp_viz::Color(0,255,255));
     
 //     v.showWidget("line", lw);
-    v.showWidget("plane", pw);
+//     v.showWidget("plane", pw);
 //     v.showWidget("sphere", sw);
 //     v.showWidget("arrow", aw);
 //     v.showWidget("circle", cw);
 //     v.showWidget("cylinder", cyw);
 //     v.showWidget("cube", cuw);
     v.showWidget("coordinateSystem", csw);
-    v.showWidget("text",tw);
+//     v.showWidget("text",tw);
+//     v.showWidget("pcw",pcw);
+    v.showWidget("pcw2",pcw2);
     
     temp_viz::LineWidget lw2 = lw;
+//     v.showPointCloud("cld",cloud, colors);
+    
+    cv::Mat normals(cloud.size(), cloud.type(), cv::Scalar(0, 10, 0));
+
+//     v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
+    temp_viz::CloudNormalsWidget cnw(cloud, normals);
+    v.showWidget("n", cnw);
     
     while(!v.wasStopped())
     {
         // Creating new point cloud with id cloud1
         cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
+        cv::Affine3f cloudPosition2(angle_x, angle_y, angle_z, cv::Vec3f(pos_x+0.2, pos_y+0.2, pos_z+0.2));
 
         lw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
         lw.setLineWidth(lw.getLineWidth()+pos_x * 10);
@@ -128,9 +140,16 @@ TEST(Viz_viz3d, accuracy)
         cw.setPose(cloudPosition);
         cyw.setPose(cloudPosition);
         lw.setPose(cloudPosition);
-        cuw.setPose(cloudPosition);        
+        cuw.setPose(cloudPosition);
+//         cnw.setPose(cloudPosition);
+//         v.showWidget("pcw",pcw, cloudPosition);
+//         v.showWidget("pcw2",pcw2, cloudPosition2);
+//         v.showWidget("plane", pw, cloudPosition);
         
-        v.showWidget("plane", pw, cloudPosition);
+        v.setWidgetPose("n",cloudPosition);
+        v.setWidgetPose("pcw2", cloudPosition);
+        cnw.setColor(temp_viz::Color(col_blue, col_green, col_red));
+        pcw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
         
         angle_x += 0.1f;
         angle_y -= 0.1f;
@@ -145,9 +164,7 @@ TEST(Viz_viz3d, accuracy)
         v.spinOnce(1, true);
     }
    
-//     cv::Mat normals(cloud.size(), CV_32FC3, cv::Scalar(0, 10, 0));
-// 
-//     v.addPointCloudNormals(cloud, normals, 100, 0.02, "n");
+
 // 
 // 
 //     temp_viz::ModelCoefficients mc;