initial cloud widget implementation, fix safedowncasts

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

@@ -97,4 +97,11 @@ 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());
+    };
 }

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);

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

@@ -53,7 +53,7 @@
 cv::Mat cvcloud_load()
 {
     cv::Mat cloud(1, 20000, CV_32FC3);
-        std::ifstream ifs("d:/cloud_dragon.ply");
+        std::ifstream ifs("cloud_dragon.ply");
 
     std::string str;
     for(size_t i = 0; i < 11; ++i)
@@ -99,23 +99,29 @@ TEST(Viz_viz3d, accuracy)
     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(255,255,255));
     
 //     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("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);
     
     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);
@@ -129,8 +135,9 @@ TEST(Viz_viz3d, accuracy)
         cyw.setPose(cloudPosition);
         lw.setPose(cloudPosition);
         cuw.setPose(cloudPosition);        
-        
-        v.showWidget("plane", pw, cloudPosition);
+        v.showWidget("pcw",pcw, cloudPosition);
+        v.showWidget("pcw2",pcw2, cloudPosition2);
+//         v.showWidget("plane", pw, cloudPosition);
         
         angle_x += 0.1f;
         angle_y -= 0.1f;