added cone implementation

modules/viz/doc/widget.rst

@@ -381,6 +381,46 @@ Constructs repositioned planar circle.
     :param thickness: Thickness of the circle.
     :param color: :ocv:class:`Color` of the circle.    
     
+    
+viz::WCone
+-----------------
+.. ocv:class:: WCone
+
+This 3D Widget defines a cone. ::
+
+    class CV_EXPORTS WCone : public Widget3D
+    {
+    public:
+        //! create default cone, oriented along x-axis with center of its base located at origin
+        WCone(double lenght, double radius, int resolution = 6.0, const Color &color = Color::white());
+
+        //! creates repositioned cone
+        WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white());
+    };
+
+viz::WCone::WCone
+-------------------------------
+Constructs default cone oriented along x-axis with center of its base located at origin
+
+.. ocv:function:: WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white());
+
+    :param length: Length of the cone.    
+    :param radius: Radius of the cone.    
+    :param resolution: Resolution of the cone.
+    :param color: :ocv:class:`Color` of the cone.
+
+viz::WCone::WCone
+-------------------------------
+Constructs repositioned planar cone.
+
+.. ocv:function:: WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white());
+
+    :param radius: Radius of the cone.    
+    :param center: Center of the cone base.
+    :param tip: Tip of the cone.
+    :param resolution: Resolution of the cone.
+    :param color: :ocv:class:`Color` of the cone.    
+          
 viz::WCylinder
 --------------
 .. ocv:class:: WCylinder

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

@@ -171,6 +171,16 @@ namespace cv
             WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white());
         };
 
+        class CV_EXPORTS WCone : public Widget3D
+        {
+        public:
+            //! create default cone, oriented along x-axis with center of its base located at origin
+            WCone(double length, double radius, int resolution = 6.0, const Color &color = Color::white());
+
+            //! creates repositioned cone
+            WCone(double radius, const Point3d& center, const Point3d& tip, int resolution = 6.0, const Color &color = Color::white());
+        };
+
         class CV_EXPORTS WCylinder : public Widget3D
         {
         public:
@@ -341,6 +351,7 @@ namespace cv
         template<> CV_EXPORTS WCylinder Widget::cast<WCylinder>();
         template<> CV_EXPORTS WArrow Widget::cast<WArrow>();
         template<> CV_EXPORTS WCircle Widget::cast<WCircle>();
+        template<> CV_EXPORTS WCone Widget::cast<WCone>();
         template<> CV_EXPORTS WCube Widget::cast<WCube>();
         template<> CV_EXPORTS WCoordinateSystem Widget::cast<WCoordinateSystem>();
         template<> CV_EXPORTS WPolyLine Widget::cast<WPolyLine>();

modules/viz/src/precomp.hpp

@@ -127,6 +127,7 @@
 #include <vtkTensorGlyph.h>
 #include <vtkImageAlgorithm.h>
 #include <vtkTransformFilter.h>
+#include <vtkConeSource.h>
 #include <vtkStreamingDemandDrivenPipeline.h>
 
 #if !defined(_WIN32) || defined(__CYGWIN__)

modules/viz/src/shapes.cpp

@@ -253,6 +253,46 @@ template<> cv::viz::WCircle cv::viz::Widget::cast<cv::viz::WCircle>()
     return static_cast<WCircle&>(widget);
 }
 
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// WCone widget implementation
+
+cv::viz::WCone::WCone(double length, double radius, int resolution, const Color &color)
+{
+    vtkSmartPointer<vtkConeSource> cone_source = vtkSmartPointer<vtkConeSource>::New();
+    cone_source->SetCenter(length*0.5, 0.0, 0.0);
+    cone_source->SetHeight(length);
+    cone_source->SetRadius(radius);
+    cone_source->SetResolution(resolution);
+    cone_source->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, cone_source->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+cv::viz::WCone::WCone(double radius, const Point3d& center, const Point3d& tip, int resolution, const Color &color)
+{
+    Vec3d arbitrary = get_random_vec();
+    Vec3d xvec = normalized(Vec3d(tip - center));
+    Vec3d zvec = normalized(xvec.cross(arbitrary));
+    Vec3d yvec = zvec.cross(xvec);
+
+    WCone circle(norm(tip - center), radius, resolution, color);
+    circle.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center));
+    *this = circle;
+}
+
+template<> cv::viz::WCone cv::viz::Widget::cast<cv::viz::WCone>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<WCone&>(widget);
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// cylinder widget implementation
 

modules/viz/test/tests_simple.cpp

@@ -299,6 +299,8 @@ TEST(Viz, show_simple_widgets)
     viz.showWidget("cir2", WCircle(0.5, Point3d(0.5, 0.0, 0.0), Vec3d(1.0, 0.0, 0.0), 0.01, Color::apricot()));
 
     viz.showWidget("cyl0", WCylinder(Vec3d(-0.5, 0.5, -0.5), Vec3d(0.5, 0.5, -0.5), 0.125, 30, Color::brown()));
+    viz.showWidget("con0", WCone(0.25, 0.125, 6, Color::azure()));
+    viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise()));
     viz.spin();
 }