plane widget implementation

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

@@ -42,6 +42,13 @@ namespace temp_viz
         void setLineWidth(float line_width);
         float getLineWidth();
     };
+    
+    class CV_EXPORTS PlaneWidget : public Widget
+    {
+    public:
+        PlaneWidget(const Vec4f& coefs, const Color &color = Color::white());
+        PlaneWidget(const Vec4f& coefs, const Point3f& pt, const Color &color = Color::white());
+    };
 
 
 }

modules/viz/src/simple_widgets.cpp

@@ -1,6 +1,7 @@
 #include "precomp.hpp"
 
-
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// line widget implementation
 temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color)
 {
     vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
@@ -27,4 +28,43 @@ float temp_viz::LineWidget::getLineWidth()
 {
     vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this);
     return actor->GetProperty()->GetLineWidth();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// plane widget implementation
+
+temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Color &color)
+{
+    vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
+    plane->SetNormal (coefs[0], coefs[1], coefs[2]);
+    double norm = cv::norm(cv::Vec3f(coefs.val));
+    plane->Push (-coefs[3] / norm);
+
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput(plane->GetOutput ());
+
+    vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this);
+    actor->SetMapper(mapper);
+
+    setColor(color);
+}
+
+temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, const Color &color)
+{
+    vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
+    cv::Point3f coefs3(coefs[0], coefs[1], coefs[2]);
+    double norm_sqr = 1.0 / coefs3.dot (coefs3);
+    plane->SetNormal(coefs[0], coefs[1], coefs[2]);
+
+    double t = coefs3.dot(pt) + coefs[3];
+    cv::Vec3f p_center = pt - coefs3 * t * norm_sqr;
+    plane->SetCenter (p_center[0], p_center[1], p_center[2]);
+    
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput(plane->GetOutput ());
+
+    vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this);
+    actor->SetMapper(mapper);
+
+    setColor(color);
 }

modules/viz/test/test_viz3d.cpp

@@ -95,7 +95,9 @@ TEST(Viz_viz3d, accuracy)
     v.showSphere("sphere1", cv::Point3f(0,0,0), 0.5, temp_viz::Color(0,0,255));
     v.showArrow("arrow1", cv::Point3f(0,0,0), cv::Point3f(1,1,1), temp_viz::Color(255,0,0));
     temp_viz::LineWidget lw(cv::Point3f(0.0,0.0,0.0), cv::Point3f(1.0,1.0,1.0), temp_viz::Color(0,255,0));
+    temp_viz::PlaneWidget pw(cv::Vec4f(0.0,1.0,2.0,3.0));
     v.showWidget("line", lw);
+    v.showWidget("plane", pw);
     
     temp_viz::LineWidget lw2 = lw;
     
@@ -117,6 +119,8 @@ TEST(Viz_viz3d, accuracy)
         lw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
         lw.setLineWidth(lw.getLineWidth()+pos_x * 10);
         
+        pw.setColor(temp_viz::Color(col_blue, col_green, col_red));
+        
         angle_x += 0.1f;
         angle_y -= 0.1f;
         angle_z += 0.1f;