showPlane with color

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

@@ -33,8 +33,8 @@ namespace temp_viz
         bool addPointCloudNormals (const Mat &cloud, const Mat& normals, int level = 100, float scale = 0.02f, const String &id = "cloud");
         
         void showLine(const String &id, const Point3f &pt1, const Point3f &pt2, const Color &color);
-        void showPlane(const String &id, const Vec4f &coefs);
-        void showPlane(const String &id, const Vec4f &coefs, const Point3f &pt);
+        void showPlane(const String &id, const Vec4f &coefs, const Color &color);
+        void showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color);
 
         bool addPlane (const ModelCoefficients &coefficients, const String &id = "plane");
         bool addPlane (const ModelCoefficients &coefficients, double x, double y, double z, const String &id = "plane");

modules/viz/src/q/viz3d_impl.hpp

@@ -139,8 +139,8 @@ public:
     }
     
     void showLine (const String &id, const cv::Point3f &pt1, const cv::Point3f &pt2, const Color &color);
-    void showPlane (const String &id, const cv::Vec4f &coefs);
-    void showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt);
+    void showPlane (const String &id, const cv::Vec4f &coefs, const Color &color);
+    void showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt, const Color &color);
 
     bool addPolygon(const cv::Mat& cloud, const Color& color, const std::string &id = "polygon");
     bool addArrow (const cv::Point3f &pt1, const cv::Point3f &pt2, const Color& color, bool display_length, const std::string &id = "arrow");

modules/viz/src/viz3d.cpp

@@ -83,14 +83,14 @@ void temp_viz::Viz3d::showLine(const String &id, const Point3f &pt1, const Point
     impl_->showLine(id, pt1, pt2, color);
 }
 
-void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs)
+void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Color &color)
 {
-    impl_->showPlane(id, coefs);
+    impl_->showPlane(id, coefs, color);
 }
 
-void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Point3f &pt)
+void temp_viz::Viz3d::showPlane(const String &id, const Vec4f &coefs, const Point3f &pt, const Color &color)
 {
-    impl_->showPlane(id, coefs, pt);
+    impl_->showPlane(id, coefs, pt, color);
 }
 
 bool temp_viz::Viz3d::removeCoordinateSystem (const String &id)

modules/viz/src/viz3d_impl.cpp

@@ -302,17 +302,19 @@ void temp_viz::Viz3d::VizImpl::showLine (const String &id, const cv::Point3f &pt
     }
 }
 
-void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coefs)
+void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coefs, const Color &color)
 {
     // Check if this Id already exists
     ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
     bool exists = (am_it != shape_actor_map_->end());
-    
+    Color c = vtkcolor(color);
     // If it exists just update
     if (exists)
     {
         vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
         reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs));
+        actor->GetProperty ()->SetColor (c.val);
+        actor->GetMapper ()->ScalarVisibilityOff ();
         actor->Modified ();
     }
     else
@@ -326,6 +328,8 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coe
         //  actor->GetProperty ()->SetRepresentationToWireframe ();
         actor->GetProperty ()->SetRepresentationToSurface ();
         actor->GetProperty ()->SetLighting (false);
+        actor->GetProperty ()->SetColor (c.val);
+        actor->GetMapper ()->ScalarVisibilityOff ();
         renderer_->AddActor(actor);
 
         // Save the pointer/ID pair to the global actor map
@@ -333,17 +337,19 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String &id, const cv::Vec4f &coe
     }
 }
 
-void temp_viz::Viz3d::VizImpl::showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt)
+void temp_viz::Viz3d::VizImpl::showPlane (const String &id ,const cv::Vec4f &coefs, const cv::Point3f &pt, const Color &color)
 {
     // Check if this Id already exists
     ShapeActorMap::iterator am_it = shape_actor_map_->find (id);
     bool exists = (am_it != shape_actor_map_->end());
-    
+    Color c = vtkcolor(color);
     // If it exists just update
     if (exists)
     {
         vtkSmartPointer<vtkLODActor> actor = vtkLODActor::SafeDownCast (am_it->second);
         reinterpret_cast<vtkDataSetMapper*>(actor->GetMapper ())->SetInput(createPlane(coefs, pt));
+        actor->GetProperty ()->SetColor (c.val);
+        actor->GetMapper ()->ScalarVisibilityOff ();
         actor->Modified ();
     }
     else
@@ -357,6 +363,8 @@ void temp_viz::Viz3d::VizImpl::showPlane (const String &id ,const cv::Vec4f &coe
         //  actor->GetProperty ()->SetRepresentationToWireframe ();
         actor->GetProperty ()->SetRepresentationToSurface ();
         actor->GetProperty ()->SetLighting (false);
+        actor->GetProperty ()->SetColor (c.val);
+        actor->GetMapper ()->ScalarVisibilityOff ();
         renderer_->AddActor(actor);
 
         // Save the pointer/ID pair to the global actor map

modules/viz/test/test_viz3d.cpp

@@ -93,8 +93,6 @@ TEST(Viz_viz3d, accuracy)
     int col_green = 0;
     int col_red = 0;
     
-    v.showPlane("plane1", cv::Vec4f(1.0f,1.0f,1.0f,1.0f));
-    
     while(!v.wasStopped())
     {
         // Creating new point cloud with id cloud1
@@ -104,7 +102,7 @@ TEST(Viz_viz3d, accuracy)
         v.showLine("line2", cv::Point3f(0.0,0.0,0.0), cv::Point3f(1.0f-pos_x, pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
         v.showLine("line3", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, 1.0f-pos_y, pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
         v.showLine("line4", cv::Point3f(0.0,0.0,0.0), cv::Point3f(pos_x, pos_y, 1.0f-pos_z) , temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
-        v.showPlane("plane1", cv::Vec4f(pos_x*pos_y,pos_y,pos_z,pos_x+pos_y*pos_z));
+        v.showPlane("plane1", cv::Vec4f(pos_x*pos_y,pos_y,pos_z,pos_x+pos_y*pos_z), temp_viz::Color(255-col_blue, 255-col_green, 255-col_red));
         
         angle_x += 0.1f;
         angle_y -= 0.1f;