refactored circle

modules/viz/doc/widget.rst

@@ -349,23 +349,38 @@ viz::WCircle
 
 This 3D Widget defines a circle. ::
 
-    class CV_EXPORTS WCircle : public Widget3D
+   class CV_EXPORTS WCircle : public Widget3D
     {
     public:
-        WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
+        //! creates default planar circle centred at origin with plane normal along z-axis
+        WCircle(double radius, double thickness = 0.01, const Color &color = Color::white());
+
+        //! creates repositioned circle
+        WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white());
     };
 
 viz::WCircle::WCircle
 -------------------------------
-Constructs a WCircle.
+Constructs default planar circle centred at origin with plane normal along z-axis
 
-.. ocv:function:: WCircle(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white())
+.. ocv:function:: WCircle(double radius, double thickness = 0.01, const Color &color = Color::white());
 
-    :param pt: Center of the circle.
-    :param radius: Radius of the circle.
+    :param radius: Radius of the circle.    
     :param thickness: Thickness of the circle.
     :param color: :ocv:class:`Color` of the circle.
 
+viz::WCircle::WCircle
+-------------------------------
+Constructs repositioned planar circle.
+
+.. ocv:function:: WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white());
+
+    :param radius: Radius of the circle.
+    :param center: Center of the circle.
+    :param normal: Normal of the plane in which the circle lies.
+    :param thickness: Thickness of the circle.
+    :param color: :ocv:class:`Color` of the circle.    
+    
 viz::WCylinder
 --------------
 .. ocv:class:: WCylinder

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

@@ -164,7 +164,11 @@ namespace cv
         class CV_EXPORTS WCircle : public Widget3D
         {
         public:
-            WCircle(const Point3d& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
+            //! creates default circle centred at origin with normal along z-axis
+            WCircle(double radius, double thickness = 0.01, const Color &color = Color::white());
+
+            //! creates repositioned circle
+            WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness = 0.01, const Color &color = Color::white());
         };
 
         class CV_EXPORTS WCylinder : public Widget3D

modules/viz/src/precomp.hpp

@@ -209,6 +209,12 @@ namespace cv
             return scaled_color;
         }
 
+        inline Vec3d get_random_vec(double from = -10.0, double to = 10.0)
+        {
+            RNG& rng = theRNG();
+            return Vec3d(rng.uniform(from, to), rng.uniform(from, to), rng.uniform(from, to));
+        }
+
         struct VtkUtils
         {
             template<class Filter>

modules/viz/src/shapes.cpp

@@ -182,18 +182,17 @@ cv::viz::WArrow::WArrow(const Point3d& pt1, const Point3d& pt2, double thickness
     arrow_source->SetTipRadius(thickness * 3.0);
     arrow_source->SetTipLength(thickness * 10.0);
 
-    RNG rng = theRNG();
-    Vec3d arbitrary(rng.uniform(-10.0, 10.0), rng.uniform(-10.0, 10.0), rng.uniform(-10.0, 10.0));
-    Vec3d startPoint(pt1.x, pt1.y, pt1.z), endPoint(pt2.x, pt2.y, pt2.z);
+    Vec3d arbitrary = get_random_vec();
+    Vec3d start_point(pt1.x, pt1.y, pt1.z), end_point(pt2.x, pt2.y, pt2.z);
 
-    double length = norm(endPoint - startPoint);
+    double length = norm(end_point - start_point);
 
-    Vec3d xvec = normalized(endPoint - startPoint);
+    Vec3d xvec = normalized(end_point - start_point);
     Vec3d zvec = normalized(xvec.cross(arbitrary));
     Vec3d yvec = zvec.cross(xvec);
 
     Matx33d R = makeTransformToGlobal(xvec, yvec, zvec).rotation();
-    Affine3d transform_with_scale(R * length, startPoint);
+    Affine3d transform_with_scale(R * length, start_point);
 
     vtkSmartPointer<vtkPolyData> polydata = VtkUtils::TransformPolydata(arrow_source->GetOutputPort(), transform_with_scale);
 
@@ -216,32 +215,36 @@ template<> cv::viz::WArrow cv::viz::Widget::cast<cv::viz::WArrow>()
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// circle widget implementation
 
-cv::viz::WCircle::WCircle(const Point3d& pt, double radius, double thickness, const Color& color)
+cv::viz::WCircle::WCircle(double radius, double thickness, const Color &color)
 {
     vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New();
-    // Maybe the resolution should be lower e.g. 50 or 25
-    disk->SetCircumferentialResolution(50);
+    disk->SetCircumferentialResolution(30);
     disk->SetInnerRadius(radius - thickness);
     disk->SetOuterRadius(radius + thickness);
-
-    // Set the circle origin
-    vtkSmartPointer<vtkTransform> t = vtkSmartPointer<vtkTransform>::New();
-    t->Identity();
-    t->Translate(pt.x, pt.y, pt.z);
-
-    vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New();
-    tf->SetTransform(t);
-    tf->SetInputConnection(disk->GetOutputPort());
-    tf->Update();
+    disk->Update();
 
     vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
-    VtkUtils::SetInputData(mapper, tf->GetOutput());
+    VtkUtils::SetInputData(mapper, disk->GetOutput());
 
     vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->GetProperty()->LightingOff();
     actor->SetMapper(mapper);
 
     WidgetAccessor::setProp(*this, actor);
     setColor(color);
+
+}
+
+cv::viz::WCircle::WCircle(double radius, const Point3d& center, const Vec3d& normal, double thickness, const Color &color)
+{
+    Vec3d arbitrary = get_random_vec();
+    Vec3d zvec = normalized(normal);
+    Vec3d xvec = normalized(zvec.cross(arbitrary));
+    Vec3d yvec = zvec.cross(xvec);
+
+    WCircle circle(radius, thickness, color);
+    circle.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center));
+    *this = circle;
 }
 
 template<> cv::viz::WCircle cv::viz::Widget::cast<cv::viz::WCircle>()

modules/viz/test/tests_simple.cpp

@@ -293,7 +293,9 @@ TEST(Viz, show_simple_widgets)
     Viz3d viz("show_simple_widgets");
     viz.showWidget("coos", WCoordinateSystem());
     viz.showWidget("cube", WCube());
-    viz.showWidget("arr3", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
+    viz.showWidget("arro", WArrow(Vec3d::all(-0.5), Vec3d::all(0.5), 0.009, Color::raspberry()));
+    viz.showWidget("cir1", WCircle(0.5, 0.01, Color::bluberry()));
+    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.spin();
 }