From d80a965f97460a035a60c88fe2db0f6be5b363be Mon Sep 17 00:00:00 2001
From: ozantonkal <ozantonkal@gmail.com>
Date: Thu, 4 Jul 2013 16:32:06 +0300
Subject: [PATCH] sphere widget implementation

---
 modules/viz/include/opencv2/viz/widgets.hpp |  6 ++++++
 modules/viz/src/simple_widgets.cpp          | 22 +++++++++++++++++++++
 modules/viz/test/test_viz3d.cpp             |  8 ++++++--
 3 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp
index fc2660d7bb..69c2c56241 100644
--- a/modules/viz/include/opencv2/viz/widgets.hpp
+++ b/modules/viz/include/opencv2/viz/widgets.hpp
@@ -49,6 +49,12 @@ namespace temp_viz
         PlaneWidget(const Vec4f& coefs, const Color &color = Color::white());
         PlaneWidget(const Vec4f& coefs, const Point3f& pt, const Color &color = Color::white());
     };
+    
+    class CV_EXPORTS SphereWidget : public Widget
+    {
+    public:
+        SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white());
+    };
 
 
 }
diff --git a/modules/viz/src/simple_widgets.cpp b/modules/viz/src/simple_widgets.cpp
index 27e4789647..dcca437baa 100644
--- a/modules/viz/src/simple_widgets.cpp
+++ b/modules/viz/src/simple_widgets.cpp
@@ -66,5 +66,27 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, const
     vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this);
     actor->SetMapper(mapper);
 
+    setColor(color);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// sphere widget implementation
+
+temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution, const Color &color)
+{
+    vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New ();
+    sphere->SetRadius (radius);
+    sphere->SetCenter (center.x, center.y, center.z);
+    sphere->SetPhiResolution (sphere_resolution);
+    sphere->SetThetaResolution (sphere_resolution);
+    sphere->LatLongTessellationOff ();
+    sphere->Update ();
+    
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput(sphere->GetOutput ());
+
+    vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this);
+    actor->SetMapper(mapper);
+
     setColor(color);
 }
\ No newline at end of file
diff --git a/modules/viz/test/test_viz3d.cpp b/modules/viz/test/test_viz3d.cpp
index f3ddfc7e31..cf666d8023 100644
--- a/modules/viz/test/test_viz3d.cpp
+++ b/modules/viz/test/test_viz3d.cpp
@@ -92,12 +92,14 @@ TEST(Viz_viz3d, accuracy)
     int col_green = 0;
     int col_red = 0;
     v.showCircle("circle1", cv::Point3f(0,0,0), 1.0, temp_viz::Color(0,255,0));
-    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));
+    temp_viz::SphereWidget sw(cv::Point3f(0,0,0), 0.5);
+    
     v.showWidget("line", lw);
     v.showWidget("plane", pw);
+    v.showWidget("sphere", sw);
     
     temp_viz::LineWidget lw2 = lw;
     
@@ -114,13 +116,15 @@ TEST(Viz_viz3d, accuracy)
 //         v.showCube("cube1", cv::Point3f(pos_x, pos_y, pos_z), cv::Point3f(pos_x+0.5, pos_y+0.5, pos_z+0.5), temp_viz::Color(255,150,50));
 //         v.showCylinder("cylinder1", cv::Point3f(0,0,0), cv::Point3f(pos_x, 1.0, 1.0), 0.5, 5*pos_x+3, temp_viz::Color(0,255,0));
         v.setShapePose("circle1", cloudPosition);
-        v.setShapePose("sphere1", cloudPosition);
         v.setShapePose("arrow1", cloudPosition);
         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));
         
+        sw.setPose(cloudPosition);
+        pw.setPose(cloudPosition);
+        
         angle_x += 0.1f;
         angle_y -= 0.1f;
         angle_z += 0.1f;