initial redesigning widgets

modules/viz/include/opencv2/viz/widget_accessor.hpp

@@ -13,5 +13,6 @@ namespace temp_viz
     struct CV_EXPORTS WidgetAccessor
     {
         static vtkSmartPointer<vtkProp> getActor(const Widget &widget);
+        static void setVtkProp(Widget &widget, vtkSmartPointer<vtkProp> actor);
     };
 }

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

@@ -16,29 +16,41 @@ namespace temp_viz
         
         ~Widget();
         
-        void copyTo(Widget &dst);
+    private:
+        class Impl;
+        Impl *impl_;
+        friend struct WidgetAccessor;
+        
+    };
+    
+    /////////////////////////////////////////////////////////////////////////////
+    /// The base class for all 3D widgets
+    class CV_EXPORTS Widget3D : public Widget
+    {
+    public:
+        Widget3D();
         
-        void setColor(const Color &color);
         void setPose(const Affine3f &pose);
         void updatePose(const Affine3f &pose);
         Affine3f getPose() const;
         
-    protected:
+        void setColor(const Color &color);
-        Widget(bool text_widget);
         
     private:
-        class Impl;
+        struct MatrixConverter;
-        Impl* impl_;
         
-        void create();
+    };
-        void release();
-        void create(bool text_widget);
     
-        friend struct WidgetAccessor;
+    /////////////////////////////////////////////////////////////////////////////
+    /// The base class for all 2D widgets
+    class CV_EXPORTS Widget2D : public Widget
+    {
+    public:
+        Widget2D();
     };
     
 
-    class CV_EXPORTS LineWidget : public Widget
+    class CV_EXPORTS LineWidget : public Widget3D
     {
     public:
         LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color = Color::white());
@@ -47,58 +59,56 @@ namespace temp_viz
         float getLineWidth();
     };
     
-    class CV_EXPORTS PlaneWidget : public Widget
+    class CV_EXPORTS PlaneWidget : public Widget3D
     {
     public:
         PlaneWidget(const Vec4f& coefs, double size = 1.0, const Color &color = Color::white());
         PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
     };
     
-    class CV_EXPORTS SphereWidget : public Widget
+    class CV_EXPORTS SphereWidget : public Widget3D
     {
     public:
         SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution = 10, const Color &color = Color::white());
     };
     
-    class CV_EXPORTS ArrowWidget : public Widget
+    class CV_EXPORTS ArrowWidget : public Widget3D
     {
     public:
         ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color = Color::white());
     };
 
-    class CV_EXPORTS CircleWidget : public Widget
+    class CV_EXPORTS CircleWidget : public Widget3D
     {
     public:
         CircleWidget(const Point3f& pt, double radius, double thickness = 0.01, const Color &color = Color::white());
     };
     
-    class CV_EXPORTS CylinderWidget : public Widget
+    class CV_EXPORTS CylinderWidget : public Widget3D
     {
     public:
         CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
     };
     
-    class CV_EXPORTS CubeWidget : public Widget
+    class CV_EXPORTS CubeWidget : public Widget3D
     {
     public:
         CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame = true, const Color &color = Color::white());
     };
     
-    class CV_EXPORTS CoordinateSystemWidget : public Widget
+    class CV_EXPORTS CoordinateSystemWidget : public Widget3D
     {
     public:
         CoordinateSystemWidget(double scale, const Affine3f& affine);
     };
     
-    class CV_EXPORTS TextWidget : public Widget
+    class CV_EXPORTS TextWidget : public Widget2D
     {
     public:
         TextWidget(const String &text, const Point2i &pos, int font_size = 10, const Color &color = Color::white());
-        
-        // TODO Overload setColor method, and hide setPose, updatePose, getPose methods
     };
     
-    class CV_EXPORTS CloudWidget : public Widget
+    class CV_EXPORTS CloudWidget : public Widget3D
     {
     public:
         CloudWidget(InputArray _cloud, InputArray _colors);
@@ -107,7 +117,7 @@ namespace temp_viz
         struct CreateCloudWidget;
     };
     
-    class CV_EXPORTS CloudNormalsWidget : public Widget
+    class CV_EXPORTS CloudNormalsWidget : public Widget3D
     {
     public:
         CloudNormalsWidget(InputArray _cloud, InputArray _normals, int level = 100, float scale = 0.02f, const Color &color = Color::white());

modules/viz/src/simple_widgets.cpp

@@ -9,6 +9,8 @@ namespace temp_viz
 /// line widget implementation
 temp_viz::LineWidget::LineWidget(const Point3f &pt1, const Point3f &pt2, const Color &color)
 {
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New();
     line->SetPoint1 (pt1.x, pt1.y, pt1.z);
     line->SetPoint2 (pt2.x, pt2.y, pt2.z);
@@ -40,6 +42,8 @@ float temp_viz::LineWidget::getLineWidth()
 
 temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color &color)
 {
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
     plane->SetNormal (coefs[0], coefs[1], coefs[2]);
     double norm = cv::norm(cv::Vec3f(coefs.val));
@@ -57,6 +61,8 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, double size, const Color
 
 temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double size, const Color &color)
 {
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New ();
     cv::Point3f coefs3(coefs[0], coefs[1], coefs[2]);
     double norm_sqr = 1.0 / coefs3.dot (coefs3);
@@ -81,6 +87,8 @@ temp_viz::PlaneWidget::PlaneWidget(const Vec4f& coefs, const Point3f& pt, double
 
 temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, int sphere_resolution, const Color &color)
 {
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkSmartPointer<vtkSphereSource> sphere = vtkSmartPointer<vtkSphereSource>::New ();
     sphere->SetRadius (radius);
     sphere->SetCenter (center.x, center.y, center.z);
@@ -103,6 +111,8 @@ temp_viz::SphereWidget::SphereWidget(const cv::Point3f &center, float radius, in
 
 temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const Color &color)
 {
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkSmartPointer<vtkArrowSource> arrowSource = vtkSmartPointer<vtkArrowSource>::New ();
     
     float startPoint[3], endPoint[3];
@@ -165,6 +175,8 @@ temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const
 
 temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius, double thickness, const temp_viz::Color& color)
 {
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New ();
     // Maybe the resolution should be lower e.g. 50 or 25
     disk->SetCircumferentialResolution (50);
@@ -194,6 +206,8 @@ temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius,
 
 temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides, const Color &color)
 {
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     const cv::Point3f pt2 = pt_on_axis + axis_direction;
     vtkSmartPointer<vtkLineSource> line = vtkSmartPointer<vtkLineSource>::New ();
     line->SetPoint1 (pt_on_axis.x, pt_on_axis.y, pt_on_axis.z);
@@ -218,6 +232,8 @@ temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3
 
 temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, bool wire_frame, const Color &color)
 {
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
     cube->SetBounds (pt_min.x, pt_max.x, pt_min.y, pt_max.y, pt_min.z, pt_max.z);
     
@@ -238,6 +254,8 @@ temp_viz::CubeWidget::CubeWidget(const Point3f& pt_min, const Point3f& pt_max, b
 
 temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Affine3f& affine)
 {
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
     axes->SetOrigin (0, 0, 0);
     axes->SetScaleFactor (scale);
@@ -285,8 +303,10 @@ temp_viz::CoordinateSystemWidget::CoordinateSystemWidget(double scale, const Aff
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// text widget implementation
 
-temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color) : Widget(true)
+temp_viz::TextWidget::TextWidget(const String &text, const Point2i &pos, int font_size, const Color &color)
 {
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkTextActor>::New());
+    
     vtkTextActor *actor = vtkTextActor::SafeDownCast(WidgetAccessor::getActor(*this));
     actor->SetPosition (pos.x, pos.y);
     actor->SetInput (text.c_str ());
@@ -400,6 +420,8 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, InputArray _colors)
     CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
     CV_Assert(colors.type() == CV_8UC3 && cloud.size() == colors.size());
     
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     vtkIdType nr_points;
     vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
@@ -441,6 +463,8 @@ temp_viz::CloudWidget::CloudWidget(InputArray _cloud, const Color &color)
     Mat cloud = _cloud.getMat();
     CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
     
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkLODActor * actor = vtkLODActor::SafeDownCast(WidgetAccessor::getActor(*this));
     vtkIdType nr_points;
     vtkSmartPointer<vtkPolyData> polydata = CreateCloudWidget::create(cloud, nr_points);
@@ -551,6 +575,8 @@ temp_viz::CloudNormalsWidget::CloudNormalsWidget(InputArray _cloud, InputArray _
     CV_Assert(cloud.type() == CV_32FC3 || cloud.type() == CV_64FC3 || cloud.type() == CV_32FC4 || cloud.type() == CV_64FC4);
     CV_Assert(cloud.size() == normals.size() && cloud.type() == normals.type());
     
+    WidgetAccessor::setVtkProp(*this, vtkSmartPointer<vtkLODActor>::New());
+    
     vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
     vtkSmartPointer<vtkCellArray> lines = vtkSmartPointer<vtkCellArray>::New();
     vtkIdType nr_normals = 0;

modules/viz/src/widget.cpp

@@ -1,90 +1,132 @@
 #include "precomp.hpp"
 
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget implementation
+
 class temp_viz::Widget::Impl
 {
 public:
     vtkSmartPointer<vtkProp> actor;
-    int ref_counter;
     
-    Impl() : actor(vtkSmartPointer<vtkLODActor>::New()) {}
+    Impl() : actor(0) {}
-    
-    Impl(bool text_widget) 
-    {
-        if (text_widget)
-            actor = vtkSmartPointer<vtkTextActor>::New();
-        else
-            actor = vtkSmartPointer<vtkLeaderActor2D>::New();
-    }
-
-    void setColor(const Color& color)
-    {
-        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
-        Color c = vtkcolor(color);
-        lod_actor->GetMapper ()->ScalarVisibilityOff ();
-        lod_actor->GetProperty ()->SetColor (c.val);
-        lod_actor->GetProperty ()->SetEdgeColor (c.val);
-        lod_actor->GetProperty ()->SetAmbient (0.8);
-        lod_actor->GetProperty ()->SetDiffuse (0.8);
-        lod_actor->GetProperty ()->SetSpecular (0.8);
-        lod_actor->GetProperty ()->SetLighting (0);
-        lod_actor->Modified ();
-    }
-
-    void setPose(const Affine3f& pose)
-    {
-        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
-        vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
-        lod_actor->SetUserMatrix (matrix);
-        lod_actor->Modified ();
-    }
-
-    void updatePose(const Affine3f& pose)
-    {
-        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
-        vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
-        if (!matrix)
-        {
-            setPose(pose);
-            return ;
-        }
-        Matx44f matrix_cv = convertToMatx(matrix);
-
-        Affine3f updated_pose = pose * Affine3f(matrix_cv);
-        matrix = convertToVtkMatrix(updated_pose.matrix);
-
-        lod_actor->SetUserMatrix (matrix);
-        lod_actor->Modified ();
-    }
-
-    Affine3f getPose() const
-    {
-        vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
-        vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
-        Matx44f matrix_cv = convertToMatx(matrix);
-        return Affine3f(matrix_cv);
-    }
-
-protected:
-
-    static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f& m)
-    {
-        vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
-        for (int i = 0; i < 4; i++)
-            for (int k = 0; k < 4; k++)
-                vtk_matrix->SetElement(i, k, m(i, k));
-        return vtk_matrix;
-    }
-
-    static cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
-    {
-        cv::Matx44f m;
-        for (int i = 0; i < 4; i++)
-            for (int k = 0; k < 4; k++)
-                m(i, k) = vtk_matrix->GetElement (i, k);
-        return m;
-    }
 };
 
+temp_viz::Widget::Widget() : impl_(0)
+{
+    impl_ = new Impl();
+}
+
+temp_viz::Widget::Widget(const Widget &other) : impl_(other.impl_)
+{
+    
+}
+
+temp_viz::Widget& temp_viz::Widget::operator =(const Widget &other)
+{
+    if (this != &other)
+    {
+        delete impl_;
+        impl_ = other.impl_;
+    }
+    return *this;
+}
+
+temp_viz::Widget::~Widget()
+{
+    if (impl_)
+    {
+        delete impl_;
+        impl_ = 0;
+    }
+}
+
+
+
+// class temp_viz::Widget::Impl
+// {
+// public:
+//     vtkSmartPointer<vtkProp> actor;
+//     int ref_counter;
+// 
+//     Impl() : actor(vtkSmartPointer<vtkLODActor>::New()) {}
+//     
+//     Impl(bool text_widget) 
+//     {
+//         if (text_widget)
+//             actor = vtkSmartPointer<vtkTextActor>::New();
+//         else
+//             actor = vtkSmartPointer<vtkLeaderActor2D>::New();
+//     }
+// 
+//     void setColor(const Color& color)
+//     {
+//         vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
+//         Color c = vtkcolor(color);
+//         lod_actor->GetMapper ()->ScalarVisibilityOff ();
+//         lod_actor->GetProperty ()->SetColor (c.val);
+//         lod_actor->GetProperty ()->SetEdgeColor (c.val);
+//         lod_actor->GetProperty ()->SetAmbient (0.8);
+//         lod_actor->GetProperty ()->SetDiffuse (0.8);
+//         lod_actor->GetProperty ()->SetSpecular (0.8);
+//         lod_actor->GetProperty ()->SetLighting (0);
+//         lod_actor->Modified ();
+//     }
+// 
+//     void setPose(const Affine3f& pose)
+//     {
+//         vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
+//         vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
+//         lod_actor->SetUserMatrix (matrix);
+//         lod_actor->Modified ();
+//     }
+// 
+//     void updatePose(const Affine3f& pose)
+//     {
+//         vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
+//         vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
+//         if (!matrix)
+//         {
+//             setPose(pose);
+//             return ;
+//         }
+//         Matx44f matrix_cv = convertToMatx(matrix);
+// 
+//         Affine3f updated_pose = pose * Affine3f(matrix_cv);
+//         matrix = convertToVtkMatrix(updated_pose.matrix);
+// 
+//         lod_actor->SetUserMatrix (matrix);
+//         lod_actor->Modified ();
+//     }
+// 
+//     Affine3f getPose() const
+//     {
+//         vtkLODActor *lod_actor = vtkLODActor::SafeDownCast(actor);
+//         vtkSmartPointer<vtkMatrix4x4> matrix = lod_actor->GetUserMatrix();
+//         Matx44f matrix_cv = convertToMatx(matrix);
+//         return Affine3f(matrix_cv);
+//     }
+// 
+// protected:
+// 
+//     static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f& m)
+//     {
+//         vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
+//         for (int i = 0; i < 4; i++)
+//             for (int k = 0; k < 4; k++)
+//                 vtk_matrix->SetElement(i, k, m(i, k));
+//         return vtk_matrix;
+//     }
+// 
+//     static cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
+//     {
+//         cv::Matx44f m;
+//         for (int i = 0; i < 4; i++)
+//             for (int k = 0; k < 4; k++)
+//                 m(i, k) = vtk_matrix->GetElement (i, k);
+//         return m;
+//     }
+// };
+
 
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// stream accessor implementaion
@@ -94,74 +136,101 @@ vtkSmartPointer<vtkProp> temp_viz::WidgetAccessor::getActor(const Widget& widget
     return widget.impl_->actor;
 }
 
+void temp_viz::WidgetAccessor::setVtkProp(Widget& widget, vtkSmartPointer<vtkProp> actor)
+{
+    widget.impl_->actor = actor;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
-/// widget implementaion
+/// widget3D implementation
 
-temp_viz::Widget::Widget() : impl_(0)
+struct temp_viz::Widget3D::MatrixConverter
 {
-    create();
+    static cv::Matx44f convertToMatx(const vtkSmartPointer<vtkMatrix4x4>& vtk_matrix)
-}
-
-temp_viz::Widget::Widget(bool text_widget) : impl_(0)
-{
-    create(text_widget);
-}
-
-temp_viz::Widget::Widget(const Widget& other) : impl_(other.impl_)
-{
-    if (impl_)
-        CV_XADD(&impl_->ref_counter, 1);
-}
-
-temp_viz::Widget& temp_viz::Widget::operator =(const Widget &other)
-{
-    if (this != &other)
     {
-        release();
+        cv::Matx44f m;
-        impl_ = other.impl_;
+        for (int i = 0; i < 4; i++)
-        if (impl_)
+            for (int k = 0; k < 4; k++)
-            CV_XADD(&impl_->ref_counter, 1);
+                m(i, k) = vtk_matrix->GetElement (i, k);
+        return m;
     }
-    return *this;
-}
     
-temp_viz::Widget::~Widget()
+    static vtkSmartPointer<vtkMatrix4x4> convertToVtkMatrix (const cv::Matx44f& m)
-{
-    release();
-}
-
-void temp_viz::Widget::copyTo(Widget& /*dst*/)
-{
-    // TODO Deep copy the data if there is any
-}
-
-void temp_viz::Widget::setColor(const Color& color) { impl_->setColor(color); }
-void temp_viz::Widget::setPose(const Affine3f& pose) { impl_->setPose(pose); }
-void temp_viz::Widget::updatePose(const Affine3f& pose) { impl_->updatePose(pose); }
-temp_viz::Affine3f temp_viz::Widget::getPose() const { return impl_->getPose(); }
-
-void temp_viz::Widget::create()
-{
-    if (impl_)
-        release();
-    impl_ = new Impl();
-    impl_->ref_counter = 1;
-}
-
-void temp_viz::Widget::release()
-{
-    if (impl_ && CV_XADD(&impl_->ref_counter, -1) == 1)
     {
-        delete impl_;
+        vtkSmartPointer<vtkMatrix4x4> vtk_matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
-        impl_ = 0;
+        for (int i = 0; i < 4; i++)
+            for (int k = 0; k < 4; k++)
+                vtk_matrix->SetElement(i, k, m(i, k));
+        return vtk_matrix;
     }
-}
+};
 
-void temp_viz::Widget::create(bool text_widget)
+temp_viz::Widget3D::Widget3D()
 {
-    if (impl_)
+
-        release();
-    impl_ = new Impl(text_widget);
-    impl_->ref_counter = 1;
 }
 
+void temp_viz::Widget3D::setPose(const Affine3f &pose)
+{
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(*this));
+    CV_Assert(actor);
+    
+    vtkSmartPointer<vtkMatrix4x4> matrix = convertToVtkMatrix(pose.matrix);
+    actor->SetUserMatrix (matrix);
+    actor->Modified ();
+}
+
+void temp_viz::Widget3D::updatePose(const Affine3f &pose)
+{
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(*this));
+    CV_Assert(actor);
+    
+    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+    if (!matrix)
+    {
+        setPose(pose);
+        return ;
+    }
+    Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
+
+    Affine3f updated_pose = pose * Affine3f(matrix_cv);
+    matrix = MatrixConverter::convertToVtkMatrix(updated_pose.matrix);
+
+    actor->SetUserMatrix (matrix);
+    actor->Modified ();
+}
+
+temp_viz::Affine3f temp_viz::Widget3D::getPose() const
+{
+    vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getActor(*this));
+    CV_Assert(actor);
+    
+    vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
+    Matx44f matrix_cv = MatrixConverter::convertToMatx(matrix);
+    return Affine3f(matrix_cv);
+}
+
+void temp_viz::Widget3D::setColor(const Color &color)
+{
+    // Cast to actor instead of prop3d since prop3d doesn't provide getproperty
+    vtkActor *actor = vtkActor::SafeDownCast(WidgetAccessor::getActor(*this));
+    CV_Assert(actor);
+    
+    Color c = vtkcolor(color);
+    actor->GetMapper ()->ScalarVisibilityOff ();
+    actor->GetProperty ()->SetColor (c.val);
+    actor->GetProperty ()->SetEdgeColor (c.val);
+    actor->GetProperty ()->SetAmbient (0.8);
+    actor->GetProperty ()->SetDiffuse (0.8);
+    actor->GetProperty ()->SetSpecular (0.8);
+    actor->GetProperty ()->SetLighting (0);
+    actor->Modified ();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// widget2D implementation
+        
+temp_viz::Widget2D::Widget2D()
+{
+
+}