From f07486b563d92bf1864992eec5342bad4cd77de3 Mon Sep 17 00:00:00 2001
From: ozantonkal <ozantonkal@gmail.com>
Date: Thu, 4 Jul 2013 17:44:41 +0300
Subject: [PATCH] cylinder widget implementation

---
 modules/viz/include/opencv2/viz/widgets.hpp |  6 +++++
 modules/viz/src/simple_widgets.cpp          | 25 ++++++++++++++++++++-
 modules/viz/test/test_viz3d.cpp             |  6 ++++-
 3 files changed, 35 insertions(+), 2 deletions(-)

diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp
index 3535f486a..a731dcf93 100644
--- a/modules/viz/include/opencv2/viz/widgets.hpp
+++ b/modules/viz/include/opencv2/viz/widgets.hpp
@@ -67,5 +67,11 @@ namespace temp_viz
     public:
         CircleWidget(const Point3f& pt, double radius, const Color &color = Color::white());
     };
+    
+    class CV_EXPORTS CylinderWidget : public Widget
+    {
+    public:
+        CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides = 30, const Color &color = Color::white());
+    };
 
 }
diff --git a/modules/viz/src/simple_widgets.cpp b/modules/viz/src/simple_widgets.cpp
index 51edc9b13..36b22d99d 100644
--- a/modules/viz/src/simple_widgets.cpp
+++ b/modules/viz/src/simple_widgets.cpp
@@ -158,7 +158,7 @@ temp_viz::ArrowWidget::ArrowWidget(const Point3f& pt1, const Point3f& pt2, const
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// circle widget implementation
 
-temp_viz::CircleWidget::CircleWidget(const Point3f& pt, double radius, const Color &color)
+temp_viz::CircleWidget::CircleWidget(const temp_viz::Point3f& pt, double radius, const temp_viz::Color& color)
 {
     vtkSmartPointer<vtkDiskSource> disk = vtkSmartPointer<vtkDiskSource>::New ();
     // Maybe the resolution should be lower e.g. 50 or 25
@@ -185,3 +185,26 @@ temp_viz::CircleWidget::CircleWidget(const Point3f& pt, double radius, const Col
     setColor(color);
 }
 
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// cylinder widget implementation
+
+temp_viz::CylinderWidget::CylinderWidget(const Point3f& pt_on_axis, const Point3f& axis_direction, double radius, int numsides, const Color &color)
+{
+    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);
+    line->SetPoint2 (pt2.x, pt2.y, pt2.z);
+    
+    vtkSmartPointer<vtkTubeFilter> tuber = vtkSmartPointer<vtkTubeFilter>::New ();
+    tuber->SetInputConnection (line->GetOutputPort ());
+    tuber->SetRadius (radius);
+    tuber->SetNumberOfSides (numsides);
+    
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+    mapper->SetInput(tuber->GetOutput ());
+
+    vtkSmartPointer<vtkLODActor> actor = WidgetAccessor::getActor(*this);
+    actor->SetMapper(mapper);
+    
+    setColor(color);
+}
diff --git a/modules/viz/test/test_viz3d.cpp b/modules/viz/test/test_viz3d.cpp
index 55e590e16..66a78b1b3 100644
--- a/modules/viz/test/test_viz3d.cpp
+++ b/modules/viz/test/test_viz3d.cpp
@@ -92,17 +92,19 @@ 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));
-    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::LineWidget lw(cv::Point3f(0.0,0.0,0.0), cv::Point3f(4.0,4.0,4.0), 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);
     temp_viz::ArrowWidget aw(cv::Point3f(0,0,0), cv::Point3f(1,1,1), temp_viz::Color(255,0,0));
     temp_viz::CircleWidget cw(cv::Point3f(0,0,0), 1.0, temp_viz::Color(0,255,0));
+    temp_viz::CylinderWidget cyw(cv::Point3f(0,0,0), cv::Point3f(-1,-1,-1), 0.5, 30, temp_viz::Color(0,255,0));
     
     v.showWidget("line", lw);
     v.showWidget("plane", pw);
     v.showWidget("sphere", sw);
     v.showWidget("arrow", aw);
     v.showWidget("circle", cw);
+    v.showWidget("cylinder", cyw);
     
     temp_viz::LineWidget lw2 = lw;
     
@@ -128,6 +130,8 @@ TEST(Viz_viz3d, accuracy)
         pw.setPose(cloudPosition);
         aw.setPose(cloudPosition);
         cw.setPose(cloudPosition);
+        cyw.setPose(cloudPosition);
+        lw.setPose(cloudPosition);
         
         angle_x += 0.1f;
         angle_y -= 0.1f;