From e185900270be277c96d2a530344b4ade39d7b5e9 Mon Sep 17 00:00:00 2001
From: ozantonkal <ozantonkal@gmail.com>
Date: Wed, 10 Jul 2013 15:34:19 +0200
Subject: [PATCH] grid widget implementation

---
 modules/viz/include/opencv2/viz/widgets.hpp |  7 +++++
 modules/viz/src/simple_widgets.cpp          | 32 +++++++++++++++++++++
 modules/viz/test/test_viz3d.cpp             | 15 +++++++---
 3 files changed, 50 insertions(+), 4 deletions(-)

diff --git a/modules/viz/include/opencv2/viz/widgets.hpp b/modules/viz/include/opencv2/viz/widgets.hpp
index cd1ed94533..85ebda0209 100644
--- a/modules/viz/include/opencv2/viz/widgets.hpp
+++ b/modules/viz/include/opencv2/viz/widgets.hpp
@@ -115,6 +115,12 @@ namespace temp_viz
         struct CopyImpl;
     };
     
+    class CV_EXPORTS GridWidget : public Widget3D
+    {
+    public:
+        GridWidget(Vec2i dimensions, Vec2d spacing, const Color &color = Color::white());
+    };
+    
     class CV_EXPORTS TextWidget : public Widget2D
     {
     public:
@@ -154,6 +160,7 @@ namespace temp_viz
     template<> CV_EXPORTS CubeWidget Widget::cast<CubeWidget>();
     template<> CV_EXPORTS CoordinateSystemWidget Widget::cast<CoordinateSystemWidget>();
     template<> CV_EXPORTS PolyLineWidget Widget::cast<PolyLineWidget>();
+    template<> CV_EXPORTS GridWidget Widget::cast<GridWidget>();
     template<> CV_EXPORTS TextWidget Widget::cast<TextWidget>();
     template<> CV_EXPORTS CloudWidget Widget::cast<CloudWidget>();
     template<> CV_EXPORTS CloudNormalsWidget Widget::cast<CloudNormalsWidget>();
diff --git a/modules/viz/src/simple_widgets.cpp b/modules/viz/src/simple_widgets.cpp
index a9ed2ef8fc..f3ecdb9dc9 100644
--- a/modules/viz/src/simple_widgets.cpp
+++ b/modules/viz/src/simple_widgets.cpp
@@ -418,6 +418,38 @@ template<> temp_viz::PolyLineWidget temp_viz::Widget::cast<temp_viz::PolyLineWid
     return static_cast<PolyLineWidget&>(widget);
 }
 
+///////////////////////////////////////////////////////////////////////////////////////////////
+/// grid widget implementation
+
+temp_viz::GridWidget::GridWidget(Vec2i dimensions, Vec2d spacing, const Color &color)
+{
+    // Create the grid using image data
+    vtkSmartPointer<vtkImageData> grid = vtkSmartPointer<vtkImageData>::New();
+    
+    // Add 1 to dimensions because in ImageData dimensions is the number of lines
+    // - however here it means number of cells
+    grid->SetDimensions(dimensions[0]+1, dimensions[1]+1, 1);
+    grid->SetSpacing(spacing[0], spacing[1], 0.);
+    
+    // Set origin of the grid to be the middle of the grid
+    grid->SetOrigin(dimensions[0] * spacing[0] * (-0.5), dimensions[1] * spacing[1] * (-0.5), 0);
+    
+    vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+    mapper->SetInput(grid);
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+    
+    // Show it as wireframe
+    actor->GetProperty ()->SetRepresentationToWireframe ();
+    WidgetAccessor::setProp(*this, actor);
+}
+
+template<> temp_viz::GridWidget temp_viz::Widget::cast<temp_viz::GridWidget>()
+{
+    Widget3D widget = this->cast<Widget3D>();
+    return static_cast<GridWidget&>(widget);
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 /// text widget implementation
 
diff --git a/modules/viz/test/test_viz3d.cpp b/modules/viz/test/test_viz3d.cpp
index fb8a9f6dae..7a48bb9a98 100644
--- a/modules/viz/test/test_viz3d.cpp
+++ b/modules/viz/test/test_viz3d.cpp
@@ -136,8 +136,13 @@ TEST(Viz_viz3d, accuracy)
     points = points.reshape(0, 2);
     
     temp_viz::PolyLineWidget plw(points);
-    v.showWidget("polyline",plw);
-    lw = v.getWidget("polyline").cast<temp_viz::LineWidget>();
+//     v.showWidget("polyline",plw);
+//     lw = v.getWidget("polyline").cast<temp_viz::LineWidget>();
+    
+    temp_viz::GridWidget gw(temp_viz::Vec2i(10,10), temp_viz::Vec2d(0.1,0.1));
+    v.showWidget("grid", gw);
+    lw = v.getWidget("grid").cast<temp_viz::LineWidget>();
+//     float grid_x_angle = 0.0;
     
     while(!v.wasStopped())
     {
@@ -145,8 +150,8 @@ TEST(Viz_viz3d, accuracy)
         cv::Affine3f cloudPosition(angle_x, angle_y, angle_z, cv::Vec3f(pos_x, pos_y, pos_z));
         cv::Affine3f cloudPosition2(angle_x, angle_y, angle_z, cv::Vec3f(pos_x+0.2, pos_y+0.2, pos_z+0.2));
 
-//         lw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
-        lw.setLineWidth(pos_x * 10);
+        lw.setColor(temp_viz::Color(col_blue, col_green, col_red));
+//         lw.setLineWidth(pos_x * 10);
         
         plw.setColor(temp_viz::Color(col_blue, col_green, col_red));
         
@@ -167,6 +172,8 @@ TEST(Viz_viz3d, accuracy)
         cnw.setColor(temp_viz::Color(col_blue, col_green, col_red));
         pcw2.setColor(temp_viz::Color(col_blue, col_green, col_red));
         
+        gw.updatePose(temp_viz::Affine3f(0.0, 0.1, 0.0, cv::Vec3f(0.0,0.0,0.0)));
+        
         angle_x += 0.1f;
         angle_y -= 0.1f;
         angle_z += 0.1f;