refactoed plane

modules/viz/doc/widget.rst

@@ -274,25 +274,30 @@ This 3D Widget defines a finite plane. ::
     class CV_EXPORTS WPlane : public Widget3D
     {
     public:
-        WPlane(const Vec4d& coefs, double size = 1.0, const Color &color = Color::white());
-        WPlane(const Vec4d& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white());
+        //! created default plane with center point at origin and normal oriented along z-axis
+        WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
+
+        //! repositioned plane
+        WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_plane_yaxis,const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
     };
 
 viz::WPlane::WPlane
 -------------------
-Constructs a WPlane.
+Constructs a default plane with center point at origin and normal oriented along z-axis.
 
-.. ocv:function:: WPlane(const Vec4d& coefs, double size = 1.0, const Color &color = Color::white())
+.. ocv:function:: WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
 
-    :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
-    :param size: Size of the plane.
+    :param size: Size of the plane
     :param color: :ocv:class:`Color` of the plane.
 
-.. ocv:function:: WPlane(const Vec4d& coefs, const Point3f& pt, double size = 1.0, const Color &color = Color::white())
+viz::WPlane::WPlane
+Constructs a repositioned plane
+        
+.. ocv:function:: WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_plane_yaxis,const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
 
-    :param coefs: Plane coefficients as in (A,B,C,D) where Ax + By + Cz + D = 0.
-    :param pt: Position of the plane.
-    :param size: Size of the plane.
+    :param center: Center of the plane
+    :param normal: Plane normal orientation
+    :param new_plane_yaxis: Up-vector. New orientation of plane y-axis.
     :param color: :ocv:class:`Color` of the plane.
 
 viz::WSphere

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

@@ -145,8 +145,11 @@ namespace cv
         class CV_EXPORTS WPlane : public Widget3D
         {
         public:
-            WPlane(const Vec4d& coefs, double size = 1.0, const Color &color = Color::white());
-            WPlane(const Vec4d& coefs, const Point3d& pt, double size = 1.0, const Color &color = Color::white());
+            //! created default plane with center point at origin and normal oriented along z-axis
+            WPlane(const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
+
+            //! repositioned plane
+            WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_plane_yaxis,const Size2d& size = Size2d(1.0, 1.0), const Color &color = Color::white());
         };
 
         class CV_EXPORTS WSphere : public Widget3D

modules/viz/src/shapes.cpp

@@ -125,6 +125,36 @@ namespace cv { namespace viz { namespace
     };
 }}}
 
+cv::viz::WPlane::WPlane(const Size2d& size, const Color &color)
+{
+    vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();
+    plane->SetOrigin(-0.5 * size.width, -0.5 * size.height, 0.0);
+    plane->SetPoint1( 0.5 * size.width, -0.5 * size.height, 0.0);
+    plane->SetPoint2(-0.5 * size.width,  0.5 * size.height, 0.0);
+    plane->Update();
+
+    vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
+    VtkUtils::SetInputData(mapper, plane->GetOutput());
+
+    vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
+    actor->SetMapper(mapper);
+    actor->GetProperty()->LightingOff();
+
+    WidgetAccessor::setProp(*this, actor);
+    setColor(color);
+}
+
+cv::viz::WPlane::WPlane(const Point3d& center, const Vec3d& normal, const Vec3d& new_plane_yaxis, const Size2d& size, const Color &color)
+{
+    Vec3d zvec = normalize(normal);
+    Vec3d xvec = normalize(new_plane_yaxis.cross(zvec));
+    Vec3d yvec = zvec.cross(xvec);
+
+    WPlane plane(size, color);
+    plane.applyTransform(makeTransformToGlobal(xvec, yvec, zvec, center));
+    *this = plane;
+}
+
 cv::viz::WPlane::WPlane(const Vec4d& coefs, double size, const Color &color)
 {
     vtkSmartPointer<vtkPlaneSource> plane = vtkSmartPointer<vtkPlaneSource>::New();

modules/viz/test/tests_simple.cpp

@@ -304,16 +304,18 @@ TEST(Viz, show_simple_widgets)
     viz.showWidget("con1", WCone(0.125, Point3d(0.5, -0.5, 0.5), Point3d(0.5, -1.0, 0.5), 6, Color::turquoise()));
 
     viz.showWidget("text2d", WText("Simple text", Point(20, 20), 20, Color::green()));
-
     viz.showWidget("text3d", WText3D("Simple 3D text", Point3d( 0.5,  0.5, 0.5), 0.125, false, Color::green()));
 
+    viz.showWidget("plane1", WPlane(Size2d(0.25, 0.75)));
+    viz.showWidget("plane2", WPlane(Vec3d(0.5, -0.5, -0.5), Vec3d(0.0, 1.0, 1.0), Vec3d(1.0, 1.0, 0.0), Size2d(1.0, 0.5), Color::gold()));
+
     viz.spinOnce(1500, true);
     viz.getWidget("text2d").cast<WText>().setText("New simple text");
     viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D");
     viz.spin();
 }
 
-TEST(Viz, show_follower)
+TEST(Viz, DISABLED_show_follower)
 {
     Viz3d viz("show_follower");