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Merge pull request #2591 from Nerei:viz_cloud_shading_support

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Vadim Pisarevsky 2014-04-10 13:29:58 +04:00 committed by OpenCV Buildbot
commit 211d44cfc5
4 changed files with 62 additions and 6 deletions
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20
modules/viz/doc/widget.rst
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@ -897,6 +897,10 @@ This 3D Widget defines a point cloud. ::
WCloud(InputArray cloud, InputArray colors);
//! All points in cloud have the same color
WCloud(InputArray cloud, const Color &color = Color::white());
//! Each point in cloud is mapped to a color in colors, normals are used for shading
WCloud(InputArray cloud, InputArray colors, InputArray normals);
//! All points in cloud have the same color, normals are used for shading
WCloud(InputArray cloud, const Color &color, InputArray normals);
};
viz::WCloud::WCloud
@ -917,6 +921,22 @@ Constructs a WCloud.
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
.. ocv:function:: WCloud(InputArray cloud, InputArray colors, InputArray normals)
:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
:param colors: Set of colors. It has to be of the same size with cloud.
:param normals: Normals for each point in cloud. Size and type should match with the cloud parameter.
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
.. ocv:function:: WCloud(InputArray cloud, const Color &color, InputArray normals)
:param cloud: Set of points which can be of type: ``CV_32FC3``, ``CV_32FC4``, ``CV_64FC3``, ``CV_64FC4``.
:param color: A single :ocv:class:`Color` for the whole cloud.
:param normals: Normals for each point in cloud. Size and type should match with the cloud parameter.
Points in the cloud belong to mask when they are set to (NaN, NaN, NaN).
.. note:: In case there are four channels in the cloud, fourth channel is ignored.
viz::WCloudCollection

7
modules/viz/include/opencv2/viz/widgets.hpp
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@ -320,8 +320,15 @@ namespace cv
public:
//! Each point in cloud is mapped to a color in colors
WCloud(InputArray cloud, InputArray colors);
//! All points in cloud have the same color
WCloud(InputArray cloud, const Color &color = Color::white());
//! Each point in cloud is mapped to a color in colors, normals are used for shading
WCloud(InputArray cloud, InputArray colors, InputArray normals);
//! All points in cloud have the same color, normals are used for shading
WCloud(InputArray cloud, const Color &color, InputArray normals);
};
class CV_EXPORTS WPaintedCloud: public Widget3D

25
modules/viz/src/clouds.cpp
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@ -49,11 +49,29 @@
/// Point Cloud Widget implementation
cv::viz::WCloud::WCloud(InputArray cloud, InputArray colors)
{
WCloud cloud_widget(cloud, colors, cv::noArray());
*this = cloud_widget;
}
cv::viz::WCloud::WCloud(InputArray cloud, const Color &color)
{
WCloud cloud_widget(cloud, Mat(cloud.size(), CV_8UC3, color));
*this = cloud_widget;
}
cv::viz::WCloud::WCloud(InputArray cloud, const Color &color, InputArray normals)
{
WCloud cloud_widget(cloud, Mat(cloud.size(), CV_8UC3, color), normals);
*this = cloud_widget;
}
cv::viz::WCloud::WCloud(cv::InputArray cloud, cv::InputArray colors, cv::InputArray normals)
{
CV_Assert(!cloud.empty() && !colors.empty());
vtkSmartPointer<vtkCloudMatSource> cloud_source = vtkSmartPointer<vtkCloudMatSource>::New();
cloud_source->SetColorCloud(cloud, colors);
cloud_source->SetColorCloudNormals(cloud, colors, normals);
cloud_source->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
@ -69,12 +87,7 @@ cv::viz::WCloud::WCloud(InputArray cloud, InputArray colors)
actor->SetMapper(mapper);
WidgetAccessor::setProp(*this, actor);
}
cv::viz::WCloud::WCloud(InputArray cloud, const Color &color)
{
WCloud cloud_widget(cloud, Mat(cloud.size(), CV_8UC3, color));
*this = cloud_widget;
}

16
modules/viz/test/tests_simple.cpp
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@ -248,6 +248,22 @@ TEST(Viz, show_sampled_normals)
viz.spin();
}
TEST(Viz, show_cloud_shaded_by_normals)
{
Mesh mesh = Mesh::load(get_dragon_ply_file_path());
computeNormals(mesh, mesh.normals);
Affine3d pose = Affine3d().rotate(Vec3d(0, 0.8, 0));
WCloud cloud(mesh.cloud, Color::white(), mesh.normals);
cloud.setRenderingProperty(SHADING, SHADING_GOURAUD);
Viz3d viz("show_cloud_shaded_by_normals");
viz.showWidget("cloud", cloud, pose);
viz.showWidget("text2d", WText("Cloud shaded by normals", Point(20, 20), 20, Color::green()));
viz.spin();
}
TEST(Viz, show_trajectories)
{
std::vector<Affine3d> path = generate_test_trajectory<double>(), sub0, sub1, sub2, sub3, sub4, sub5;