Added cloud shading support - additional normals array is used

modules/viz/doc/widget.rst

@@ -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

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

@@ -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

modules/viz/src/clouds.cpp

@@ -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;
 }
 
 

modules/viz/test/tests_simple.cpp

@@ -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;