Merge pull request #2616 from SpecLad:merge-2.4

modules/calib3d/test/test_cameracalibration.cpp

@@ -1608,7 +1608,7 @@ void CV_StereoCalibrationTest::run( int )
         Mat _M1, _M2, _D1, _D2;
         vector<Mat> _R1, _R2, _T1, _T2;
         calibrateCamera( objpt, imgpt1, imgsize, _M1, _D1, _R1, _T1, 0 );
-        calibrateCamera( objpt, imgpt2, imgsize, _M2, _D2, _R2, _T1, 0 );
+        calibrateCamera( objpt, imgpt2, imgsize, _M2, _D2, _R2, _T2, 0 );
         undistortPoints( _imgpt1, _imgpt1, _M1, _D1, Mat(), _M1 );
         undistortPoints( _imgpt2, _imgpt2, _M2, _D2, Mat(), _M2 );
 

modules/core/test/test_arithm.cpp

@@ -1361,7 +1361,6 @@ TEST_P(ElemWiseTest, accuracy)
         op->op(src, dst, mask);
 
         double maxErr = op->getMaxErr(depth);
-        vector<int> pos;
         ASSERT_PRED_FORMAT2(cvtest::MatComparator(maxErr, op->context), dst0, dst) << "\nsrc[0] ~ " <<
             cvtest::MatInfo(!src.empty() ? src[0] : Mat()) << "\ntestCase #" << testIdx << "\n";
     }

modules/features2d/test/test_nearestneighbors.cpp

@@ -215,8 +215,6 @@ int CV_KDTreeTest_CPP::findNeighbors( Mat& points, Mat& neighbors )
     const int emax = 20;
     Mat neighbors2( neighbors.size(), CV_32SC1 );
     int j;
-    vector<float> min(points.cols, static_cast<float>(minValue));
-    vector<float> max(points.cols, static_cast<float>(maxValue));
     for( int pi = 0; pi < points.rows; pi++ )
     {
         // 1st way

modules/objdetect/src/hog.cpp

@@ -3525,7 +3525,6 @@ void HOGDescriptor::groupRectangles(std::vector<cv::Rect>& rectList, std::vector
     std::vector<cv::Rect_<double> > rrects(nclasses);
     std::vector<int> numInClass(nclasses, 0);
     std::vector<double> foundWeights(nclasses, DBL_MIN);
-    std::vector<double> totalFactorsPerClass(nclasses, 1);
     int i, j, nlabels = (int)labels.size();
 
     for( i = 0; i < nlabels; i++ )

modules/viz/doc/widget.rst

@@ -898,6 +898,10 @@ 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
@@ -918,6 +922,22 @@ 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;