Loading...
Searching...
No Matches
texture_mapping.hpp
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#ifndef PCL_SURFACE_IMPL_TEXTURE_MAPPING_HPP_
#define PCL_SURFACE_IMPL_TEXTURE_MAPPING_HPP_
#include <pcl/common/distances.h>
#include <pcl/surface/texture_mapping.h>
#include <unordered_set>
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> >
pcl::TextureMapping<PointInT>::mapTexture2Face (
const Eigen::Vector3f &p1,
const Eigen::Vector3f &p2,
const Eigen::Vector3f &p3)
{
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > tex_coordinates;
// process for each face
Eigen::Vector3f p1p2 (p2[0] - p1[0], p2[1] - p1[1], p2[2] - p1[2]);
Eigen::Vector3f p1p3 (p3[0] - p1[0], p3[1] - p1[1], p3[2] - p1[2]);
Eigen::Vector3f p2p3 (p3[0] - p2[0], p3[1] - p2[1], p3[2] - p2[2]);
// Normalize
p1p2 /= std::sqrt (p1p2.dot (p1p2));
p1p3 /= std::sqrt (p1p3.dot (p1p3));
p2p3 /= std::sqrt (p2p3.dot (p2p3));
// compute vector normal of a face
Eigen::Vector3f f_normal = p1p2.cross (p1p3);
f_normal /= std::sqrt (f_normal.dot (f_normal));
// project vector field onto the face: vector v1_projected = v1 - Dot(v1, n) * n;
Eigen::Vector3f f_vector_field = vector_field_ - vector_field_.dot (f_normal) * f_normal;
// Normalize
f_vector_field /= std::sqrt (f_vector_field.dot (f_vector_field));
// texture coordinates
Eigen::Vector2f tp1, tp2, tp3;
double alpha = std::acos (f_vector_field.dot (p1p2));
// distance between 3 vertices of triangles
double e1 = (p2 - p3).norm () / f_;
double e2 = (p1 - p3).norm () / f_;
double e3 = (p1 - p2).norm () / f_;
// initialize
tp1[0] = 0.0;
tp1[1] = 0.0;
tp2[0] = static_cast<float> (e3);
tp2[1] = 0.0;
// determine texture coordinate tp3;
double cos_p1 = (e2 * e2 + e3 * e3 - e1 * e1) / (2 * e2 * e3);
double sin_p1 = sqrt (1 - (cos_p1 * cos_p1));
tp3[0] = static_cast<float> (cos_p1 * e2);
tp3[1] = static_cast<float> (sin_p1 * e2);
// rotating by alpha (angle between V and pp1 & pp2)
Eigen::Vector2f r_tp2, r_tp3;
r_tp2[0] = static_cast<float> (tp2[0] * std::cos (alpha) - tp2[1] * std::sin (alpha));
r_tp2[1] = static_cast<float> (tp2[0] * std::sin (alpha) + tp2[1] * std::cos (alpha));
r_tp3[0] = static_cast<float> (tp3[0] * std::cos (alpha) - tp3[1] * std::sin (alpha));
r_tp3[1] = static_cast<float> (tp3[0] * std::sin (alpha) + tp3[1] * std::cos (alpha));
// shifting
tp1[0] = tp1[0];
tp2[0] = r_tp2[0];
tp3[0] = r_tp3[0];
tp1[1] = tp1[1];
tp2[1] = r_tp2[1];
tp3[1] = r_tp3[1];
float min_x = tp1[0];
float min_y = tp1[1];
if (min_x > tp2[0])
min_x = tp2[0];
if (min_x > tp3[0])
min_x = tp3[0];
if (min_y > tp2[1])
min_y = tp2[1];
if (min_y > tp3[1])
min_y = tp3[1];
if (min_x < 0)
{
tp1[0] -= min_x;
tp2[0] -= min_x;
tp3[0] -= min_x;
}
if (min_y < 0)
{
tp1[1] -= min_y;
tp2[1] -= min_y;
tp3[1] -= min_y;
}
tex_coordinates.push_back (tp1);
tex_coordinates.push_back (tp2);
tex_coordinates.push_back (tp3);
return (tex_coordinates);
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> void
pcl::TextureMapping<PointInT>::mapTexture2Mesh (pcl::TextureMesh &tex_mesh)
{
// mesh information
int nr_points = tex_mesh.cloud.width * tex_mesh.cloud.height;
int point_size = static_cast<int> (tex_mesh.cloud.data.size ()) / nr_points;
// temporary PointXYZ
float x, y, z;
// temporary face
Eigen::Vector3f facet[3];
// texture coordinates for each mesh
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >texture_map;
for (std::size_t m = 0; m < tex_mesh.tex_polygons.size (); ++m)
{
// texture coordinates for each mesh
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texture_map_tmp;
// processing for each face
for (std::size_t i = 0; i < tex_mesh.tex_polygons[m].size (); ++i)
{
// get facet information
for (std::size_t j = 0; j < tex_mesh.tex_polygons[m][i].vertices.size (); ++j)
{
std::size_t idx = tex_mesh.tex_polygons[m][i].vertices[j];
memcpy (&x, &tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[0].offset], sizeof(float));
memcpy (&y, &tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[1].offset], sizeof(float));
memcpy (&z, &tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[2].offset], sizeof(float));
facet[j][0] = x;
facet[j][1] = y;
facet[j][2] = z;
}
// get texture coordinates of each face
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > tex_coordinates = mapTexture2Face (facet[0], facet[1], facet[2]);
for (const auto &tex_coordinate : tex_coordinates)
texture_map_tmp.push_back (tex_coordinate);
}// end faces
// texture materials
tex_material_.tex_name = "material_" + std::to_string(m);
tex_material_.tex_file = tex_files_[m];
tex_mesh.tex_materials.push_back (tex_material_);
// texture coordinates
tex_mesh.tex_coordinates.push_back (texture_map_tmp);
}// end meshes
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> void
pcl::TextureMapping<PointInT>::mapTexture2MeshUV (pcl::TextureMesh &tex_mesh)
{
// mesh information
int nr_points = tex_mesh.cloud.width * tex_mesh.cloud.height;
int point_size = static_cast<int> (tex_mesh.cloud.data.size ()) / nr_points;
float x_lowest = 100000;
float x_highest = 0;
float y_lowest = 100000;
//float y_highest = 0 ;
float z_lowest = 100000;
float z_highest = 0;
float x_, y_, z_;
for (int i = 0; i < nr_points; ++i)
{
memcpy (&x_, &tex_mesh.cloud.data[i * point_size + tex_mesh.cloud.fields[0].offset], sizeof(float));
memcpy (&y_, &tex_mesh.cloud.data[i * point_size + tex_mesh.cloud.fields[1].offset], sizeof(float));
memcpy (&z_, &tex_mesh.cloud.data[i * point_size + tex_mesh.cloud.fields[2].offset], sizeof(float));
// x
if (x_ <= x_lowest)
x_lowest = x_;
if (x_ > x_lowest)
x_highest = x_;
// y
if (y_ <= y_lowest)
y_lowest = y_;
//if (y_ > y_lowest) y_highest = y_;
// z
if (z_ <= z_lowest)
z_lowest = z_;
if (z_ > z_lowest)
z_highest = z_;
}
// x
float x_range = (x_lowest - x_highest) * -1;
float x_offset = 0 - x_lowest;
// x
// float y_range = (y_lowest - y_highest)*-1;
// float y_offset = 0 - y_lowest;
// z
float z_range = (z_lowest - z_highest) * -1;
float z_offset = 0 - z_lowest;
// texture coordinates for each mesh
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >texture_map;
for (std::size_t m = 0; m < tex_mesh.tex_polygons.size (); ++m)
{
// texture coordinates for each mesh
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texture_map_tmp;
// processing for each face
for (std::size_t i = 0; i < tex_mesh.tex_polygons[m].size (); ++i)
{
Eigen::Vector2f tmp_VT;
for (std::size_t j = 0; j < tex_mesh.tex_polygons[m][i].vertices.size (); ++j)
{
std::size_t idx = tex_mesh.tex_polygons[m][i].vertices[j];
memcpy (&x_, &tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[0].offset], sizeof(float));
memcpy (&y_, &tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[1].offset], sizeof(float));
memcpy (&z_, &tex_mesh.cloud.data[idx * point_size + tex_mesh.cloud.fields[2].offset], sizeof(float));
// calculate uv coordinates
tmp_VT[0] = (x_ + x_offset) / x_range;
tmp_VT[1] = (z_ + z_offset) / z_range;
texture_map_tmp.push_back (tmp_VT);
}
}// end faces
// texture materials
tex_material_.tex_name = "material_" + std::to_string(m);
tex_material_.tex_file = tex_files_[m];
tex_mesh.tex_materials.push_back (tex_material_);
// texture coordinates
tex_mesh.tex_coordinates.push_back (texture_map_tmp);
}// end meshes
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> void
pcl::TextureMapping<PointInT>::mapMultipleTexturesToMeshUV (pcl::TextureMesh &tex_mesh, pcl::texture_mapping::CameraVector &cams)
{
if (tex_mesh.tex_polygons.size () != cams.size () + 1)
{
PCL_ERROR ("The mesh should be divided into nbCamera+1 sub-meshes.\n");
PCL_ERROR ("You provided %d cameras and a mesh containing %d sub-meshes.\n", cams.size (), tex_mesh.tex_polygons.size ());
return;
}
PCL_INFO ("You provided %d cameras and a mesh containing %d sub-meshes.\n", cams.size (), tex_mesh.tex_polygons.size ());
typename pcl::PointCloud<PointInT>::Ptr originalCloud (new pcl::PointCloud<PointInT>);
typename pcl::PointCloud<PointInT>::Ptr camera_transformed_cloud (new pcl::PointCloud<PointInT>);
// convert mesh's cloud to pcl format for ease
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *originalCloud);
for (std::size_t m = 0; m < cams.size (); ++m)
{
// get current camera parameters
Camera current_cam = cams[m];
// get camera transform
Eigen::Affine3f cam_trans = current_cam.pose;
// transform cloud into current camera frame
pcl::transformPointCloud (*originalCloud, *camera_transformed_cloud, cam_trans.inverse ());
// vector of texture coordinates for each face
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texture_map_tmp;
// processing each face visible by this camera
for (const auto &tex_polygon : tex_mesh.tex_polygons[m])
{
Eigen::Vector2f tmp_VT;
// for each point of this face
for (const auto &vertex : tex_polygon.vertices)
{
// get point
PointInT pt = (*camera_transformed_cloud)[vertex];
// compute UV coordinates for this point
getPointUVCoordinates (pt, current_cam, tmp_VT);
texture_map_tmp.push_back (tmp_VT);
}// end points
}// end faces
// texture materials
tex_material_.tex_name = "material_" + std::to_string(m);
tex_material_.tex_file = current_cam.texture_file;
tex_mesh.tex_materials.push_back (tex_material_);
// texture coordinates
tex_mesh.tex_coordinates.push_back (texture_map_tmp);
}// end cameras
// push on extra empty UV map (for unseen faces) so that obj writer does not crash!
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texture_map_tmp;
for (const auto &tex_polygon : tex_mesh.tex_polygons[cams.size ()])
for (std::size_t j = 0; j < tex_polygon.vertices.size (); ++j)
{
Eigen::Vector2f tmp_VT;
tmp_VT[0] = -1;
tmp_VT[1] = -1;
texture_map_tmp.push_back (tmp_VT);
}
tex_mesh.tex_coordinates.push_back (texture_map_tmp);
// push on an extra dummy material for the same reason
tex_material_.tex_name = "material_" + std::to_string(cams.size());
tex_material_.tex_file = "occluded.jpg";
tex_mesh.tex_materials.push_back (tex_material_);
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> bool
pcl::TextureMapping<PointInT>::isPointOccluded (const PointInT &pt, OctreePtr octree)
{
Eigen::Vector3f direction;
direction (0) = pt.x;
direction (1) = pt.y;
direction (2) = pt.z;
pcl::Indices indices;
PointCloudConstPtr cloud (new PointCloud());
cloud = octree->getInputCloud();
double distance_threshold = octree->getResolution();
// raytrace
octree->getIntersectedVoxelIndices(direction, -direction, indices);
int nbocc = static_cast<int> (indices.size ());
for (const auto &index : indices)
{
// if intersected point is on the over side of the camera
if (pt.z * (*cloud)[index].z < 0)
{
nbocc--;
continue;
}
if (std::fabs ((*cloud)[index].z - pt.z) <= distance_threshold)
{
// points are very close to each-other, we do not consider the occlusion
nbocc--;
}
}
return (nbocc != 0);
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> void
pcl::TextureMapping<PointInT>::removeOccludedPoints (const PointCloudPtr &input_cloud,
PointCloudPtr &filtered_cloud,
const double octree_voxel_size, pcl::Indices &visible_indices,
pcl::Indices &occluded_indices)
{
// variable used to filter occluded points by depth
double maxDeltaZ = octree_voxel_size;
// create an octree to perform rayTracing
Octree octree (octree_voxel_size);
// create octree structure
octree.setInputCloud (input_cloud);
// update bounding box automatically
octree.defineBoundingBox ();
// add points in the tree
octree.addPointsFromInputCloud ();
visible_indices.clear ();
// for each point of the cloud, raycast toward camera and check intersected voxels.
Eigen::Vector3f direction;
pcl::Indices indices;
for (std::size_t i = 0; i < input_cloud->size (); ++i)
{
direction (0) = (*input_cloud)[i].x;
direction (1) = (*input_cloud)[i].y;
direction (2) = (*input_cloud)[i].z;
// if point is not occluded
octree.getIntersectedVoxelIndices (direction, -direction, indices);
int nbocc = static_cast<int> (indices.size ());
for (const auto &index : indices)
{
// if intersected point is on the over side of the camera
if ((*input_cloud)[i].z * (*input_cloud)[index].z < 0)
{
nbocc--;
continue;
}
if (std::fabs ((*input_cloud)[index].z - (*input_cloud)[i].z) <= maxDeltaZ)
{
// points are very close to each-other, we do not consider the occlusion
nbocc--;
}
}
if (nbocc == 0)
{
// point is added in the filtered mesh
filtered_cloud->points.push_back ((*input_cloud)[i]);
visible_indices.push_back (static_cast<pcl::index_t> (i));
}
else
{
occluded_indices.push_back (static_cast<pcl::index_t> (i));
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> void
pcl::TextureMapping<PointInT>::removeOccludedPoints (const pcl::TextureMesh &tex_mesh, pcl::TextureMesh &cleaned_mesh, const double octree_voxel_size)
{
// copy mesh
cleaned_mesh = tex_mesh;
typename pcl::PointCloud<PointInT>::Ptr cloud (new pcl::PointCloud<PointInT>);
typename pcl::PointCloud<PointInT>::Ptr filtered_cloud (new pcl::PointCloud<PointInT>);
// load points into a PCL format
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *cloud);
pcl::Indices visible, occluded;
removeOccludedPoints (cloud, filtered_cloud, octree_voxel_size, visible, occluded);
// Now that we know which points are visible, let's iterate over each face.
// if the face has one invisible point => out!
for (std::size_t polygons = 0; polygons < cleaned_mesh.tex_polygons.size (); ++polygons)
{
// remove all faces from cleaned mesh
cleaned_mesh.tex_polygons[polygons].clear ();
// iterate over faces
for (std::size_t faces = 0; faces < tex_mesh.tex_polygons[polygons].size (); ++faces)
{
// check if all the face's points are visible
bool faceIsVisible = true;
// iterate over face's vertex
for (const auto &vertex : tex_mesh.tex_polygons[polygons][faces].vertices)
{
if (find (occluded.begin (), occluded.end (), vertex) == occluded.end ())
{
// point is not in the occluded vector
// PCL_INFO (" VISIBLE!\n");
}
else
{
// point was occluded
// PCL_INFO(" OCCLUDED!\n");
faceIsVisible = false;
}
}
if (faceIsVisible)
{
cleaned_mesh.tex_polygons[polygons].push_back (tex_mesh.tex_polygons[polygons][faces]);
}
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> void
pcl::TextureMapping<PointInT>::removeOccludedPoints (const pcl::TextureMesh &tex_mesh, PointCloudPtr &filtered_cloud,
const double octree_voxel_size)
{
PointCloudPtr cloud (new PointCloud);
// load points into a PCL format
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *cloud);
pcl::Indices visible, occluded;
removeOccludedPoints (cloud, filtered_cloud, octree_voxel_size, visible, occluded);
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> int
pcl::TextureMapping<PointInT>::sortFacesByCamera (pcl::TextureMesh &tex_mesh, pcl::TextureMesh &sorted_mesh,
const pcl::texture_mapping::CameraVector &cameras, const double octree_voxel_size,
PointCloud &visible_pts)
{
if (tex_mesh.tex_polygons.size () != 1)
{
PCL_ERROR ("The mesh must contain only 1 sub-mesh!\n");
return (-1);
}
if (cameras.empty ())
{
PCL_ERROR ("Must provide at least one camera info!\n");
return (-1);
}
// copy mesh
sorted_mesh = tex_mesh;
// clear polygons from cleaned_mesh
sorted_mesh.tex_polygons.clear ();
typename pcl::PointCloud<PointInT>::Ptr original_cloud (new pcl::PointCloud<PointInT>);
typename pcl::PointCloud<PointInT>::Ptr transformed_cloud (new pcl::PointCloud<PointInT>);
typename pcl::PointCloud<PointInT>::Ptr filtered_cloud (new pcl::PointCloud<PointInT>);
// load points into a PCL format
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *original_cloud);
// for each camera
for (const auto &camera : cameras)
{
// get camera pose as transform
Eigen::Affine3f cam_trans = camera.pose;
// transform original cloud in camera coordinates
pcl::transformPointCloud (*original_cloud, *transformed_cloud, cam_trans.inverse ());
// find occlusions on transformed cloud
pcl::Indices visible, occluded;
removeOccludedPoints (transformed_cloud, filtered_cloud, octree_voxel_size, visible, occluded);
visible_pts = *filtered_cloud;
// pushing occluded idxs into a set for faster lookup
std::unordered_set<index_t> occluded_set(occluded.cbegin(), occluded.cend());
// find visible faces => add them to polygon N for camera N
// add polygon group for current camera in clean
std::vector<pcl::Vertices> visibleFaces_currentCam;
// iterate over the faces of the current mesh
for (std::size_t faces = 0; faces < tex_mesh.tex_polygons[0].size (); ++faces)
{
// check if all the face's points are visible
// iterate over face's vertex
const auto faceIsVisible = std::all_of(tex_mesh.tex_polygons[0][faces].vertices.cbegin(),
tex_mesh.tex_polygons[0][faces].vertices.cend(),
[&](const auto& vertex)
{
if (occluded_set.find(vertex) != occluded_set.cend()) {
return false; // point is occluded
}
// is the point visible to the camera?
Eigen::Vector2f dummy_UV;
return this->getPointUVCoordinates ((*transformed_cloud)[vertex], camera, dummy_UV);
});
if (faceIsVisible)
{
// push current visible face into the sorted mesh
visibleFaces_currentCam.push_back (tex_mesh.tex_polygons[0][faces]);
// remove it from the unsorted mesh
tex_mesh.tex_polygons[0].erase (tex_mesh.tex_polygons[0].begin () + faces);
faces--;
}
}
sorted_mesh.tex_polygons.push_back (visibleFaces_currentCam);
}
// we should only have occluded and non-visible faces left in tex_mesh.tex_polygons[0]
// we need to add them as an extra polygon in the sorted mesh
sorted_mesh.tex_polygons.push_back (tex_mesh.tex_polygons[0]);
return (0);
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> void
pcl::TextureMapping<PointInT>::showOcclusions (const PointCloudPtr &input_cloud,
pcl::PointCloud<pcl::PointXYZI>::Ptr &colored_cloud,
const double octree_voxel_size, const bool show_nb_occlusions,
const int max_occlusions)
{
// variable used to filter occluded points by depth
double maxDeltaZ = octree_voxel_size * 2.0;
// create an octree to perform rayTracing
Octree octree (octree_voxel_size);
// create octree structure
octree.setInputCloud (input_cloud);
// update bounding box automatically
octree.defineBoundingBox ();
// add points in the tree
octree.addPointsFromInputCloud ();
// ray direction
Eigen::Vector3f direction;
pcl::Indices indices;
// point from where we ray-trace
pcl::PointXYZI pt;
std::vector<double> zDist;
std::vector<double> ptDist;
// for each point of the cloud, ray-trace toward the camera and check intersected voxels.
for (const auto& point: *input_cloud)
{
direction = pt.getVector3fMap() = point.getVector3fMap();
// get number of occlusions for that point
indices.clear ();
int nbocc = octree.getIntersectedVoxelIndices (direction, -direction, indices);
nbocc = static_cast<int> (indices.size ());
// TODO need to clean this up and find tricks to get remove aliasaing effect on planes
for (const auto &index : indices)
{
// if intersected point is on the over side of the camera
if (pt.z * (*input_cloud)[index].z < 0)
{
nbocc--;
}
else if (std::fabs ((*input_cloud)[index].z - pt.z) <= maxDeltaZ)
{
// points are very close to each-other, we do not consider the occlusion
nbocc--;
}
else
{
zDist.push_back (std::fabs ((*input_cloud)[index].z - pt.z));
ptDist.push_back (pcl::euclideanDistance ((*input_cloud)[index], pt));
}
}
if (show_nb_occlusions)
(nbocc <= max_occlusions) ? (pt.intensity = static_cast<float> (nbocc)) : (pt.intensity = static_cast<float> (max_occlusions));
else
(nbocc == 0) ? (pt.intensity = 0) : (pt.intensity = 1);
colored_cloud->points.push_back (pt);
}
if (zDist.size () >= 2)
{
std::sort (zDist.begin (), zDist.end ());
std::sort (ptDist.begin (), ptDist.end ());
}
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> void
pcl::TextureMapping<PointInT>::showOcclusions (pcl::TextureMesh &tex_mesh, pcl::PointCloud<pcl::PointXYZI>::Ptr &colored_cloud,
double octree_voxel_size, bool show_nb_occlusions, int max_occlusions)
{
// load points into a PCL format
typename pcl::PointCloud<PointInT>::Ptr cloud (new pcl::PointCloud<PointInT>);
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *cloud);
showOcclusions (cloud, colored_cloud, octree_voxel_size, show_nb_occlusions, max_occlusions);
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> void
pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras (pcl::TextureMesh &mesh, const pcl::texture_mapping::CameraVector &cameras)
{
if (mesh.tex_polygons.size () != 1)
return;
typename pcl::PointCloud<PointInT>::Ptr mesh_cloud (new pcl::PointCloud<PointInT>);
pcl::fromPCLPointCloud2 (mesh.cloud, *mesh_cloud);
std::vector<pcl::Vertices> faces;
for (int current_cam = 0; current_cam < static_cast<int> (cameras.size ()); ++current_cam)
{
PCL_INFO ("Processing camera %d of %d.\n", current_cam+1, cameras.size ());
// transform mesh into camera's frame
typename pcl::PointCloud<PointInT>::Ptr camera_cloud (new pcl::PointCloud<PointInT>);
pcl::transformPointCloud (*mesh_cloud, *camera_cloud, cameras[current_cam].pose.inverse ());
// CREATE UV MAP FOR CURRENT FACES
pcl::PointCloud<pcl::PointXY>::Ptr projections (new pcl::PointCloud<pcl::PointXY>);
std::vector<bool> visibility;
visibility.resize (mesh.tex_polygons[current_cam].size ());
std::vector<UvIndex> indexes_uv_to_points;
// for each current face
//TODO change this
pcl::PointXY nan_point;
nan_point.x = std::numeric_limits<float>::quiet_NaN ();
nan_point.y = std::numeric_limits<float>::quiet_NaN ();
UvIndex u_null;
u_null.idx_cloud = -1;
u_null.idx_face = -1;
int cpt_invisible=0;
for (int idx_face = 0; idx_face < static_cast<int> (mesh.tex_polygons[current_cam].size ()); ++idx_face)
{
//project each vertice, if one is out of view, stop
pcl::PointXY uv_coord1;
pcl::PointXY uv_coord2;
pcl::PointXY uv_coord3;
if (isFaceProjected (cameras[current_cam],
(*camera_cloud)[mesh.tex_polygons[current_cam][idx_face].vertices[0]],
(*camera_cloud)[mesh.tex_polygons[current_cam][idx_face].vertices[1]],
(*camera_cloud)[mesh.tex_polygons[current_cam][idx_face].vertices[2]],
uv_coord1,
uv_coord2,
uv_coord3))
{
// face is in the camera's FOV
// add UV coordinates
projections->points.push_back (uv_coord1);
projections->points.push_back (uv_coord2);
projections->points.push_back (uv_coord3);
// remember corresponding face
UvIndex u1, u2, u3;
u1.idx_cloud = mesh.tex_polygons[current_cam][idx_face].vertices[0];
u2.idx_cloud = mesh.tex_polygons[current_cam][idx_face].vertices[1];
u3.idx_cloud = mesh.tex_polygons[current_cam][idx_face].vertices[2];
u1.idx_face = idx_face; u2.idx_face = idx_face; u3.idx_face = idx_face;
indexes_uv_to_points.push_back (u1);
indexes_uv_to_points.push_back (u2);
indexes_uv_to_points.push_back (u3);
//keep track of visibility
visibility[idx_face] = true;
}
else
{
projections->points.push_back (nan_point);
projections->points.push_back (nan_point);
projections->points.push_back (nan_point);
indexes_uv_to_points.push_back (u_null);
indexes_uv_to_points.push_back (u_null);
indexes_uv_to_points.push_back (u_null);
//keep track of visibility
visibility[idx_face] = false;
cpt_invisible++;
}
}
// projections contains all UV points of the current faces
// indexes_uv_to_points links a uv point to its point in the camera cloud
// visibility contains tells if a face was in the camera FOV (false = skip)
// TODO handle case were no face could be projected
if (visibility.size () - cpt_invisible !=0)
{
//create kdtree
pcl::KdTreeFLANN<pcl::PointXY> kdtree;
kdtree.setInputCloud (projections);
pcl::Indices idxNeighbors;
std::vector<float> neighborsSquaredDistance;
// af first (idx_pcan < current_cam), check if some of the faces attached to previous cameras occlude the current faces
// then (idx_pcam == current_cam), check for self occlusions. At this stage, we skip faces that were already marked as occluded
cpt_invisible = 0;
for (int idx_pcam = 0 ; idx_pcam <= current_cam ; ++idx_pcam)
{
// project all faces
for (int idx_face = 0; idx_face < static_cast<int> (mesh.tex_polygons[idx_pcam].size ()); ++idx_face)
{
if (idx_pcam == current_cam && !visibility[idx_face])
{
// we are now checking for self occlusions within the current faces
// the current face was already declared as occluded.
// therefore, it cannot occlude another face anymore => we skip it
continue;
}
// project each vertice, if one is out of view, stop
pcl::PointXY uv_coord1;
pcl::PointXY uv_coord2;
pcl::PointXY uv_coord3;
if (isFaceProjected (cameras[current_cam],
(*camera_cloud)[mesh.tex_polygons[idx_pcam][idx_face].vertices[0]],
(*camera_cloud)[mesh.tex_polygons[idx_pcam][idx_face].vertices[1]],
(*camera_cloud)[mesh.tex_polygons[idx_pcam][idx_face].vertices[2]],
uv_coord1,
uv_coord2,
uv_coord3))
{
// face is in the camera's FOV
//get its circumsribed circle
double radius;
pcl::PointXY center;
// getTriangleCircumcenterAndSize (uv_coord1, uv_coord2, uv_coord3, center, radius);
getTriangleCircumcscribedCircleCentroid(uv_coord1, uv_coord2, uv_coord3, center, radius); // this function yields faster results than getTriangleCircumcenterAndSize
// get points inside circ.circle
if (kdtree.radiusSearch (center, radius, idxNeighbors, neighborsSquaredDistance) > 0 )
{
// for each neighbor
for (const auto &idxNeighbor : idxNeighbors)
{
if (std::max ((*camera_cloud)[mesh.tex_polygons[idx_pcam][idx_face].vertices[0]].z,
std::max ((*camera_cloud)[mesh.tex_polygons[idx_pcam][idx_face].vertices[1]].z,
(*camera_cloud)[mesh.tex_polygons[idx_pcam][idx_face].vertices[2]].z))
< (*camera_cloud)[indexes_uv_to_points[idxNeighbor].idx_cloud].z)
{
// neighbor is farther than all the face's points. Check if it falls into the triangle
if (checkPointInsideTriangle(uv_coord1, uv_coord2, uv_coord3, (*projections)[idxNeighbor]))
{
// current neighbor is inside triangle and is closer => the corresponding face
visibility[indexes_uv_to_points[idxNeighbor].idx_face] = false;
cpt_invisible++;
//TODO we could remove the projections of this face from the kd-tree cloud, but I found it slower, and I need the point to keep ordered to query UV coordinates later
}
}
}
}
}
}
}
}
// now, visibility is true for each face that belongs to the current camera
// if a face is not visible, we push it into the next one.
if (static_cast<int> (mesh.tex_coordinates.size ()) <= current_cam)
{
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > dummy_container;
mesh.tex_coordinates.push_back (dummy_container);
}
mesh.tex_coordinates[current_cam].resize (3 * visibility.size ());
std::vector<pcl::Vertices> occluded_faces;
occluded_faces.resize (visibility.size ());
std::vector<pcl::Vertices> visible_faces;
visible_faces.resize (visibility.size ());
int cpt_occluded_faces = 0;
int cpt_visible_faces = 0;
for (std::size_t idx_face = 0 ; idx_face < visibility.size () ; ++idx_face)
{
if (visibility[idx_face])
{
// face is visible by the current camera copy UV coordinates
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3](0) = (*projections)[idx_face*3].x;
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3](1) = (*projections)[idx_face*3].y;
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 1](0) = (*projections)[idx_face*3 + 1].x;
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 1](1) = (*projections)[idx_face*3 + 1].y;
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 2](0) = (*projections)[idx_face*3 + 2].x;
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 2](1) = (*projections)[idx_face*3 + 2].y;
visible_faces[cpt_visible_faces] = mesh.tex_polygons[current_cam][idx_face];
cpt_visible_faces++;
}
else
{
// face is occluded copy face into temp vector
occluded_faces[cpt_occluded_faces] = mesh.tex_polygons[current_cam][idx_face];
cpt_occluded_faces++;
}
}
mesh.tex_coordinates[current_cam].resize (cpt_visible_faces*3);
occluded_faces.resize (cpt_occluded_faces);
mesh.tex_polygons.push_back (occluded_faces);
visible_faces.resize (cpt_visible_faces);
mesh.tex_polygons[current_cam].clear ();
mesh.tex_polygons[current_cam] = visible_faces;
}
// we have been through all the cameras.
// if any faces are left, they were not visible by any camera
// we still need to produce uv coordinates for them
if (mesh.tex_coordinates.size() <= cameras.size ())
{
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > dummy_container;
mesh.tex_coordinates.push_back(dummy_container);
}
for(std::size_t idx_face = 0 ; idx_face < mesh.tex_polygons[cameras.size()].size() ; ++idx_face)
{
Eigen::Vector2f UV1, UV2, UV3;
UV1(0) = -1.0; UV1(1) = -1.0;
UV2(0) = -1.0; UV2(1) = -1.0;
UV3(0) = -1.0; UV3(1) = -1.0;
mesh.tex_coordinates[cameras.size()].push_back(UV1);
mesh.tex_coordinates[cameras.size()].push_back(UV2);
mesh.tex_coordinates[cameras.size()].push_back(UV3);
}
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> inline void
pcl::TextureMapping<PointInT>::getTriangleCircumcenterAndSize(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circomcenter, double &radius)
{
// we simplify the problem by translating the triangle's origin to its first point
pcl::PointXY ptB, ptC;
ptB.x = p2.x - p1.x; ptB.y = p2.y - p1.y; // B'=B-A
ptC.x = p3.x - p1.x; ptC.y = p3.y - p1.y; // C'=C-A
double D = 2.0*(ptB.x*ptC.y - ptB.y*ptC.x); // D'=2(B'x*C'y - B'y*C'x)
// Safety check to avoid division by zero
if(D == 0)
{
circomcenter.x = p1.x;
circomcenter.y = p1.y;
}
else
{
// compute squares once
double bx2 = ptB.x * ptB.x; // B'x^2
double by2 = ptB.y * ptB.y; // B'y^2
double cx2 = ptC.x * ptC.x; // C'x^2
double cy2 = ptC.y * ptC.y; // C'y^2
// compute circomcenter's coordinates (translate back to original coordinates)
circomcenter.x = static_cast<float> (p1.x + (ptC.y*(bx2 + by2) - ptB.y*(cx2 + cy2)) / D);
circomcenter.y = static_cast<float> (p1.y + (ptB.x*(cx2 + cy2) - ptC.x*(bx2 + by2)) / D);
}
radius = std::sqrt( (circomcenter.x - p1.x)*(circomcenter.x - p1.x) + (circomcenter.y - p1.y)*(circomcenter.y - p1.y));//2.0* (p1.x*(p2.y - p3.y) + p2.x*(p3.y - p1.y) + p3.x*(p1.y - p2.y));
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> inline void
pcl::TextureMapping<PointInT>::getTriangleCircumcscribedCircleCentroid ( const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius)
{
// compute centroid's coordinates (translate back to original coordinates)
circumcenter.x = static_cast<float> (p1.x + p2.x + p3.x ) / 3;
circumcenter.y = static_cast<float> (p1.y + p2.y + p3.y ) / 3;
double r1 = (circumcenter.x - p1.x) * (circumcenter.x - p1.x) + (circumcenter.y - p1.y) * (circumcenter.y - p1.y) ;
double r2 = (circumcenter.x - p2.x) * (circumcenter.x - p2.x) + (circumcenter.y - p2.y) * (circumcenter.y - p2.y) ;
double r3 = (circumcenter.x - p3.x) * (circumcenter.x - p3.x) + (circumcenter.y - p3.y) * (circumcenter.y - p3.y) ;
// radius
radius = std::sqrt( std::max( r1, std::max( r2, r3) )) ;
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> inline bool
pcl::TextureMapping<PointInT>::getPointUVCoordinates(const PointInT &pt, const Camera &cam, pcl::PointXY &UV_coordinates)
{
if (pt.z > 0)
{
// compute image center and dimension
double sizeX = cam.width;
double sizeY = cam.height;
double cx, cy;
if (cam.center_w > 0)
cx = cam.center_w;
else
cx = sizeX / 2.0;
if (cam.center_h > 0)
cy = cam.center_h;
else
cy = sizeY / 2.0;
double focal_x, focal_y;
if (cam.focal_length_w > 0)
focal_x = cam.focal_length_w;
else
focal_x = cam.focal_length;
if (cam.focal_length_h > 0)
focal_y = cam.focal_length_h;
else
focal_y = cam.focal_length;
// project point on camera's image plane
UV_coordinates.x = static_cast<float> ((focal_x * (pt.x / pt.z) + cx) / sizeX); //horizontal
UV_coordinates.y = 1.0f - static_cast<float> ((focal_y * (pt.y / pt.z) + cy) / sizeY); //vertical
// point is visible!
if (UV_coordinates.x >= 0.0 && UV_coordinates.x <= 1.0 && UV_coordinates.y >= 0.0 && UV_coordinates.y <= 1.0)
return (true); // point was visible by the camera
}
// point is NOT visible by the camera
UV_coordinates.x = -1.0f;
UV_coordinates.y = -1.0f;
return (false); // point was not visible by the camera
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> inline bool
pcl::TextureMapping<PointInT>::checkPointInsideTriangle(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, const pcl::PointXY &pt)
{
// Compute vectors
Eigen::Vector2d v0, v1, v2;
v0(0) = p3.x - p1.x; v0(1) = p3.y - p1.y; // v0= C - A
v1(0) = p2.x - p1.x; v1(1) = p2.y - p1.y; // v1= B - A
v2(0) = pt.x - p1.x; v2(1) = pt.y - p1.y; // v2= P - A
// Compute dot products
double dot00 = v0.dot(v0); // dot00 = dot(v0, v0)
double dot01 = v0.dot(v1); // dot01 = dot(v0, v1)
double dot02 = v0.dot(v2); // dot02 = dot(v0, v2)
double dot11 = v1.dot(v1); // dot11 = dot(v1, v1)
double dot12 = v1.dot(v2); // dot12 = dot(v1, v2)
// Compute barycentric coordinates
double invDenom = 1.0 / (dot00*dot11 - dot01*dot01);
double u = (dot11*dot02 - dot01*dot12) * invDenom;
double v = (dot00*dot12 - dot01*dot02) * invDenom;
// Check if point is in triangle
return ((u >= 0) && (v >= 0) && (u + v < 1));
}
///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> inline bool
pcl::TextureMapping<PointInT>::isFaceProjected (const Camera &camera, const PointInT &p1, const PointInT &p2, const PointInT &p3, pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3)
{
return (getPointUVCoordinates(p1, camera, proj1)
&&
getPointUVCoordinates(p2, camera, proj2)
&&
getPointUVCoordinates(p3, camera, proj3)
);
}
#define PCL_INSTANTIATE_TextureMapping(T) \
template class PCL_EXPORTS pcl::TextureMapping<T>;
#endif /* TEXTURE_MAPPING_HPP_ */
pcl::KdTreeFLANN
KdTreeFLANN is a generic type of 3D spatial locator using kD-tree structures.
Definition kdtree_flann.h:132
pcl::KdTreeFLANN::radiusSearch
int radiusSearch(const PointT &point, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override
Search for all the nearest neighbors of the query point in a given radius.
Definition kdtree_flann.hpp:373
pcl::KdTreeFLANN::setInputCloud
void setInputCloud(const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr()) override
Provide a pointer to the input dataset.
Definition kdtree_flann.hpp:100
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::PointCloud::points
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
Definition point_cloud.h:395
pcl::TextureMapping::getPointUVCoordinates
bool getPointUVCoordinates(const PointInT &pt, const Camera &cam, Eigen::Vector2f &UV_coordinates)
computes UV coordinates of point, observed by one particular camera
Definition texture_mapping.h:192
pcl::TextureMapping::mapTexture2MeshUV
void mapTexture2MeshUV(pcl::TextureMesh &tex_mesh)
Map texture to a mesh UV mapping.
Definition texture_mapping.hpp:197
pcl::TextureMapping::mapTexture2Mesh
void mapTexture2Mesh(pcl::TextureMesh &tex_mesh)
Map texture to a mesh synthesis algorithm.
Definition texture_mapping.hpp:145
pcl::TextureMapping::getTriangleCircumcscribedCircleCentroid
void getTriangleCircumcscribedCircleCentroid(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius)
Returns the centroid of a triangle and the corresponding circumscribed circle's radius.
Definition texture_mapping.hpp:976
pcl::TextureMapping::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition texture_mapping.h:107
pcl::TextureMapping::OctreePtr
typename Octree::Ptr OctreePtr
Definition texture_mapping.h:111
pcl::TextureMapping::isPointOccluded
bool isPointOccluded(const PointInT &pt, const OctreePtr octree)
Check if a point is occluded using raycasting on octree.
Definition texture_mapping.hpp:359
pcl::TextureMapping::checkPointInsideTriangle
bool checkPointInsideTriangle(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, const pcl::PointXY &pt)
Returns True if a point lays within a triangle.
Definition texture_mapping.hpp:1036
pcl::TextureMapping::isFaceProjected
bool isFaceProjected(const Camera &camera, const PointInT &p1, const PointInT &p2, const PointInT &p3, pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3)
Returns true if all the vertices of one face are projected on the camera's image plane.
Definition texture_mapping.hpp:1062
pcl::TextureMapping::removeOccludedPoints
void removeOccludedPoints(const PointCloudPtr &input_cloud, PointCloudPtr &filtered_cloud, const double octree_voxel_size, pcl::Indices &visible_indices, pcl::Indices &occluded_indices)
Remove occluded points from a point cloud.
Definition texture_mapping.hpp:398
pcl::TextureMapping::mapTexture2Face
std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f > > mapTexture2Face(const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3)
Map texture to a face.
Definition texture_mapping.hpp:47
pcl::TextureMapping::sortFacesByCamera
int sortFacesByCamera(pcl::TextureMesh &tex_mesh, pcl::TextureMesh &sorted_mesh, const pcl::texture_mapping::CameraVector &cameras, const double octree_voxel_size, PointCloud &visible_pts)
Segment faces by camera visibility.
Definition texture_mapping.hpp:530
pcl::TextureMapping::getTriangleCircumcenterAndSize
void getTriangleCircumcenterAndSize(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius)
Returns the circumcenter of a triangle and the circle's radius.
Definition texture_mapping.hpp:943
pcl::TextureMapping::showOcclusions
void showOcclusions(const PointCloudPtr &input_cloud, pcl::PointCloud< pcl::PointXYZI >::Ptr &colored_cloud, const double octree_voxel_size, const bool show_nb_occlusions=true, const int max_occlusions=4)
Colors a point cloud, depending on its occlusions.
Definition texture_mapping.hpp:616
pcl::TextureMapping::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition texture_mapping.h:108
pcl::TextureMapping::mapMultipleTexturesToMeshUV
void mapMultipleTexturesToMeshUV(pcl::TextureMesh &tex_mesh, pcl::texture_mapping::CameraVector &cams)
Map textures acquired from a set of cameras onto a mesh.
Definition texture_mapping.hpp:281
pcl::TextureMapping::textureMeshwithMultipleCameras
void textureMeshwithMultipleCameras(pcl::TextureMesh &mesh, const pcl::texture_mapping::CameraVector &cameras)
Segment and texture faces by camera visibility.
Definition texture_mapping.hpp:702
pcl::octree::OctreePointCloud::defineBoundingBox
void defineBoundingBox()
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
Definition octree_pointcloud.hpp:331
pcl::octree::OctreePointCloud::setInputCloud
void setInputCloud(const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
Provide a pointer to the input data set.
Definition octree_pointcloud.h:117
pcl::octree::OctreePointCloud::addPointsFromInputCloud
void addPointsFromInputCloud()
Add points from input point cloud to octree.
Definition octree_pointcloud.hpp:77
pcl::octree::OctreePointCloudSearch
Octree pointcloud search class
Definition octree_search.h:58
pcl::octree::OctreePointCloudSearch::getIntersectedVoxelIndices
uindex_t getIntersectedVoxelIndices(Eigen::Vector3f origin, Eigen::Vector3f direction, Indices &k_indices, uindex_t max_voxel_count=0) const
Get indices of all voxels that are intersected by a ray (origin, direction).
Definition octree_search.hpp:631
distances.h
Define standard C methods to do distance calculations.
pcl::transformPointCloud
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Matrix< Scalar, 4, 4 > &transform, bool copy_all_fields)
Apply a rigid transform defined by a 4x4 matrix.
Definition transforms.hpp:221
pcl::texture_mapping::CameraVector
std::vector< Camera, Eigen::aligned_allocator< Camera > > CameraVector
Definition texture_mapping.h:90
pcl::index_t
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition types.h:112
pcl::fromPCLPointCloud2
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map, const std::uint8_t *msg_data)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
Definition conversions.h:163
pcl::euclideanDistance
float euclideanDistance(const PointType1 &p1, const PointType2 &p2)
Calculate the euclidean distance between the two given points.
Definition distances.h:204
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
pcl::_PointXYZI::intensity
float intensity
Definition point_types.hpp:477
pcl::PCLPointCloud2::width
uindex_t width
Definition PCLPointCloud2.h:21
pcl::PCLPointCloud2::height
uindex_t height
Definition PCLPointCloud2.h:20
pcl::PCLPointCloud2::fields
std::vector<::pcl::PCLPointField > fields
Definition PCLPointCloud2.h:23
pcl::PCLPointCloud2::data
std::vector< std::uint8_t > data
Definition PCLPointCloud2.h:30
pcl::PointXY
A 2D point structure representing Euclidean xy coordinates.
Definition point_types.hpp:745
pcl::PointXY::y
float y
Definition point_types.hpp:752
pcl::PointXY::x
float x
Definition point_types.hpp:751
pcl::PointXYZI
Definition point_types.hpp:486
pcl::TextureMesh
Definition TextureMesh.h:89
pcl::TextureMesh::tex_polygons
std::vector< std::vector< pcl::Vertices > > tex_polygons
polygon which is mapped with specific texture defined in TexMaterial
Definition TextureMesh.h:95
pcl::TextureMesh::tex_coordinates
std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f > > > tex_coordinates
UV coordinates.
Definition TextureMesh.h:97
pcl::TextureMesh::tex_materials
std::vector< pcl::TexMaterial > tex_materials
define texture material
Definition TextureMesh.h:99
pcl::TextureMesh::cloud
pcl::PCLPointCloud2 cloud
Definition TextureMesh.h:90
pcl::texture_mapping::Camera
Structure to store camera pose and focal length.
Definition texture_mapping.h:66
pcl::texture_mapping::Camera::texture_file
std::string texture_file
Definition texture_mapping.h:76
pcl::texture_mapping::Camera::focal_length
double focal_length
Definition texture_mapping.h:69
pcl::texture_mapping::Camera::pose
Eigen::Affine3f pose
Definition texture_mapping.h:68
pcl::texture_mapping::Camera::height
double height
Definition texture_mapping.h:74
pcl::texture_mapping::Camera::width
double width
Definition texture_mapping.h:75
pcl::texture_mapping::Camera::center_h
double center_h
Definition texture_mapping.h:73
pcl::texture_mapping::Camera::center_w
double center_w
Definition texture_mapping.h:72
pcl::texture_mapping::Camera::focal_length_w
double focal_length_w
Definition texture_mapping.h:70
pcl::texture_mapping::Camera::focal_length_h
double focal_length_h
Definition texture_mapping.h:71
pcl::texture_mapping::UvIndex
Structure that links a uv coordinate to its 3D point and face.
Definition texture_mapping.h:84
pcl::texture_mapping::UvIndex::idx_face
int idx_face
Definition texture_mapping.h:87
pcl::texture_mapping::UvIndex::idx_cloud
int idx_cloud
Definition texture_mapping.h:86