The texture mapping algorithm. More...

#include <texture_mapping.h>

Public Types
typedef pcl::texture_mapping::Camera	Camera

typedef boost::shared_ptr< const TextureMapping< PointInT > >	ConstPtr

typedef pcl::octree::OctreePointCloudSearch< PointInT >	Octree

typedef Octree::ConstPtr	OctreeConstPtr

typedef Octree::Ptr	OctreePtr

typedef pcl::PointCloud< PointInT >	PointCloud

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointCloud::Ptr	PointCloudPtr

typedef boost::shared_ptr< TextureMapping< PointInT > >	Ptr

typedef pcl::texture_mapping::UvIndex	UvIndex

Public Member Functions
bool	getPointUVCoordinates (const PointInT &pt, const Camera &cam, Eigen::Vector2f &UV_coordinates)
	computes UV coordinates of point, observed by one particular camera More...

bool	isPointOccluded (const PointInT &pt, const OctreePtr octree)
	Check if a point is occluded using raycasting on octree. More...

void	mapMultipleTexturesToMeshUV (pcl::TextureMesh &tex_mesh, pcl::texture_mapping::CameraVector &cams)
	Map textures acquired from a set of cameras onto a mesh. More...

void	mapTexture2Mesh (pcl::TextureMesh &tex_mesh)
	Map texture to a mesh synthesis algorithm. More...

void	mapTexture2MeshUV (pcl::TextureMesh &tex_mesh)
	Map texture to a mesh UV mapping. More...

void	removeOccludedPoints (const PointCloudPtr &input_cloud, PointCloudPtr &filtered_cloud, const double octree_voxel_size, std::vector< int > &visible_indices, std::vector< int > &occluded_indices)
	Remove occluded points from a point cloud. More...

void	removeOccludedPoints (const pcl::TextureMesh &tex_mesh, pcl::TextureMesh &cleaned_mesh, const double octree_voxel_size)
	Remove occluded points from a textureMesh. More...

void	removeOccludedPoints (const pcl::TextureMesh &tex_mesh, PointCloudPtr &filtered_cloud, const double octree_voxel_size)
	Remove occluded points from a textureMesh. More...

void	setF (float f)
	Set mesh scale control. More...

void	setMaxAngle (float maxAngle)

void	setMaxDepthError (float maxDepthError)

void	setMaxDistance (float maxDistance)

void	setMinClusterSize (int size)

void	setTextureFiles (std::vector< std::string > tex_files)
	Set texture files. More...

void	setTextureMaterials (TexMaterial tex_material)
	Set texture materials. More...

void	setVectorField (float x, float y, float z)
	Set vector field. More...

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. More...

void	showOcclusions (pcl::TextureMesh &tex_mesh, pcl::PointCloud< pcl::PointXYZI >::Ptr &colored_cloud, double octree_voxel_size, bool show_nb_occlusions=true, int max_occlusions=4)
	Colors the point cloud of a Mesh, depending on its occlusions. More...

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. Point-based segmentation. More...

	TextureMapping ()
	Constructor. More...

void	textureMeshwithMultipleCameras (pcl::TextureMesh &mesh, const pcl::texture_mapping::CameraVector &cameras)
	Segment and texture faces by camera visibility. Face-based segmentation. More...

bool	textureMeshwithMultipleCameras2 (pcl::TextureMesh &mesh, const pcl::texture_mapping::CameraVector &cameras, const rtabmap::ProgressState callback=0, std::vector< std::map< int, pcl::PointXY > > vertexToPixels=0, bool distanceToCamPolicy=false)

	~TextureMapping ()
	Destructor. More...

Protected Member Functions
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. More...

std::string	getClassName () const
	Class get name method. More...

bool	getPointUVCoordinates (const PointInT &pt, const Camera &cam, pcl::PointXY &UV_coordinates)
	computes UV coordinates of point, observed by one particular camera More...

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. More...

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. More...

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. More...

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. More...

Protected Attributes
float	f_
	mesh scale control. More...

float	max_angle_
	maximum angle (rad) between camera and polygon to apply a texture More...

float	max_depth_error_
	maximum depth error between projected point and corresponding depth of the camera to apply a texture More...

float	max_distance_
	maximum distance between camera and polygon to apply a texture More...

int	min_cluster_size_
	Remove texture from small polygon clusters. More...

std::vector< std::string >	tex_files_
	list of texture files More...

TexMaterial	tex_material_
	list of texture materials More...

Eigen::Vector3f	vector_field_
	vector field More...

Detailed Description

template<typename PointInT>
class pcl::TextureMapping< PointInT >

The texture mapping algorithm.

Author: Khai Tran, Raphael Favier

Definition at line 105 of file texture_mapping.h.

Member Typedef Documentation

template<typename PointInT>

typedef pcl::texture_mapping::Camera pcl::TextureMapping< PointInT >::Camera

Definition at line 120 of file texture_mapping.h.

template<typename PointInT>

typedef boost::shared_ptr< const TextureMapping < PointInT > > pcl::TextureMapping< PointInT >::ConstPtr

Definition at line 110 of file texture_mapping.h.

template<typename PointInT>

typedef pcl::octree::OctreePointCloudSearch<PointInT> pcl::TextureMapping< PointInT >::Octree

Definition at line 116 of file texture_mapping.h.

template<typename PointInT>

typedef Octree::ConstPtr pcl::TextureMapping< PointInT >::OctreeConstPtr

Definition at line 118 of file texture_mapping.h.

template<typename PointInT>

typedef Octree::Ptr pcl::TextureMapping< PointInT >::OctreePtr

Definition at line 117 of file texture_mapping.h.

template<typename PointInT>

typedef pcl::PointCloud<PointInT> pcl::TextureMapping< PointInT >::PointCloud

Definition at line 112 of file texture_mapping.h.

template<typename PointInT>

typedef PointCloud::ConstPtr pcl::TextureMapping< PointInT >::PointCloudConstPtr

Definition at line 114 of file texture_mapping.h.

template<typename PointInT>

typedef PointCloud::Ptr pcl::TextureMapping< PointInT >::PointCloudPtr

Definition at line 113 of file texture_mapping.h.

template<typename PointInT>

typedef boost::shared_ptr< TextureMapping < PointInT > > pcl::TextureMapping< PointInT >::Ptr

Definition at line 109 of file texture_mapping.h.

template<typename PointInT>

typedef pcl::texture_mapping::UvIndex pcl::TextureMapping< PointInT >::UvIndex

Definition at line 121 of file texture_mapping.h.

Constructor & Destructor Documentation

template<typename PointInT>

pcl::TextureMapping< PointInT >::TextureMapping ( )

inline

Constructor.

Definition at line 124 of file texture_mapping.h.

template<typename PointInT>

pcl::TextureMapping< PointInT >::~TextureMapping ( )

inline

Destructor.

Definition at line 130 of file texture_mapping.h.

Member Function Documentation

template<typename PointInT >

bool pcl::TextureMapping< PointInT >::checkPointInsideTriangle	(	const pcl::PointXY &	p1,
		const pcl::PointXY &	p2,
		const pcl::PointXY &	p3,
		const pcl::PointXY &	pt
	)

inlineprotected

Returns True if a point lays within a triangle.

see http://www.blackpawn.com/texts/pointinpoly/default.html

Parameters

[in]	p1	first point of the triangle.
[in]	p2	second point of the triangle.
[in]	p3	third point of the triangle.
[in]	pt	the querry point.

Definition at line 1552 of file texture_mapping.hpp.

template<typename PointInT>

std::string pcl::TextureMapping< PointInT >::getClassName ( ) const

inlineprotected

Class get name method.

Definition at line 465 of file texture_mapping.h.

template<typename PointInT>

bool pcl::TextureMapping< PointInT >::getPointUVCoordinates	(	const PointInT &	pt,
		const Camera &	cam,
		Eigen::Vector2f &	UV_coordinates
	)

inline

computes UV coordinates of point, observed by one particular camera

Parameters

[in]	pt	XYZ point to project on camera plane
[in]	cam	the camera used for projection
[out]	UV_coordinates	the resulting uv coordinates. Set to (-1.0,-1.0) if the point is not visible by the camera

Returns: false if the point is not visible by the camera

Definition at line 227 of file texture_mapping.h.

template<typename PointInT >

bool pcl::TextureMapping< PointInT >::getPointUVCoordinates	(	const PointInT &	pt,
		const Camera &	cam,
		pcl::PointXY &	UV_coordinates
	)

inlineprotected

computes UV coordinates of point, observed by one particular camera

Parameters

[in]	pt	XYZ point to project on camera plane
[in]	cam	the camera used for projection
[out]	UV_coordinates	the resulting UV coordinates. Set to (-1.0,-1.0) if the point is not visible by the camera

Returns: false if the point is not visible by the camera

Definition at line 1489 of file texture_mapping.hpp.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::getTriangleCircumcenterAndSize	(	const pcl::PointXY &	p1,
		const pcl::PointXY &	p2,
		const pcl::PointXY &	p3,
		pcl::PointXY &	circumcenter,
		double &	radius
	)

inlineprotected

Returns the circumcenter of a triangle and the circle's radius.

see http://en.wikipedia.org/wiki/Circumcenter for formulas.

Parameters

[in]	p1	first point of the triangle.
[in]	p2	second point of the triangle.
[in]	p3	third point of the triangle.
[out]	circumcenter	resulting circumcenter
[out]	radius	the radius of the circumscribed circle.

Definition at line 1440 of file texture_mapping.hpp.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::getTriangleCircumcscribedCircleCentroid	(	const pcl::PointXY &	p1,
		const pcl::PointXY &	p2,
		const pcl::PointXY &	p3,
		pcl::PointXY &	circumcenter,
		double &	radius
	)

inlineprotected

Returns the centroid of a triangle and the corresponding circumscribed circle's radius.

yield a tighter circle than getTriangleCircumcenterAndSize.

Parameters

[in]	p1	first point of the triangle.
[in]	p2	second point of the triangle.
[in]	p3	third point of the triangle.
[out]	circumcenter	resulting circumcenter
[out]	radius	the radius of the circumscribed circle.

Definition at line 1473 of file texture_mapping.hpp.

template<typename PointInT >

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
	)

inlineprotected

Returns true if all the vertices of one face are projected on the camera's image plane.

Parameters

[in]	camera	camera on which to project the face.
[in]	p1	first point of the face.
[in]	p2	second point of the face.
[in]	p3	third point of the face.
[out]	proj1	UV coordinates corresponding to p1.
[out]	proj2	UV coordinates corresponding to p2.
[out]	proj3	UV coordinates corresponding to p3.

Definition at line 1578 of file texture_mapping.hpp.

template<typename PointInT >

bool pcl::TextureMapping< PointInT >::isPointOccluded	(	const PointInT &	pt,
		const OctreePtr	octree
	)

inline

Check if a point is occluded using raycasting on octree.

Parameters

[in]	pt	XYZ from which the ray will start (toward the camera)
[in]	octree	the octree used for raycasting. It must be initialized with a cloud transformed into the camera's frame

Returns: true if the point is occluded.

Definition at line 395 of file texture_mapping.hpp.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::mapMultipleTexturesToMeshUV	(	pcl::TextureMesh &	tex_mesh,
		pcl::texture_mapping::CameraVector &	cams
	)

Map textures acquired from a set of cameras onto a mesh.

With UV mapping, the mesh must be divided into NbCamera + 1 sub-meshes. Each sub-mesh corresponding to the faces visible by one camera. The last submesh containing all non-visible faces

Parameters

[in]	tex_mesh	texture mesh
[in]	cams	cameras used for UV mapping

Definition at line 297 of file texture_mapping.hpp.

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
	)

protected

Map texture to a face.

Parameters

[in]	p1	the first point
[in]	p2	the second point
[in]	p3	the third point

Definition at line 48 of file texture_mapping.hpp.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::mapTexture2Mesh ( pcl::TextureMesh & tex_mesh )

Map texture to a mesh synthesis algorithm.

Parameters

[in] tex_mesh texture mesh

Definition at line 146 of file texture_mapping.hpp.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::mapTexture2MeshUV ( pcl::TextureMesh & tex_mesh )

Map texture to a mesh UV mapping.

Parameters

[in] tex_mesh texture mesh

Definition at line 206 of file texture_mapping.hpp.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::removeOccludedPoints	(	const PointCloudPtr &	input_cloud,
		PointCloudPtr &	filtered_cloud,
		const double	octree_voxel_size,
		std::vector< int > &	visible_indices,
		std::vector< int > &	occluded_indices
	)

Remove occluded points from a point cloud.

Parameters

[in]	input_cloud	the cloud on which to perform occlusion detection
[out]	filtered_cloud	resulting cloud, containing only visible points
[in]	octree_voxel_size	octree resolution (in meters)
[out]	visible_indices	will contain indices of visible points
[out]	occluded_indices	will contain indices of occluded points

Definition at line 437 of file texture_mapping.hpp.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::removeOccludedPoints	(	const pcl::TextureMesh &	tex_mesh,
		pcl::TextureMesh &	cleaned_mesh,
		const double	octree_voxel_size
	)

Remove occluded points from a textureMesh.

Parameters

[in]	tex_mesh	input mesh, on witch to perform occlusion detection
[out]	cleaned_mesh	resulting mesh, containing only visible points
[in]	octree_voxel_size	octree resolution (in meters)

Definition at line 501 of file texture_mapping.hpp.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::removeOccludedPoints	(	const pcl::TextureMesh &	tex_mesh,
		PointCloudPtr &	filtered_cloud,
		const double	octree_voxel_size
	)

Remove occluded points from a textureMesh.

Parameters

[in]	tex_mesh	input mesh, on witch to perform occlusion detection
[out]	filtered_cloud	resulting cloud, containing only visible points
[in]	octree_voxel_size	octree resolution (in meters)

Definition at line 557 of file texture_mapping.hpp.

template<typename PointInT>

void pcl::TextureMapping< PointInT >::setF ( float f )

inline

Set mesh scale control.

Parameters

[in] f

Definition at line 138 of file texture_mapping.h.

template<typename PointInT>

void pcl::TextureMapping< PointInT >::setMaxAngle ( float maxAngle )

inline

Definition at line 187 of file texture_mapping.h.

template<typename PointInT>

void pcl::TextureMapping< PointInT >::setMaxDepthError ( float maxDepthError )

inline

Definition at line 181 of file texture_mapping.h.

template<typename PointInT>

void pcl::TextureMapping< PointInT >::setMaxDistance ( float maxDistance )

inline

Definition at line 175 of file texture_mapping.h.

template<typename PointInT>

void pcl::TextureMapping< PointInT >::setMinClusterSize ( int size )

inline

Definition at line 193 of file texture_mapping.h.

template<typename PointInT>

void pcl::TextureMapping< PointInT >::setTextureFiles ( std::vector< std::string > tex_files )

inline

Set texture files.

Parameters

[in] tex_files list of texture files

Definition at line 160 of file texture_mapping.h.

template<typename PointInT>

void pcl::TextureMapping< PointInT >::setTextureMaterials ( TexMaterial tex_material )

inline

Set texture materials.

Parameters

[in] tex_material texture material

Definition at line 169 of file texture_mapping.h.

template<typename PointInT>

void pcl::TextureMapping< PointInT >::setVectorField	(	float	x,
		float	y,
		float	z
	)

inline

Set vector field.

Parameters

[in]	x	data point x
[in]	y	data point y
[in]	z	data point z

Definition at line 149 of file texture_mapping.h.

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 = `true`,
		const int	max_occlusions = `4`
	)

Colors a point cloud, depending on its occlusions.

If showNbOcclusions is set to True, each point is colored depending on the number of points occluding it. Else, each point is given a different a 0 value is not occluded, 1 if occluded. By default, the number of occlusions is bounded to 4.

Parameters

[in]	input_cloud	input cloud on which occlusions will be computed.
[out]	colored_cloud	resulting colored cloud showing the number of occlusions per point.
[in]	octree_voxel_size	octree resolution (in meters).
[in]	show_nb_occlusions	If false, color information will only represent.
[in]	max_occlusions	Limit the number of occlusions per point.

Definition at line 669 of file texture_mapping.hpp.

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 = `true`,
		int	max_occlusions = `4`
	)

Colors the point cloud of a Mesh, depending on its occlusions.

If showNbOcclusions is set to True, each point is colored depending on the number of points occluding it. Else, each point is given a different a 0 value is not occluded, 1 if occluded. By default, the number of occlusions is bounded to 4.

Parameters

[in]	tex_mesh	input mesh on which occlusions will be computed.
[out]	colored_cloud	resulting colored cloud showing the number of occlusions per point.
[in]	octree_voxel_size	octree resolution (in meters).
[in]	show_nb_occlusions	If false, color information will only represent.
[in]	max_occlusions	Limit the number of occlusions per point.

Definition at line 749 of file texture_mapping.hpp.

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
	)

Segment faces by camera visibility. Point-based segmentation.

With N camera, faces will be arranged into N+1 groups: 1 for each camera, plus 1 for faces not visible from any camera.

Parameters

[in]	tex_mesh	input mesh that needs sorting. Must contain only 1 sub-mesh.
[in]	sorted_mesh	resulting mesh, will contain nbCamera + 1 sub-mesh.
[in]	cameras	vector containing the cameras used for texture mapping.
[in]	octree_voxel_size	octree resolution (in meters)
[out]	visible_pts	cloud containing only visible points

Definition at line 572 of file texture_mapping.hpp.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::textureMeshwithMultipleCameras	(	pcl::TextureMesh &	mesh,
		const pcl::texture_mapping::CameraVector &	cameras
	)

Segment and texture faces by camera visibility. Face-based segmentation.

With N camera, faces will be arranged into N+1 groups: 1 for each camera, plus 1 for faces not visible from any camera. The mesh will also contain uv coordinates for each face

Parameters

	mesh	input mesh that needs sorting. Should contain only 1 sub-mesh.
[in]	cameras	vector containing the cameras used for texture mapping.

Definition at line 761 of file texture_mapping.hpp.

template<typename PointInT >

bool pcl::TextureMapping< PointInT >::textureMeshwithMultipleCameras2	(	pcl::TextureMesh &	mesh,
		const pcl::texture_mapping::CameraVector &	cameras,
		const rtabmap::ProgressState *	callback = `0`,
		std::vector< std::map< int, pcl::PointXY > > *	vertexToPixels = `0`,
		bool	distanceToCamPolicy = `false`
	)

Definition at line 1054 of file texture_mapping.hpp.

Member Data Documentation

template<typename PointInT>

float pcl::TextureMapping< PointInT >::f_

protected

mesh scale control.

Definition at line 375 of file texture_mapping.h.

template<typename PointInT>

float pcl::TextureMapping< PointInT >::max_angle_

protected

maximum angle (rad) between camera and polygon to apply a texture

Definition at line 393 of file texture_mapping.h.

template<typename PointInT>

float pcl::TextureMapping< PointInT >::max_depth_error_

protected

maximum depth error between projected point and corresponding depth of the camera to apply a texture

Definition at line 390 of file texture_mapping.h.

template<typename PointInT>

float pcl::TextureMapping< PointInT >::max_distance_

protected

maximum distance between camera and polygon to apply a texture

Definition at line 387 of file texture_mapping.h.

template<typename PointInT>

int pcl::TextureMapping< PointInT >::min_cluster_size_

protected

Remove texture from small polygon clusters.

Definition at line 396 of file texture_mapping.h.

template<typename PointInT>

std::vector<std::string> pcl::TextureMapping< PointInT >::tex_files_

protected

list of texture files

Definition at line 381 of file texture_mapping.h.

template<typename PointInT>

TexMaterial pcl::TextureMapping< PointInT >::tex_material_

protected

list of texture materials

Definition at line 384 of file texture_mapping.h.

template<typename PointInT>

Eigen::Vector3f pcl::TextureMapping< PointInT >::vector_field_

protected

vector field

Definition at line 378 of file texture_mapping.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT> class pcl::TextureMapping< PointInT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT>
class pcl::TextureMapping< PointInT >