Class that performs texture-related tasks. More...

#include <Texturizer.hpp>

Inheritance diagram for lvr2::Texturizer< BaseVecT >:

Public Member Functions
TexCoords	calculateTexCoords (TextureHandle texH, const BoundingRectangle< typename BaseVecT::CoordType > &boundingRect, BaseVecT v)
	Calculate texture coordinates for a given 3D point in a texture. More...

BaseVecT	calculateTexCoordsInv (TextureHandle texH, const BoundingRectangle< typename BaseVecT::CoordType > &boundingRect, const TexCoords &coords)
	Calculate a global 3D position for given texture coordinates. More...

void	findKeyPointsInTexture (const TextureHandle texH, const BoundingRectangle< typename BaseVecT::CoordType > &boundingRect, const cv::Ptr< cv::Feature2D > &detector, std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors)
	Discover keypoints in a texture. More...

virtual TextureHandle	generateTexture (int index, const PointsetSurface< BaseVecT > &surface, const BoundingRectangle< typename BaseVecT::CoordType > &boundingRect)
	Generates a texture for a given bounding rectangle. More...

Texture	getTexture (TextureHandle h)
	Get the texture to a given texture handle. More...

int	getTextureIndex (TextureHandle h)
	Get the texture index to a given texture handle. More...

StableVector< TextureHandle, Texture >	getTextures ()
	Returns all textures. More...

std::vector< BaseVecT >	keypoints23d (const std::vector< cv::KeyPoint > &keypoints, const BoundingRectangle< typename BaseVecT::CoordType > &boundingRect, const TextureHandle &h)
	Compute 3D coordinates for texture-relative keypoints. More...

void	saveTextures ()
	Calls the save method for each texture. More...

	Texturizer (float texelSize, int texMinClusterSize, int texMaxClusterSize)
	Constructor. More...

Public Attributes
const float	m_texelSize
	The size of a texture pixel. More...

const int	m_texMaxClusterSize
	The maximum number of faces a cluster needs to be texturized. More...

const int	m_texMinClusterSize
	The minimum number of faces a cluster needs to be texturized. More...

Protected Attributes
StableVector< TextureHandle, Texture >	m_textures
	StableVector, that contains all generated textures with texture handles. More...

Detailed Description

template<typename BaseVecT>
class lvr2::Texturizer< BaseVecT >

Class that performs texture-related tasks.

Definition at line 63 of file Texturizer.hpp.

Constructor & Destructor Documentation

◆ Texturizer()

template<typename BaseVecT >

lvr2::Texturizer< BaseVecT >::Texturizer	(	float	texelSize,
		int	texMinClusterSize,
		int	texMaxClusterSize
	)

Constructor.

Parameters

texelSize	The size of one texture pixel, relative to the coordinate system of the point cloud
texMinClusterSize	The minimum number of faces a cluster needs to be texturized
texMaxClusterSize	The maximum number of faces a cluster needs to be texturized

Member Function Documentation

◆ calculateTexCoords()

template<typename BaseVecT >

TexCoords lvr2::Texturizer< BaseVecT >::calculateTexCoords	(	TextureHandle	texH,
		const BoundingRectangle< typename BaseVecT::CoordType > &	boundingRect,
		BaseVecT	v
	)

Calculate texture coordinates for a given 3D point in a texture.

Parameters

texH	The texture handle
boundingRect	The bounding rectangle of the texture
v	The 3D point

Returns: The texture coordinates

◆ calculateTexCoordsInv()

template<typename BaseVecT >

BaseVecT lvr2::Texturizer< BaseVecT >::calculateTexCoordsInv	(	TextureHandle	texH,
		const BoundingRectangle< typename BaseVecT::CoordType > &	boundingRect,
		const TexCoords &	coords
	)

Calculate a global 3D position for given texture coordinates.

Parameters

texH	The texture handle
boundingRect	The bounding rectangle of the texture
coords	The texture coordinates

Returns: The 3D point

◆ findKeyPointsInTexture()

template<typename BaseVecT >

void lvr2::Texturizer< BaseVecT >::findKeyPointsInTexture	(	const TextureHandle	texH,
		const BoundingRectangle< typename BaseVecT::CoordType > &	boundingRect,
		const cv::Ptr< cv::Feature2D > &	detector,
		std::vector< cv::KeyPoint > &	keypoints,
		cv::Mat &	descriptors
	)

Discover keypoints in a texture.

Parameters

[in]	texH	Texture handle
[in]	boundingRect	Bounding rectangle computed for the texture
[in]	detector	Feature detector to use (any of `cv::Feature2D`)
[out]	keypoints	Vector of keypoints
[out]	descriptors	Matrix of descriptors for the keypoint

◆ generateTexture()

template<typename BaseVecT >

virtual TextureHandle lvr2::Texturizer< BaseVecT >::generateTexture	(	int	index,
		const PointsetSurface< BaseVecT > &	surface,
		const BoundingRectangle< typename BaseVecT::CoordType > &	boundingRect
	)

virtual

Generates a texture for a given bounding rectangle.

Create a grid, based on given information (texel size, bounding rectangle). For each cell in the grid (which represents a texel), let the PointsetSurface find the closest point in the point cloud and use that point's color as color for the texel.

Parameters

index	The index the texture will get
surface	The point cloud
boundingRect	The bounding rectangle of the cluster

Returns: Texture handle of the generated texture

Reimplemented in lvr2::ImageTexturizer< BaseVecT >.

◆ getTexture()

template<typename BaseVecT >

Texture lvr2::Texturizer< BaseVecT >::getTexture ( TextureHandle h )

Get the texture to a given texture handle.

Parameters

h	The texture handle

Returns: The texture

◆ getTextureIndex()

template<typename BaseVecT >

int lvr2::Texturizer< BaseVecT >::getTextureIndex ( TextureHandle h )

Get the texture index to a given texture handle.

Parameters

h	The texture handle

Returns: The texture index

◆ getTextures()

template<typename BaseVecT >

StableVector<TextureHandle, Texture> lvr2::Texturizer< BaseVecT >::getTextures ( )

Returns all textures.

Returns: A StableVector containing all textures

◆ keypoints23d()

template<typename BaseVecT >

std::vector<BaseVecT> lvr2::Texturizer< BaseVecT >::keypoints23d	(	const std::vector< cv::KeyPoint > &	keypoints,
		const BoundingRectangle< typename BaseVecT::CoordType > &	boundingRect,
		const TextureHandle &	h
	)

Compute 3D coordinates for texture-relative keypoints.

Parameters

[in]	keypoints	Keypoints in image coordinates
[in]	boundingRect	Bounding rectangle of the texture embedded in 3D

Returns: Vector of 3D coordinates of all keypoints

◆ saveTextures()

template<typename BaseVecT >

void lvr2::Texturizer< BaseVecT >::saveTextures ( )

Calls the save method for each texture.

Member Data Documentation

◆ m_texelSize

template<typename BaseVecT >

const float lvr2::Texturizer< BaseVecT >::m_texelSize

The size of a texture pixel.

Definition at line 187 of file Texturizer.hpp.

◆ m_texMaxClusterSize

template<typename BaseVecT >

const int lvr2::Texturizer< BaseVecT >::m_texMaxClusterSize

The maximum number of faces a cluster needs to be texturized.

Definition at line 191 of file Texturizer.hpp.

◆ m_texMinClusterSize

template<typename BaseVecT >

const int lvr2::Texturizer< BaseVecT >::m_texMinClusterSize

The minimum number of faces a cluster needs to be texturized.

Definition at line 189 of file Texturizer.hpp.

◆ m_textures

template<typename BaseVecT >

StableVector<TextureHandle, Texture> lvr2::Texturizer< BaseVecT >::m_textures

protected

StableVector, that contains all generated textures with texture handles.

Definition at line 196 of file Texturizer.hpp.

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

Texturizer.hpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

template<typename BaseVecT> class lvr2::Texturizer< BaseVecT >

Constructor & Destructor Documentation

◆ Texturizer()

Member Function Documentation

◆ calculateTexCoords()

◆ calculateTexCoordsInv()

◆ findKeyPointsInTexture()

◆ generateTexture()

◆ getTexture()

◆ getTextureIndex()

◆ getTextures()

◆ keypoints23d()

◆ saveTextures()

Member Data Documentation

◆ m_texelSize

◆ m_texMaxClusterSize

◆ m_texMinClusterSize

◆ m_textures

template<typename BaseVecT>
class lvr2::Texturizer< BaseVecT >