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 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	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	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

◆ Camera

template<typename PointInT >

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

Definition at line 120 of file texture_mapping.h.

◆ ConstPtr

template<typename PointInT >

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

Definition at line 110 of file texture_mapping.h.

◆ Octree

template<typename PointInT >

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

Definition at line 116 of file texture_mapping.h.

◆ OctreeConstPtr

template<typename PointInT >

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

Definition at line 118 of file texture_mapping.h.

◆ OctreePtr

template<typename PointInT >

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

Definition at line 117 of file texture_mapping.h.

◆ PointCloud

template<typename PointInT >

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

Definition at line 112 of file texture_mapping.h.

◆ PointCloudConstPtr

template<typename PointInT >

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

Definition at line 114 of file texture_mapping.h.

◆ PointCloudPtr

template<typename PointInT >

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

Definition at line 113 of file texture_mapping.h.

◆ Ptr

template<typename PointInT >

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

Definition at line 109 of file texture_mapping.h.

◆ UvIndex

template<typename PointInT >

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

Definition at line 121 of file texture_mapping.h.

Constructor & Destructor Documentation

◆ TextureMapping()

template<typename PointInT >

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

inline

Constructor.

Definition at line 124 of file texture_mapping.h.

◆ ~TextureMapping()

template<typename PointInT >

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

inline

Destructor.

Definition at line 130 of file texture_mapping.h.

Member Function Documentation

◆ checkPointInsideTriangle()

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 1547 of file texture_mapping.hpp.

◆ getClassName()

template<typename PointInT >

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

inlineprotected

Class get name method.

Definition at line 465 of file texture_mapping.h.

◆ getPointUVCoordinates() [1/2]

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.

◆ getPointUVCoordinates() [2/2]

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 1484 of file texture_mapping.hpp.

◆ getTriangleCircumcenterAndSize()

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 1435 of file texture_mapping.hpp.

◆ getTriangleCircumcscribedCircleCentroid()

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 1468 of file texture_mapping.hpp.

◆ isFaceProjected()

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 1573 of file texture_mapping.hpp.

◆ isPointOccluded()

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.

◆ mapMultipleTexturesToMeshUV()

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.

◆ mapTexture2Face()

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.

◆ mapTexture2Mesh()

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.

◆ mapTexture2MeshUV()

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.

◆ removeOccludedPoints() [1/3]

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.

◆ removeOccludedPoints() [2/3]

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.

◆ removeOccludedPoints() [3/3]

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.

◆ setF()

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.

◆ setMaxAngle()

template<typename PointInT >

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

inline

Definition at line 187 of file texture_mapping.h.

◆ setMaxDepthError()

template<typename PointInT >

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

inline

Definition at line 181 of file texture_mapping.h.

◆ setMaxDistance()

template<typename PointInT >

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

inline

Definition at line 175 of file texture_mapping.h.

◆ setMinClusterSize()

template<typename PointInT >

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

inline

Definition at line 193 of file texture_mapping.h.

◆ setTextureFiles()

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.

◆ setTextureMaterials()

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.

◆ setVectorField()

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.

◆ showOcclusions() [1/2]

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.

◆ showOcclusions() [2/2]

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.

◆ sortFacesByCamera()

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.

◆ textureMeshwithMultipleCameras()

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.

◆ textureMeshwithMultipleCameras2()

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 1049 of file texture_mapping.hpp.

Member Data Documentation

◆ f_

template<typename PointInT >

float pcl::TextureMapping< PointInT >::f_

protected

mesh scale control.

Definition at line 375 of file texture_mapping.h.

◆ max_angle_

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.

◆ max_depth_error_

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.

◆ max_distance_

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.

◆ min_cluster_size_

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.

◆ tex_files_

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.

◆ tex_material_

template<typename PointInT >

TexMaterial pcl::TextureMapping< PointInT >::tex_material_

protected

list of texture materials

Definition at line 384 of file texture_mapping.h.

◆ vector_field_

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

◆ Camera

◆ ConstPtr

◆ Octree

◆ OctreeConstPtr

◆ OctreePtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

◆ UvIndex

Constructor & Destructor Documentation

◆ TextureMapping()

◆ ~TextureMapping()

Member Function Documentation

◆ checkPointInsideTriangle()

◆ getClassName()

◆ getPointUVCoordinates() [1/2]

◆ getPointUVCoordinates() [2/2]

◆ getTriangleCircumcenterAndSize()

◆ getTriangleCircumcscribedCircleCentroid()

◆ isFaceProjected()

◆ isPointOccluded()

◆ mapMultipleTexturesToMeshUV()

◆ mapTexture2Face()

◆ mapTexture2Mesh()

◆ mapTexture2MeshUV()

◆ removeOccludedPoints() [1/3]

◆ removeOccludedPoints() [2/3]

◆ removeOccludedPoints() [3/3]

◆ setF()

◆ setMaxAngle()

◆ setMaxDepthError()

◆ setMaxDistance()

◆ setMinClusterSize()

◆ setTextureFiles()

◆ setTextureMaterials()

◆ setVectorField()

◆ showOcclusions() [1/2]

◆ showOcclusions() [2/2]

◆ sortFacesByCamera()

◆ textureMeshwithMultipleCameras()

◆ textureMeshwithMultipleCameras2()

Member Data Documentation

◆ f_

◆ max_angle_

◆ max_depth_error_

◆ max_distance_

◆ min_cluster_size_

◆ tex_files_

◆ tex_material_

◆ vector_field_

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