Texturizer.hpp

Go to the documentation of this file.

 
/*
* Texturizer.hpp
*
*  @date 15.09.2017
*  @author Jan Philipp Vogtherr <jvogtherr@uni-osnabrueck.de>
*  @author Kristin Schmidt <krschmidt@uni-osnabrueck.de>
*/
 
#ifndef LVR2_ALGORITHM_TEXTURIZER_H_
#define LVR2_ALGORITHM_TEXTURIZER_H_
 
#include <boost/shared_ptr.hpp>
#include <boost/smart_ptr/make_shared.hpp>
 
#include "lvr2/geometry/BaseMesh.hpp"
#include "lvr2/geometry/BaseVector.hpp"
#include "lvr2/geometry/Handles.hpp"
#include "lvr2/geometry/Normal.hpp"
#include "lvr2/geometry/BoundingRectangle.hpp"
#include "lvr2/reconstruction/PointsetSurface.hpp"
#include "lvr2/texture/ClusterTexCoordMapping.hpp"
#include "lvr2/texture/Texture.hpp"
#include "lvr2/texture/Material.hpp"
#include "lvr2/util/ClusterBiMap.hpp"
 
#include <opencv2/features2d.hpp>
 
namespace lvr2
{
 
template<typename BaseVecT>
class Texturizer
{
 
public:
 
    Texturizer(
        float texelSize,
        int texMinClusterSize,
        int texMaxClusterSize
    );
 
    Texture getTexture(TextureHandle h);
 
    StableVector<TextureHandle, Texture> getTextures();
 
    int getTextureIndex(TextureHandle h);
 
    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);
 
    std::vector<BaseVecT> keypoints23d(const std::vector<cv::KeyPoint>&
        keypoints, const BoundingRectangle<typename BaseVecT::CoordType>& boundingRect, const TextureHandle& h);
 
    virtual TextureHandle generateTexture(
        int index,
        const PointsetSurface<BaseVecT>& surface,
        const BoundingRectangle<typename BaseVecT::CoordType>& boundingRect
    );
 
    TexCoords calculateTexCoords(
        TextureHandle texH,
        const BoundingRectangle<typename BaseVecT::CoordType>& boundingRect,
        BaseVecT v
    );
 
    BaseVecT calculateTexCoordsInv(
        TextureHandle texH,
        const BoundingRectangle<typename BaseVecT::CoordType>& boundingRect,
        const TexCoords& coords
    );
 
    void saveTextures();
 
    const float m_texelSize;
    const int m_texMinClusterSize;
    const int m_texMaxClusterSize;
 
protected:
 
    StableVector<TextureHandle, Texture> m_textures;
 
};
 
 
} // namespace lvr2
 
#include "lvr2/algorithm/Texturizer.tcc"
 
#endif /* LVR2_ALGORITHM_TEXTURIZER_H_ */