ImageTexturizer.hpp

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/*
 * ImageTexturizer.hpp
 *
 *  @date 01.11.2018
 *  @author Alexander Loehr (aloehr@uos.de)
 */

#ifndef LVR2_ALGORITHM_IMAGETEXTURIZER_HPP
#define LVR2_ALGORITHM_IMAGETEXTURIZER_HPP

#include "lvr2/algorithm/Texturizer.hpp"
#include "lvr2/geometry/Normal.hpp"

#include "lvr2/registration/TransformUtils.hpp"
#include "lvr2/types/MatrixTypes.hpp"
#include "lvr2/types/ScanTypes.hpp"

#include <opencv2/core.hpp>
#include <opencv2/imgcodecs.hpp>

namespace lvr2
{

template<typename BaseVecT>
class ImageTexturizer : public Texturizer<BaseVecT> 
{

public:

    ImageTexturizer(
        float texelSize,
        int minClusterSize,
        int maxClusterSize
    ) : Texturizer<BaseVecT>(texelSize, minClusterSize, maxClusterSize)
    {
        image_data_initialized = false;
    }

    void set_project(ScanProject& project)
    {
        this->project = project;
    }

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

private:
    ScanProject project;

    bool image_data_initialized;
    std::vector<ScanImage> images;

    void init_image_data();

    template<typename ValueType>
    void undistorted_to_distorted_uv(ValueType &u, ValueType &v, const ScanImage &img);

    bool exclude_image(BaseVecT pos, const ScanImage &image_data);

    bool point_behind_camera(BaseVecT pos, const ScanImage &image_data);
};

} // namespace lvr2

#include "ImageTexturizer.tcc"

#endif