Texturizer.hpp

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/*
* 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_ */