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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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The texture mapping algorithm. More...
#include <pcl/surface/texture_mapping.h>
Public Types | |
| typedef boost::shared_ptr < PointInT > | Ptr |
| typedef boost::shared_ptr < const PointInT > | ConstPtr |
| typedef pcl::PointCloud< PointInT > | PointCloud |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef pcl::octree::OctreePointCloudSearch < PointInT > | Octree |
| typedef Octree::Ptr | OctreePtr |
| typedef Octree::ConstPtr | OctreeConstPtr |
| typedef pcl::texture_mapping::Camera | Camera |
| typedef pcl::texture_mapping::UvIndex | UvIndex |
Public Member Functions | |
| TextureMapping () | |
| Constructor. | |
| ~TextureMapping () | |
| Destructor. | |
| void | setF (float f) |
| Set mesh scale control. | |
| void | setVectorField (float x, float y, float z) |
| Set vector field. | |
| void | setTextureFiles (std::vector< std::string > tex_files) |
| Set texture files. | |
| void | setTextureMaterials (TexMaterial tex_material) |
| Set texture materials. | |
| void | mapTexture2Mesh (pcl::TextureMesh &tex_mesh) |
| Map texture to a mesh synthesis algorithm. | |
| void | mapTexture2MeshUV (pcl::TextureMesh &tex_mesh) |
| map texture to a mesh UV mapping | |
| void | mapMultipleTexturesToMeshUV (pcl::TextureMesh &tex_mesh, pcl::texture_mapping::CameraVector &cams) |
| map textures aquired from a set of cameras onto a mesh. | |
| bool | getPointUVCoordinates (const pcl::PointXYZ &pt, const Camera &cam, Eigen::Vector2f &UV_coordinates) |
| computes UV coordinates of point, observed by one particular camera | |
| bool | isPointOccluded (const pcl::PointXYZ &pt, const OctreePtr octree) |
| Check if a point is occluded using raycasting on octree. | |
| 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. | |
| void | removeOccludedPoints (const pcl::TextureMesh &tex_mesh, pcl::TextureMesh &cleaned_mesh, const double octree_voxel_size) |
| Remove occluded points from a textureMesh. | |
| void | removeOccludedPoints (const pcl::TextureMesh &tex_mesh, PointCloudPtr &filtered_cloud, const double octree_voxel_size) |
| Remove occluded points from a textureMesh. | |
| 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. | |
| 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. | |
| 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. | |
| void | textureMeshwithMultipleCameras (pcl::TextureMesh &mesh, const pcl::texture_mapping::CameraVector &cameras) |
| Segment and texture faces by camera visibility. | |
The texture mapping algorithm.
Definition at line 84 of file texture_mapping.h.
| typedef pcl::texture_mapping::Camera pcl::TextureMapping< PointInT >::Camera |
Definition at line 99 of file texture_mapping.h.
| typedef boost::shared_ptr< const PointInT > pcl::TextureMapping< PointInT >::ConstPtr |
Definition at line 89 of file texture_mapping.h.
| typedef pcl::octree::OctreePointCloudSearch<PointInT> pcl::TextureMapping< PointInT >::Octree |
Definition at line 95 of file texture_mapping.h.
| typedef Octree::ConstPtr pcl::TextureMapping< PointInT >::OctreeConstPtr |
Definition at line 97 of file texture_mapping.h.
| typedef Octree::Ptr pcl::TextureMapping< PointInT >::OctreePtr |
Definition at line 96 of file texture_mapping.h.
| typedef pcl::PointCloud<PointInT> pcl::TextureMapping< PointInT >::PointCloud |
Definition at line 91 of file texture_mapping.h.
| typedef PointCloud::ConstPtr pcl::TextureMapping< PointInT >::PointCloudConstPtr |
Definition at line 93 of file texture_mapping.h.
| typedef PointCloud::Ptr pcl::TextureMapping< PointInT >::PointCloudPtr |
Definition at line 92 of file texture_mapping.h.
| typedef boost::shared_ptr< PointInT > pcl::TextureMapping< PointInT >::Ptr |
Definition at line 88 of file texture_mapping.h.
| typedef pcl::texture_mapping::UvIndex pcl::TextureMapping< PointInT >::UvIndex |
Definition at line 100 of file texture_mapping.h.
| pcl::TextureMapping< PointInT >::TextureMapping | ( | ) | [inline] |
Constructor.
Definition at line 103 of file texture_mapping.h.
| pcl::TextureMapping< PointInT >::~TextureMapping | ( | ) | [inline] |
Destructor.
Definition at line 109 of file texture_mapping.h.
| bool pcl::TextureMapping< PointInT >::getPointUVCoordinates | ( | const pcl::PointXYZ & | pt, |
| const Camera & | cam, | ||
| Eigen::Vector2f & | UV_coordinates | ||
| ) | [inline] |
computes UV coordinates of point, observed by one particular camera
| [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 |
Definition at line 182 of file texture_mapping.h.
| bool pcl::TextureMapping< PointInT >::isPointOccluded | ( | const pcl::PointXYZ & | pt, |
| const OctreePtr | octree | ||
| ) | [inline] |
Check if a point is occluded using raycasting on octree.
| [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 |
Definition at line 376 of file texture_mapping.hpp.
| void pcl::TextureMapping< PointInT >::mapMultipleTexturesToMeshUV | ( | pcl::TextureMesh & | tex_mesh, |
| pcl::texture_mapping::CameraVector & | cams | ||
| ) |
map textures aquired 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
| [in] | tex_mesh | texture mesh |
| [in] | cams | cameras used for UV mapping |
Definition at line 286 of file texture_mapping.hpp.
| void pcl::TextureMapping< PointInT >::mapTexture2Mesh | ( | pcl::TextureMesh & | tex_mesh | ) |
Map texture to a mesh synthesis algorithm.
| [in] | tex_mesh | texture mesh |
Definition at line 143 of file texture_mapping.hpp.
| void pcl::TextureMapping< PointInT >::mapTexture2MeshUV | ( | pcl::TextureMesh & | tex_mesh | ) |
map texture to a mesh UV mapping
| [in] | tex_mesh | texture mesh |
Definition at line 199 of file texture_mapping.hpp.
| 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.
| [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 418 of file texture_mapping.hpp.
| 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.
| [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 482 of file texture_mapping.hpp.
| void pcl::TextureMapping< PointInT >::removeOccludedPoints | ( | const pcl::TextureMesh & | tex_mesh, |
| PointCloudPtr & | filtered_cloud, | ||
| const double | octree_voxel_size | ||
| ) |
Remove occluded points from a textureMesh.
| [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 538 of file texture_mapping.hpp.
| void pcl::TextureMapping< PointInT >::setF | ( | float | f | ) | [inline] |
| void pcl::TextureMapping< PointInT >::setTextureFiles | ( | std::vector< std::string > | tex_files | ) | [inline] |
Set texture files.
| [in] | tex_files | list of texture files |
Definition at line 139 of file texture_mapping.h.
| void pcl::TextureMapping< PointInT >::setTextureMaterials | ( | TexMaterial | tex_material | ) | [inline] |
Set texture materials.
| [in] | tex_material | texture material |
Definition at line 148 of file texture_mapping.h.
| void pcl::TextureMapping< PointInT >::setVectorField | ( | float | x, |
| float | y, | ||
| float | z | ||
| ) | [inline] |
Set vector field.
| [in] | x | data point x |
| [in] | y | data point y |
| [in] | z | data point z |
Definition at line 128 of file texture_mapping.h.
| 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.
| [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 650 of file texture_mapping.hpp.
| 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.
| [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 730 of file texture_mapping.hpp.
| 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.
| [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 553 of file texture_mapping.hpp.
| 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
| in/out] | tex_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 742 of file texture_mapping.hpp.
1.7.6.1
