texture_mapping.h

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 * $Id: texture_mapping.h 6064 2012-06-29 17:57:23Z raph $
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#ifndef PCL_SURFACE_TEXTURE_MAPPING_H_
#define PCL_SURFACE_TEXTURE_MAPPING_H_

#include <pcl/surface/reconstruction.h>
#include <pcl/common/transforms.h>
#include <pcl/TextureMesh.h>


namespace pcl
{
  namespace texture_mapping
  {
        
    struct Camera
    {
      Camera () : pose (), focal_length (), height (), width (), texture_file () {}
      Eigen::Affine3f pose;
      double focal_length;
      double height;
      double width;
      std::string texture_file;

      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };

    struct UvIndex
    {
      UvIndex () : idx_cloud (), idx_face () {}
      int idx_cloud; // Index of the PointXYZ in the camera's cloud
      int idx_face; // Face corresponding to that projection
    };
    
    typedef std::vector<Camera, Eigen::aligned_allocator<Camera> > CameraVector;
    
  }
  
  template<typename PointInT>
  class TextureMapping
  {
    public:
     
      typedef boost::shared_ptr< PointInT > Ptr;
      typedef boost::shared_ptr< const PointInT > ConstPtr;

      typedef pcl::PointCloud<PointInT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      typedef pcl::octree::OctreePointCloudSearch<PointInT> Octree;
      typedef typename Octree::Ptr OctreePtr;
      typedef typename Octree::ConstPtr OctreeConstPtr;
      
      typedef pcl::texture_mapping::Camera Camera;
      typedef pcl::texture_mapping::UvIndex UvIndex;

      TextureMapping () :
        f_ (), vector_field_ (), tex_files_ (), tex_material_ ()
      {
      }

      ~TextureMapping ()
      {
      }

      inline void
      setF (float f)
      {
        f_ = f;
      }

      inline void
      setVectorField (float x, float y, float z)
      {
        vector_field_ = Eigen::Vector3f (x, y, z);
        // normalize vector field
        vector_field_ = vector_field_ / std::sqrt (vector_field_.dot (vector_field_));
      }

      inline void
      setTextureFiles (std::vector<std::string> tex_files)
      {
        tex_files_ = tex_files;
      }

      inline void
      setTextureMaterials (TexMaterial tex_material)
      {
        tex_material_ = tex_material;
      }

      void
      mapTexture2Mesh (pcl::TextureMesh &tex_mesh);

      void
      mapTexture2MeshUV (pcl::TextureMesh &tex_mesh);

      void
      mapMultipleTexturesToMeshUV (pcl::TextureMesh &tex_mesh, 
                                   pcl::texture_mapping::CameraVector &cams);

      inline bool
      getPointUVCoordinates (const pcl::PointXYZ &pt, const Camera &cam, Eigen::Vector2f &UV_coordinates)
      {
        // if the point is in front of the camera
        if (pt.z > 0)
        {
          // compute image center and dimension
          double sizeX = cam.width;
          double sizeY = cam.height;
          double cx = (sizeX) / 2.0;
          double cy = (sizeY) / 2.0;

          double focal_x = cam.focal_length;
          double focal_y = cam.focal_length;

          // project point on image frame
          UV_coordinates[0] = static_cast<float> ((focal_x * (pt.x / pt.z) + cx) / sizeX); //horizontal
          UV_coordinates[1] = 1.0f - static_cast<float> (((focal_y * (pt.y / pt.z) + cy) / sizeY)); //vertical

          // point is visible!
          if (UV_coordinates[0] >= 0.0 && UV_coordinates[0] <= 1.0 && UV_coordinates[1] >= 0.0 && UV_coordinates[1]
                                                                                                                 <= 1.0)
            return (true);
        }

        // point is NOT visible by the camera
        UV_coordinates[0] = -1.0;
        UV_coordinates[1] = -1.0;
        return (false);
      }

      inline bool
      isPointOccluded (const pcl::PointXYZ &pt, const OctreePtr 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);

      void
      removeOccludedPoints (const pcl::TextureMesh &tex_mesh, pcl::TextureMesh &cleaned_mesh, const double octree_voxel_size);


      void
      removeOccludedPoints (const pcl::TextureMesh &tex_mesh, PointCloudPtr &filtered_cloud, const double octree_voxel_size);


      int
      sortFacesByCamera (pcl::TextureMesh &tex_mesh, 
                         pcl::TextureMesh &sorted_mesh, 
                         const pcl::texture_mapping::CameraVector &cameras,
                         const double octree_voxel_size, PointCloud &visible_pts);

      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);

      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);

      void 
      textureMeshwithMultipleCameras (pcl::TextureMesh &mesh, 
                                      const pcl::texture_mapping::CameraVector &cameras);

    protected:
      float f_;

      Eigen::Vector3f vector_field_;

      std::vector<std::string> tex_files_;

      TexMaterial tex_material_;

      std::vector<Eigen::Vector2f>
      mapTexture2Face (const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3);

      inline void
      getTriangleCircumcenterAndSize (const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circomcenter, double &radius);

      inline bool
      getPointUVCoordinates (const pcl::PointXYZ &pt, const Camera &cam, pcl::PointXY &UV_coordinates);

      inline bool
      isFaceProjected (const Camera &camera, 
                       const pcl::PointXYZ &p1, const pcl::PointXYZ &p2, const pcl::PointXYZ &p3, 
                       pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3);

      inline bool
      checkPointInsideTriangle (const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, const pcl::PointXY &pt);

      std::string
      getClassName () const
      {
        return ("TextureMapping");
      }

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif /* TEXTURE_MAPPING_H_ */