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Merge pull request #929 from paperManu/texture_mapping
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TextureMapping template is now also defined for PointNormal.
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@taketwo
taketwo committed Oct 1, 2014
2 parents 7039581 + 8851a06 commit 4f9db1c
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Showing 3 changed files with 26 additions and 22 deletions.
30 changes: 15 additions & 15 deletions surface/include/pcl/surface/impl/texture_mapping.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -296,8 +296,8 @@ pcl::TextureMapping<PointInT>::mapMultipleTexturesToMeshUV (pcl::TextureMesh &te

PCL_INFO ("You provided %d cameras and a mesh containing %d sub-meshes.\n", cams.size (), tex_mesh.tex_polygons.size ());

pcl::PointCloud<pcl::PointXYZ>::Ptr originalCloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr camera_transformed_cloud (new pcl::PointCloud<pcl::PointXYZ>);
typename pcl::PointCloud<PointInT>::Ptr originalCloud (new pcl::PointCloud<PointInT>);
typename pcl::PointCloud<PointInT>::Ptr camera_transformed_cloud (new pcl::PointCloud<PointInT>);

// convert mesh's cloud to pcl format for ease
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *originalCloud);
Expand All @@ -320,7 +320,7 @@ pcl::TextureMapping<PointInT>::mapMultipleTexturesToMeshUV (pcl::TextureMesh &te
std::vector<Eigen::Vector2f> texture_map_tmp;

// processing each face visible by this camera
pcl::PointXYZ pt;
PointInT pt;
size_t idx;
for (size_t i = 0; i < tex_mesh.tex_polygons[m].size (); ++i)
{
Expand Down Expand Up @@ -374,7 +374,7 @@ pcl::TextureMapping<PointInT>::mapMultipleTexturesToMeshUV (pcl::TextureMesh &te

///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> bool
pcl::TextureMapping<PointInT>::isPointOccluded (const pcl::PointXYZ &pt, OctreePtr octree)
pcl::TextureMapping<PointInT>::isPointOccluded (const PointInT &pt, OctreePtr octree)
{
Eigen::Vector3f direction;
direction (0) = pt.x;
Expand Down Expand Up @@ -485,8 +485,8 @@ pcl::TextureMapping<PointInT>::removeOccludedPoints (const pcl::TextureMesh &tex
// copy mesh
cleaned_mesh = tex_mesh;

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_cloud (new pcl::PointCloud<pcl::PointXYZ>);
typename pcl::PointCloud<PointInT>::Ptr cloud (new pcl::PointCloud<PointInT>);
typename pcl::PointCloud<PointInT>::Ptr filtered_cloud (new pcl::PointCloud<PointInT>);

// load points into a PCL format
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *cloud);
Expand Down Expand Up @@ -572,9 +572,9 @@ pcl::TextureMapping<PointInT>::sortFacesByCamera (pcl::TextureMesh &tex_mesh, pc
// clear polygons from cleaned_mesh
sorted_mesh.tex_polygons.clear ();

pcl::PointCloud<pcl::PointXYZ>::Ptr original_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_cloud (new pcl::PointCloud<pcl::PointXYZ>);
typename pcl::PointCloud<PointInT>::Ptr original_cloud (new pcl::PointCloud<PointInT>);
typename pcl::PointCloud<PointInT>::Ptr transformed_cloud (new pcl::PointCloud<PointInT>);
typename pcl::PointCloud<PointInT>::Ptr filtered_cloud (new pcl::PointCloud<PointInT>);

// load points into a PCL format
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *original_cloud);
Expand Down Expand Up @@ -613,7 +613,7 @@ pcl::TextureMapping<PointInT>::sortFacesByCamera (pcl::TextureMesh &tex_mesh, pc
{
// point is not occluded
// does it land on the camera's image plane?
pcl::PointXYZ pt = transformed_cloud->points[tex_mesh.tex_polygons[0][faces].vertices[current_pt_indice]];
PointInT pt = transformed_cloud->points[tex_mesh.tex_polygons[0][faces].vertices[current_pt_indice]];
Eigen::Vector2f dummy_UV;
if (!getPointUVCoordinates (pt, cameras[cam], dummy_UV))
{
Expand Down Expand Up @@ -732,7 +732,7 @@ pcl::TextureMapping<PointInT>::showOcclusions (pcl::TextureMesh &tex_mesh, pcl::
double octree_voxel_size, bool show_nb_occlusions, int max_occlusions)
{
// load points into a PCL format
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
typename pcl::PointCloud<PointInT>::Ptr cloud (new pcl::PointCloud<PointInT>);
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *cloud);

showOcclusions (cloud, colored_cloud, octree_voxel_size, show_nb_occlusions, max_occlusions);
Expand All @@ -746,7 +746,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras (pcl::TextureMesh
if (mesh.tex_polygons.size () != 1)
return;

pcl::PointCloud<pcl::PointXYZ>::Ptr mesh_cloud (new pcl::PointCloud<pcl::PointXYZ>);
typename pcl::PointCloud<PointInT>::Ptr mesh_cloud (new pcl::PointCloud<PointInT>);

pcl::fromPCLPointCloud2 (mesh.cloud, *mesh_cloud);

Expand All @@ -757,7 +757,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras (pcl::TextureMesh
PCL_INFO ("Processing camera %d of %d.\n", current_cam+1, cameras.size ());

// transform mesh into camera's frame
pcl::PointCloud<pcl::PointXYZ>::Ptr camera_cloud (new pcl::PointCloud<pcl::PointXYZ>);
typename pcl::PointCloud<PointInT>::Ptr camera_cloud (new pcl::PointCloud<PointInT>);
pcl::transformPointCloud (*mesh_cloud, *camera_cloud, cameras[current_cam].pose.inverse ());

// CREATE UV MAP FOR CURRENT FACES
Expand Down Expand Up @@ -1035,7 +1035,7 @@ pcl::TextureMapping<PointInT>::getTriangleCircumcscribedCircleCentroid ( const p

///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> inline bool
pcl::TextureMapping<PointInT>::getPointUVCoordinates(const pcl::PointXYZ &pt, const Camera &cam, pcl::PointXY &UV_coordinates)
pcl::TextureMapping<PointInT>::getPointUVCoordinates(const PointInT &pt, const Camera &cam, pcl::PointXY &UV_coordinates)
{
if (pt.z > 0)
{
Expand Down Expand Up @@ -1105,7 +1105,7 @@ pcl::TextureMapping<PointInT>::checkPointInsideTriangle(const pcl::PointXY &p1,

///////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointInT> inline bool
pcl::TextureMapping<PointInT>::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)
pcl::TextureMapping<PointInT>::isFaceProjected (const Camera &camera, const PointInT &p1, const PointInT &p2, const PointInT &p3, pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3)
{
return (getPointUVCoordinates(p1, camera, proj1)
&&
Expand Down
12 changes: 6 additions & 6 deletions surface/include/pcl/surface/texture_mapping.h
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Original file line number Diff line number Diff line change
Expand Up @@ -99,8 +99,8 @@ namespace pcl
{
public:

typedef boost::shared_ptr< PointInT > Ptr;
typedef boost::shared_ptr< const PointInT > ConstPtr;
typedef boost::shared_ptr< TextureMapping < PointInT > > Ptr;
typedef boost::shared_ptr< const TextureMapping < PointInT > > ConstPtr;

typedef pcl::PointCloud<PointInT> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
Expand Down Expand Up @@ -193,7 +193,7 @@ namespace pcl
* \returns false if the point is not visible by the camera
*/
inline bool
getPointUVCoordinates (const pcl::PointXYZ &pt, const Camera &cam, Eigen::Vector2f &UV_coordinates)
getPointUVCoordinates (const PointInT &pt, const Camera &cam, Eigen::Vector2f &UV_coordinates)
{
// if the point is in front of the camera
if (pt.z > 0)
Expand Down Expand Up @@ -243,7 +243,7 @@ namespace pcl
* \returns true if the point is occluded.
*/
inline bool
isPointOccluded (const pcl::PointXYZ &pt, const OctreePtr octree);
isPointOccluded (const PointInT &pt, const OctreePtr octree);

/** \brief Remove occluded points from a point cloud
* \param[in] input_cloud the cloud on which to perform occlusion detection
Expand Down Expand Up @@ -385,7 +385,7 @@ namespace pcl
* \returns false if the point is not visible by the camera
*/
inline bool
getPointUVCoordinates (const pcl::PointXYZ &pt, const Camera &cam, pcl::PointXY &UV_coordinates);
getPointUVCoordinates (const PointInT &pt, const Camera &cam, pcl::PointXY &UV_coordinates);

/** \brief Returns true if all the vertices of one face are projected on the camera's image plane.
* \param[in] camera camera on which to project the face.
Expand All @@ -398,7 +398,7 @@ namespace pcl
*/
inline bool
isFaceProjected (const Camera &camera,
const pcl::PointXYZ &p1, const pcl::PointXYZ &p2, const pcl::PointXYZ &p3,
const PointInT &p1, const PointInT &p2, const PointInT &p3,
pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3);

/** \brief Returns True if a point lays within a triangle
Expand Down
6 changes: 5 additions & 1 deletion surface/src/texture_mapping.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,4 +43,8 @@


// Instantiations of specific point types
PCL_INSTANTIATE(TextureMapping, (pcl::PointXYZ))
#ifdef PCL_ONLY_CORE_POINT_TYPES
PCL_INSTANTIATE(TextureMapping, (pcl::PointXYZ))
#else
PCL_INSTANTIATE(TextureMapping, PCL_XYZ_POINT_TYPES)
#endif

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