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Texture mapping supports more precise camera model. #352

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Dec 14, 2013
Merged

Texture mapping supports more precise camera model. #352

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afd17fb
Texture mapping supports more precise camera model.
Nov 6, 2013
adf7a8e
Comply with programming style rules (indentation)
Nov 8, 2013
74cf056
Comply with programming style rules and retain original form of initi…
Nov 8, 2013
9d6bcfd
Add new parameters to documetation.
Nov 9, 2013
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25 changes: 21 additions & 4 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 @@ -1042,12 +1042,29 @@ pcl::TextureMapping<PointInT>::getPointUVCoordinates(const pcl::PointXYZ &pt, co
// compute image center and dimension
double sizeX = cam.width;
double sizeY = cam.height;
double cx = sizeX / 2.0;
double cy = sizeY / 2.0;
double cx, cy;
if (cam.center_w > 0)
cx = cam.center_w;
else
cx = sizeX / 2.0;
if (cam.center_h > 0)
cy = cam.center_h;
else
cy = sizeY / 2.0;

double focal_x, focal_y;
if (cam.focal_length_w > 0)
focal_x = cam.focal_length_w;
else
focal_x = cam.focal_length;
if (cam.focal_length_h > 0)
focal_y = cam.focal_length_h;
else
focal_y = cam.focal_length;

// project point on camera's image plane
UV_coordinates.x = static_cast<float> ((cam.focal_length * (pt.x / pt.z) + cx) / sizeX); //horizontal
UV_coordinates.y = 1.0f - static_cast<float> ((cam.focal_length * (pt.y / pt.z) + cy) / sizeY); //vertical
UV_coordinates.x = static_cast<float> ((focal_x * (pt.x / pt.z) + cx) / sizeX); //horizontal
UV_coordinates.y = 1.0f - static_cast<float> ((focal_y * (pt.y / pt.z) + cy) / sizeY); //vertical

// point is visible!
if (UV_coordinates.x >= 0.0 && UV_coordinates.x <= 1.0 && UV_coordinates.y >= 0.0 && UV_coordinates.y <= 1.0)
Expand Down
42 changes: 35 additions & 7 deletions surface/include/pcl/surface/texture_mapping.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,12 +50,26 @@ namespace pcl
namespace texture_mapping
{

/** \brief Structure to store camera pose and focal length. */
/** \brief Structure to store camera pose and focal length.
*
* One can assign a value to focal_length, to be used along
* both camera axes or, optionally, axis-specific values
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Any reason why you remove the initializers here?

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Hi,

I used a constructor to initialize the new variables. I'll will be a
few hours before I can tend to the recommended changes.

On 13-11-08 09:32 AM, Jochen Sprickerhof wrote:

In surface/include/pcl/surface/texture_mapping.h:

@@ -53,14 +53,27 @@
/** \brief Structure to store camera pose and focal length. */
struct Camera
{

  •  Camera () : pose (), focal_length (), height (), width (), texture_file () {}

Any reason why you remove the initializers here?

—
Reply to this email directly or view it on GitHub
https://github.com/PointCloudLibrary/pcl/pull/352/files#r7525660.

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Reverted. Used original style initializer.

On 13-11-08 09:32 AM, Jochen Sprickerhof wrote:

In surface/include/pcl/surface/texture_mapping.h:

@@ -53,14 +53,27 @@
/** \brief Structure to store camera pose and focal length. */
struct Camera
{

  •  Camera () : pose (), focal_length (), height (), width (), texture_file () {}

Any reason why you remove the initializers here?

—
Reply to this email directly or view it on GitHub
https://github.com/PointCloudLibrary/pcl/pull/352/files#r7525660.

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Could you add the new parameters to the documentation above as well?

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I added parameter descriptions. I am not familiar with doxygen, thus
unsure if the changes will propagate properly to the online docs.

On 13-11-09 01:09 PM, Jochen Sprickerhof wrote:

In surface/include/pcl/surface/texture_mapping.h:

@@ -53,14 +53,27 @@
/** \brief Structure to store camera pose and focal length. */
struct Camera
{

  •  Camera () : pose (), focal_length (), height (), width (), texture_file () {}

Could you add the new parameters to the documentation above as well?

—
Reply to this email directly or view it on GitHub
https://github.com/PointCloudLibrary/pcl/pull/352/files#r7546067.

* (focal_length_w and focal_length_h). Optionally, one can
* also specify center-of-focus using parameters
* center_w and center_h. If the center-of-focus is not
* specified, it will be set to the geometric center of
* the camera, as defined by the width and height parameters.
*/
struct Camera
{
Camera () : pose (), focal_length (), height (), width (), texture_file () {}
Camera () : pose (), focal_length (), focal_length_w (-1), focal_length_h (-1),
center_w (-1), center_h (-1), height (), width (), texture_file () {}
Eigen::Affine3f pose;
double focal_length;
double focal_length_w; // optional
double focal_length_h; // optinoal
double center_w; // optional
double center_h; // optional
double height;
double width;
std::string texture_file;
Expand Down Expand Up @@ -187,11 +201,25 @@ namespace pcl
// 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;
double cx, cy;
if (cam.center_w > 0)
cx = cam.center_w;
else
cx = (sizeX) / 2.0;
if (cam.center_h > 0)
cy = cam.center_h;
else
cy = (sizeY) / 2.0;

double focal_x, focal_y;
if (cam.focal_length_w > 0)
focal_x = cam.focal_length_w;
else
focal_x = cam.focal_length;
if (cam.focal_length_h>0)
focal_y = cam.focal_length_h;
else
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
Expand Down