Point Cloud Library (PCL)  1.14.1-dev
texture_mapping.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of Willow Garage, Inc. nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  * $Id$
37  *
38  */
39 
40 #pragma once
41 
42 #include <pcl/memory.h>
43 #include <pcl/pcl_macros.h>
44 #include <pcl/surface/reconstruction.h>
45 #include <pcl/common/transforms.h>
46 #include <pcl/TextureMesh.h>
47 #include <pcl/octree/octree_search.h> // for OctreePointCloudSearch
48 
49 
50 namespace pcl
51 {
52  namespace texture_mapping
53  {
54 
55  /** \brief Structure to store camera pose and focal length.
56  *
57  * One can assign a value to focal_length, to be used along
58  * both camera axes or, optionally, axis-specific values
59  * (focal_length_w and focal_length_h). Optionally, one can
60  * also specify center-of-focus using parameters
61  * center_w and center_h. If the center-of-focus is not
62  * specified, it will be set to the geometric center of
63  * the camera, as defined by the width and height parameters.
64  */
65  struct Camera
66  {
67  Camera () = default;
68  Eigen::Affine3f pose;
69  double focal_length{0.0};
70  double focal_length_w{-1.0}; // optional
71  double focal_length_h{-1.0}; // optinoal
72  double center_w{-1.0}; // optional
73  double center_h{-1.0}; // optional
74  double height{0.0};
75  double width{0.0};
76  std::string texture_file;
77 
79  };
80 
81  /** \brief Structure that links a uv coordinate to its 3D point and face.
82  */
83  struct UvIndex
84  {
85  UvIndex () = default;
86  int idx_cloud{0}; // Index of the PointXYZ in the camera's cloud
87  int idx_face{0}; // Face corresponding to that projection
88  };
89 
90  using CameraVector = std::vector<Camera, Eigen::aligned_allocator<Camera> >;
91 
92  }
93 
94  /** \brief The texture mapping algorithm
95  * \author Khai Tran, Raphael Favier
96  * \ingroup surface
97  */
98  template<typename PointInT>
100  {
101  public:
102 
103  using Ptr = shared_ptr<TextureMapping<PointInT> >;
104  using ConstPtr = shared_ptr<const TextureMapping<PointInT> >;
105 
107  using PointCloudPtr = typename PointCloud::Ptr;
109 
111  using OctreePtr = typename Octree::Ptr;
113 
116 
117  /** \brief Constructor. */
118  TextureMapping () = default;
119 
120  /** \brief Destructor. */
121  ~TextureMapping () = default;
122 
123  /** \brief Set mesh scale control
124  * \param[in] f
125  */
126  inline void
127  setF (float f)
128  {
129  f_ = f;
130  }
131 
132  /** \brief Set vector field
133  * \param[in] x data point x
134  * \param[in] y data point y
135  * \param[in] z data point z
136  */
137  inline void
138  setVectorField (float x, float y, float z)
139  {
140  vector_field_ = Eigen::Vector3f (x, y, z);
141  // normalize vector field
142  vector_field_ /= std::sqrt (vector_field_.dot (vector_field_));
143  }
144 
145  /** \brief Set texture files
146  * \param[in] tex_files list of texture files
147  */
148  inline void
149  setTextureFiles (std::vector<std::string> tex_files)
150  {
151  tex_files_ = tex_files;
152  }
153 
154  /** \brief Set texture materials
155  * \param[in] tex_material texture material
156  */
157  inline void
159  {
160  tex_material_ = tex_material;
161  }
162 
163  /** \brief Map texture to a mesh synthesis algorithm
164  * \param[in] tex_mesh texture mesh
165  */
166  void
167  mapTexture2Mesh (pcl::TextureMesh &tex_mesh);
168 
169  /** \brief Map texture to a mesh UV mapping
170  * \param[in] tex_mesh texture mesh
171  */
172  void
174 
175  /** \brief Map textures acquired from a set of cameras onto a mesh.
176  * \details With UV mapping, the mesh must be divided into NbCamera + 1 sub-meshes.
177  * Each sub-mesh corresponding to the faces visible by one camera. The last submesh containing all non-visible faces
178  * \param[in] tex_mesh texture mesh
179  * \param[in] cams cameras used for UV mapping
180  */
181  void
184 
185  /** \brief computes UV coordinates of point, observed by one particular camera
186  * \param[in] pt XYZ point to project on camera plane
187  * \param[in] cam the camera used for projection
188  * \param[out] UV_coordinates the resulting uv coordinates. Set to (-1.0,-1.0) if the point is not visible by the camera
189  * \returns false if the point is not visible by the camera
190  */
191  inline bool
192  getPointUVCoordinates (const PointInT &pt, const Camera &cam, Eigen::Vector2f &UV_coordinates)
193  {
194  // if the point is in front of the camera
195  if (pt.z > 0)
196  {
197  // compute image center and dimension
198  double sizeX = cam.width;
199  double sizeY = cam.height;
200  double cx, cy;
201  if (cam.center_w > 0)
202  cx = cam.center_w;
203  else
204  cx = (sizeX) / 2.0;
205  if (cam.center_h > 0)
206  cy = cam.center_h;
207  else
208  cy = (sizeY) / 2.0;
209 
210  double focal_x, focal_y;
211  if (cam.focal_length_w > 0)
212  focal_x = cam.focal_length_w;
213  else
214  focal_x = cam.focal_length;
215  if (cam.focal_length_h>0)
216  focal_y = cam.focal_length_h;
217  else
218  focal_y = cam.focal_length;
219 
220  // project point on image frame
221  UV_coordinates[0] = static_cast<float> ((focal_x * (pt.x / pt.z) + cx) / sizeX); //horizontal
222  UV_coordinates[1] = 1.0f - static_cast<float> (((focal_y * (pt.y / pt.z) + cy) / sizeY)); //vertical
223 
224  // point is visible!
225  if (UV_coordinates[0] >= 0.0 && UV_coordinates[0] <= 1.0 && UV_coordinates[1] >= 0.0 && UV_coordinates[1]
226  <= 1.0)
227  return (true);
228  }
229 
230  // point is NOT visible by the camera
231  UV_coordinates[0] = -1.0;
232  UV_coordinates[1] = -1.0;
233  return (false);
234  }
235 
236  /** \brief Check if a point is occluded using raycasting on octree.
237  * \param[in] pt XYZ from which the ray will start (toward the camera)
238  * \param[in] octree the octree used for raycasting. It must be initialized with a cloud transformed into the camera's frame
239  * \returns true if the point is occluded.
240  */
241  inline bool
242  isPointOccluded (const PointInT &pt, const OctreePtr octree);
243 
244  /** \brief Remove occluded points from a point cloud
245  * \param[in] input_cloud the cloud on which to perform occlusion detection
246  * \param[out] filtered_cloud resulting cloud, containing only visible points
247  * \param[in] octree_voxel_size octree resolution (in meters)
248  * \param[out] visible_indices will contain indices of visible points
249  * \param[out] occluded_indices will contain indices of occluded points
250  */
251  void
252  removeOccludedPoints (const PointCloudPtr &input_cloud,
253  PointCloudPtr &filtered_cloud, const double octree_voxel_size,
254  pcl::Indices &visible_indices, pcl::Indices &occluded_indices);
255 
256  /** \brief Remove occluded points from a textureMesh
257  * \param[in] tex_mesh input mesh, on witch to perform occlusion detection
258  * \param[out] cleaned_mesh resulting mesh, containing only visible points
259  * \param[in] octree_voxel_size octree resolution (in meters)
260  */
261  void
262  removeOccludedPoints (const pcl::TextureMesh &tex_mesh, pcl::TextureMesh &cleaned_mesh, const double octree_voxel_size);
263 
264 
265  /** \brief Remove occluded points from a textureMesh
266  * \param[in] tex_mesh input mesh, on witch to perform occlusion detection
267  * \param[out] filtered_cloud resulting cloud, containing only visible points
268  * \param[in] octree_voxel_size octree resolution (in meters)
269  */
270  void
271  removeOccludedPoints (const pcl::TextureMesh &tex_mesh, PointCloudPtr &filtered_cloud, const double octree_voxel_size);
272 
273 
274  /** \brief Segment faces by camera visibility. Point-based segmentation.
275  * \details With N camera, faces will be arranged into N+1 groups: 1 for each camera, plus 1 for faces not visible from any camera.
276  * \param[in] tex_mesh input mesh that needs sorting. Must contain only 1 sub-mesh.
277  * \param[in] sorted_mesh resulting mesh, will contain nbCamera + 1 sub-mesh.
278  * \param[in] cameras vector containing the cameras used for texture mapping.
279  * \param[in] octree_voxel_size octree resolution (in meters)
280  * \param[out] visible_pts cloud containing only visible points
281  */
282  int
284  pcl::TextureMesh &sorted_mesh,
285  const pcl::texture_mapping::CameraVector &cameras,
286  const double octree_voxel_size, PointCloud &visible_pts);
287 
288  /** \brief Colors a point cloud, depending on its occlusions.
289  * \details If showNbOcclusions is set to True, each point is colored depending on the number of points occluding it.
290  * Else, each point is given a different a 0 value is not occluded, 1 if occluded.
291  * By default, the number of occlusions is bounded to 4.
292  * \param[in] input_cloud input cloud on which occlusions will be computed.
293  * \param[out] colored_cloud resulting colored cloud showing the number of occlusions per point.
294  * \param[in] octree_voxel_size octree resolution (in meters).
295  * \param[in] show_nb_occlusions If false, color information will only represent.
296  * \param[in] max_occlusions Limit the number of occlusions per point.
297  */
298  void
299  showOcclusions (const PointCloudPtr &input_cloud,
301  const double octree_voxel_size,
302  const bool show_nb_occlusions = true,
303  const int max_occlusions = 4);
304 
305  /** \brief Colors the point cloud of a Mesh, depending on its occlusions.
306  * \details If showNbOcclusions is set to True, each point is colored depending on the number of points occluding it.
307  * Else, each point is given a different a 0 value is not occluded, 1 if occluded.
308  * By default, the number of occlusions is bounded to 4.
309  * \param[in] tex_mesh input mesh on which occlusions will be computed.
310  * \param[out] colored_cloud resulting colored cloud showing the number of occlusions per point.
311  * \param[in] octree_voxel_size octree resolution (in meters).
312  * \param[in] show_nb_occlusions If false, color information will only represent.
313  * \param[in] max_occlusions Limit the number of occlusions per point.
314  */
315  void
316  showOcclusions (pcl::TextureMesh &tex_mesh,
318  double octree_voxel_size,
319  bool show_nb_occlusions = true,
320  int max_occlusions = 4);
321 
322  /** \brief Segment and texture faces by camera visibility. Face-based segmentation.
323  * \details With N camera, faces will be arranged into N+1 groups: 1 for each camera, plus 1 for faces not visible from any camera.
324  * The mesh will also contain uv coordinates for each face
325  * \param mesh input mesh that needs sorting. Should contain only 1 sub-mesh.
326  * \param[in] cameras vector containing the cameras used for texture mapping.
327  */
328  void
330  const pcl::texture_mapping::CameraVector &cameras);
331 
332  protected:
333  /** \brief mesh scale control. */
334  float f_{0.0f};
335 
336  /** \brief vector field */
337  Eigen::Vector3f vector_field_;
338 
339  /** \brief list of texture files */
340  std::vector<std::string> tex_files_;
341 
342  /** \brief list of texture materials */
344 
345  /** \brief Map texture to a face
346  * \param[in] p1 the first point
347  * \param[in] p2 the second point
348  * \param[in] p3 the third point
349  */
350  std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> >
351  mapTexture2Face (const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3);
352 
353  /** \brief Returns the circumcenter of a triangle and the circle's radius.
354  * \details see https://en.wikipedia.org/wiki/Circumcenter for formulas.
355  * \param[in] p1 first point of the triangle.
356  * \param[in] p2 second point of the triangle.
357  * \param[in] p3 third point of the triangle.
358  * \param[out] circumcenter resulting circumcenter
359  * \param[out] radius the radius of the circumscribed circle.
360  */
361  inline void
362  getTriangleCircumcenterAndSize (const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius);
363 
364 
365  /** \brief Returns the centroid of a triangle and the corresponding circumscribed circle's radius.
366  * \details yield a tighter circle than getTriangleCircumcenterAndSize.
367  * \param[in] p1 first point of the triangle.
368  * \param[in] p2 second point of the triangle.
369  * \param[in] p3 third point of the triangle.
370  * \param[out] circumcenter resulting circumcenter
371  * \param[out] radius the radius of the circumscribed circle.
372  */
373  inline void
374  getTriangleCircumcscribedCircleCentroid ( const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius);
375 
376 
377  /** \brief computes UV coordinates of point, observed by one particular camera
378  * \param[in] pt XYZ point to project on camera plane
379  * \param[in] cam the camera used for projection
380  * \param[out] UV_coordinates the resulting UV coordinates. Set to (-1.0,-1.0) if the point is not visible by the camera
381  * \returns false if the point is not visible by the camera
382  */
383  inline bool
384  getPointUVCoordinates (const PointInT &pt, const Camera &cam, pcl::PointXY &UV_coordinates);
385 
386  /** \brief Returns true if all the vertices of one face are projected on the camera's image plane.
387  * \param[in] camera camera on which to project the face.
388  * \param[in] p1 first point of the face.
389  * \param[in] p2 second point of the face.
390  * \param[in] p3 third point of the face.
391  * \param[out] proj1 UV coordinates corresponding to p1.
392  * \param[out] proj2 UV coordinates corresponding to p2.
393  * \param[out] proj3 UV coordinates corresponding to p3.
394  */
395  inline bool
396  isFaceProjected (const Camera &camera,
397  const PointInT &p1, const PointInT &p2, const PointInT &p3,
398  pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3);
399 
400  /** \brief Returns True if a point lays within a triangle
401  * \details see http://www.blackpawn.com/texts/pointinpoly/default.html
402  * \param[in] p1 first point of the triangle.
403  * \param[in] p2 second point of the triangle.
404  * \param[in] p3 third point of the triangle.
405  * \param[in] pt the query point.
406  */
407  inline bool
408  checkPointInsideTriangle (const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, const pcl::PointXY &pt);
409 
410  /** \brief Class get name method. */
411  std::string
412  getClassName () const
413  {
414  return ("TextureMapping");
415  }
416 
417  public:
419  };
420 }
shared_ptr< PointCloud< PointInT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointInT > > ConstPtr
Definition: point_cloud.h:414
The texture mapping algorithm.
void setF(float f)
Set mesh scale control.
bool getPointUVCoordinates(const PointInT &pt, const Camera &cam, Eigen::Vector2f &UV_coordinates)
computes UV coordinates of point, observed by one particular camera
void mapTexture2MeshUV(pcl::TextureMesh &tex_mesh)
Map texture to a mesh UV mapping.
TexMaterial tex_material_
list of texture materials
void mapTexture2Mesh(pcl::TextureMesh &tex_mesh)
Map texture to a mesh synthesis algorithm.
shared_ptr< const TextureMapping< PointInT > > ConstPtr
void getTriangleCircumcscribedCircleCentroid(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius)
Returns the centroid of a triangle and the corresponding circumscribed circle's radius.
TextureMapping()=default
Constructor.
~TextureMapping()=default
Destructor.
typename PointCloud::Ptr PointCloudPtr
std::string getClassName() const
Class get name method.
typename Octree::Ptr OctreePtr
void setTextureFiles(std::vector< std::string > tex_files)
Set texture files.
float f_
mesh scale control.
bool isPointOccluded(const PointInT &pt, const OctreePtr octree)
Check if a point is occluded using raycasting on octree.
void setVectorField(float x, float y, float z)
Set vector field.
bool checkPointInsideTriangle(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, const pcl::PointXY &pt)
Returns True if a point lays within a triangle.
bool isFaceProjected(const Camera &camera, const PointInT &p1, const PointInT &p2, const PointInT &p3, pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3)
Returns true if all the vertices of one face are projected on the camera's image plane.
void removeOccludedPoints(const PointCloudPtr &input_cloud, PointCloudPtr &filtered_cloud, const double octree_voxel_size, pcl::Indices &visible_indices, pcl::Indices &occluded_indices)
Remove occluded points from a point cloud.
std::vector< std::string > tex_files_
list of texture files
typename Octree::ConstPtr OctreeConstPtr
std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f > > mapTexture2Face(const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3)
Map texture to a face.
Eigen::Vector3f vector_field_
vector field
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 getTriangleCircumcenterAndSize(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius)
Returns the circumcenter of a triangle and the circle's radius.
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.
typename PointCloud::ConstPtr PointCloudConstPtr
void mapMultipleTexturesToMeshUV(pcl::TextureMesh &tex_mesh, pcl::texture_mapping::CameraVector &cams)
Map textures acquired from a set of cameras onto a mesh.
shared_ptr< TextureMapping< PointInT > > Ptr
void setTextureMaterials(TexMaterial tex_material)
Set texture materials.
void textureMeshwithMultipleCameras(pcl::TextureMesh &mesh, const pcl::texture_mapping::CameraVector &cameras)
Segment and texture faces by camera visibility.
Octree pointcloud search class
Definition: octree_search.h:58
shared_ptr< const OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT > > ConstPtr
Definition: octree_search.h:72
shared_ptr< OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT > > Ptr
Definition: octree_search.h:70
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
std::vector< Camera, Eigen::aligned_allocator< Camera > > CameraVector
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
Defines all the PCL and non-PCL macros used.
A 2D point structure representing Euclidean xy coordinates.
Structure to store camera pose and focal length.
Structure that links a uv coordinate to its 3D point and face.