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Merge pull request #702 from dakotabenjamin/bug-fixes 

Bug fixes

Former-commit-id: 9438e4bea4
pull/1161/head
Dakota Benjamin 2017-11-01 08:17:15 -05:00 zatwierdzone przez GitHub
rodzic 7cb6ccd513 98b4b377ab
commit 0a3871e67b
14 zmienionych plików z 36 dodań i 2100 usunięć
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1
modules/CMakeLists.txt
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@ -3,7 +3,6 @@ add_subdirectory(odm_extract_utm)
add_subdirectory(odm_georef)
add_subdirectory(odm_meshing)
add_subdirectory(odm_orthophoto)
add_subdirectory(odm_texturing)
add_subdirectory(odm_25dmeshing)
if (ODM_BUILD_SLAM)
add_subdirectory(odm_slam)

13
modules/odm_georef/src/Georef.cpp
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@ -272,7 +272,7 @@ void Georef::parseArguments(int argc, char *argv[])
bool imageListSpecified = false;
bool gcpFileSpecified = false;
bool imageLocation = false;
bool bundleResized = false;
// bool bundleResized = false;
bool outputCoordSpecified = false;
bool inputCoordSpecified = false;
@ -435,7 +435,7 @@ void Georef::parseArguments(int argc, char *argv[])
log_ << "Georef file output path is set to: " << georefFilename_ << "\n";
exportGeorefSystem_ = true;
}
else if(argument == "-bundleResizedTo" && argIndex < argc)
/*else if(argument == "-bundleResizedTo" && argIndex < argc)
{
argIndex++;
if (argIndex >= argc)
@ -450,7 +450,7 @@ void Georef::parseArguments(int argc, char *argv[])
}
log_ << "Bundle resize value is set to: " << bundleResizedTo_ << "\n";
bundleResized = true;
}
}*/
else if(argument == "-outputFile" && argIndex < argc)
{
argIndex++;
@ -485,7 +485,7 @@ void Georef::parseArguments(int argc, char *argv[])
throw GeorefException("Both output and input coordfile specified, only one of those are accepted.");
}
if (imageListSpecified && gcpFileSpecified && imageLocation && bundleResized)
if (imageListSpecified && gcpFileSpecified && imageLocation ) // && bundleResized)
{
useGCP_ = true;
}
@ -550,8 +550,8 @@ void Georef::printHelp()
log_ << "\"-imagesPath <path>\" (mandatory if using ground control points)\n";
log_ << "Path to the folder containing full resolution images.\n\n";
log_ << "\"-bundleResizedTo <integer>\" (mandatory if using ground control points)\n";
log_ << "The resized resolution used in bundler.\n\n";
// log_ << "\"-bundleResizedTo <integer>\" (mandatory if using ground control points)\n";
// log_ << "The resized resolution used in bundler.\n\n";
log_ << "\"-outputFile <path>\" (optional, default <inputFile>_geo)" << "\n";
log_ << "\"Output obj file that will contain the georeferenced texture mesh.\n\n";
@ -797,7 +797,6 @@ void Georef::performGeoreferencingWithGCP()
cv::Mat image = cv::imread(cam.texture_file);
cam.height = static_cast<double>(image.rows);
cam.width = static_cast<double>(image.cols);
cam.focal_length *= static_cast<double>(cam.width)/bundleResizedTo_;
// The pixel position for the GCP in pcl-format in order to use pcl-functions
pcl::PointXY gcpPos;

2
modules/odm_georef/src/Georef.hpp
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@ -271,7 +271,7 @@ private:
bool exportCoordinateFile_;
bool exportGeorefSystem_;
bool useGCP_; /**< Check if GCP-file is present and use this to georeference the model. **/
double bundleResizedTo_; /**< The size used in the previous steps to calculate the camera focal_length. */
// double bundleResizedTo_; /**< The size used in the previous steps to calculate the camera focal_length. */
std::vector<GeorefCamera> cameras_; /**< A vector of all cameras. **/
std::vector<GeorefGCP> gcps_; /**< A vector of all GCPs. **/

37
modules/odm_texturing/CMakeLists.txt
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@ -1,37 +0,0 @@
project(odm_texturing)
cmake_minimum_required(VERSION 2.8)
# Set pcl dir to the input spedified with option -DPCL_DIR="path"
set(PCL_DIR "PCL_DIR-NOTFOUND" CACHE "PCL_DIR" "Path to the pcl installation directory")
# Set opencv dir to the input spedified with option -DOPENCV_DIR="path"
set(OPENCV_DIR "OPENCV_DIR-NOTFOUND" CACHE "OPENCV_DIR" "Path to the opencv installation directory")
# Add compiler options.
add_definitions(-Wall -Wextra)
# Find pcl at the location specified by PCL_DIR
find_package(PCL 1.8 HINTS "${PCL_DIR}/share/pcl-1.8" REQUIRED)
# Find OpenCV at the default location
find_package(OpenCV HINTS "${OPENCV_DIR}" REQUIRED)
# Only link with required opencv modules.
set(OpenCV_LIBS opencv_core opencv_imgproc opencv_highgui)
# Add the PCL, Eigen and OpenCV include dirs.
# Necessary since the PCL_INCLUDE_DIR variable set by find_package is broken.)
include_directories(${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR})
include_directories(${EIGEN_ROOT})
include_directories(${OpenCV_INCLUDE_DIRS})
#library_directories(${OpenCV_LIBRARY_DIRS})
# Add source directory
aux_source_directory("./src" SRC_LIST)
# Add exectuteable
add_executable(${PROJECT_NAME} ${SRC_LIST})
target_link_libraries(odm_texturing ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${OpenCV_LIBS})

203
modules/odm_texturing/CMakeLists.txt.user
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@ -1,203 +0,0 @@
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31
modules/odm_texturing/src/Logger.cpp
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@ -1,31 +0,0 @@
#include "Logger.hpp"
Logger::Logger(bool isPrintingInCout) : isPrintingInCout_(isPrintingInCout)
{
}
Logger::~Logger()
{
}
void Logger::printToFile(std::string filePath)
{
std::ofstream file(filePath.c_str(), std::ios::binary);
file << logStream_.str();
file.close();
}
bool Logger::isPrintingInCout() const
{
return isPrintingInCout_;
}
void Logger::setIsPrintingInCout(bool isPrintingInCout)
{
isPrintingInCout_ = isPrintingInCout;
}

68
modules/odm_texturing/src/Logger.hpp
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@ -1,68 +0,0 @@
#pragma once
// STL
#include <string>
#include <sstream>
#include <fstream>
#include <iostream>
/*!
* \brief The Logger class is used to store program messages in a log file.
* \details By using the << operator while printInCout is set, the class writes both to
* cout and to file, if the flag is not set, output is written to file only.
*/
class Logger
{
public:
/*!
* \brief Logger Contains functionality for printing and displaying log information.
* \param printInCout Flag toggling if operator << also writes to cout.
*/
Logger(bool isPrintingInCout = true);
/*!
* \brief Destructor.
*/
~Logger();
/*!
* \brief print Prints the contents of the log to file.
* \param filePath Path specifying where to write the log.
*/
void printToFile(std::string filePath);
/*!
* \brief isPrintingInCout Check if console printing flag is set.
* \return Console printing flag.
*/
bool isPrintingInCout() const;
/*!
* \brief setIsPrintingInCout Set console printing flag.
* \param isPrintingInCout Value, if true, messages added to the log are also printed in cout.
*/
void setIsPrintingInCout(bool isPrintingInCout);
/*!
* Operator for printing messages to log and in the standard output stream if desired.
*/
template<class T>
friend Logger& operator<< (Logger &log, T t)
{
// If console printing is enabled.
if (log.isPrintingInCout_)
{
std::cout << t;
std::cout.flush();
}
// Write to log.
log.logStream_ << t;
return log;
}
private:
bool isPrintingInCout_; /*!< If flag is set, log is printed in cout and written to the log. */
std::stringstream logStream_; /*!< Stream for storing the log. */
};

1138
modules/odm_texturing/src/OdmTexturing.cpp
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Plik diff jest za duży Load Diff

211
modules/odm_texturing/src/OdmTexturing.hpp
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@ -1,211 +0,0 @@
#pragma once
// STL
#include <iostream>
#include <fstream>
// PCL
#include <pcl/point_types.h>
#include <pcl/search/kdtree.h>
#include <pcl/surface/texture_mapping.h>
// OpenCV
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
// Modified PCL functions
#include "modifiedPclFunctions.hpp"
// Logging
#include "Logger.hpp"
/*!
* \brief The Coords struct Coordinate class used in recursiveFindCoordinates for OdmTexturing::sortPatches().
*/
struct Coords
{
// Coordinates for row and column
float r_, c_;
// If coordinates have been placed
bool success_;
Coords()
{
r_ = 0.0;
c_ = 0.0;
success_ = false;
}
};
/*!
* \brief The Patch struct Struct to hold all faces connected and with the same optimal camera.
*/
struct Patch
{
std::vector<size_t> faces_;
float minu_, minv_, maxu_, maxv_;
Coords c_;
bool placed_;
int materialIndex_;
int optimalCameraIndex_;
Patch()
{
placed_ = false;
faces_ = std::vector<size_t>(0);
minu_ = std::numeric_limits<double>::infinity();
minv_ = std::numeric_limits<double>::infinity();
maxu_ = 0.0;
maxv_ = 0.0;
optimalCameraIndex_ = -1;
materialIndex_ = 0;
}
};
/*!
* \brief The Node struct Node class for acceleration structure in OdmTexturing::sortPatches().
*/
struct Node
{
float r_, c_, width_, height_;
bool used_;
Node* rgt_;
Node* lft_;
Node()
{
r_ = 0.0;
c_ = 0.0;
width_ = 1.0;
height_ = 1.0;
used_ = false;
rgt_ = NULL;
lft_ = NULL;
}
Node(const Node &n)
{
r_ = n.r_;
c_ = n.c_;
used_ = n.used_;
width_ = n.width_;
height_ = n.height_;
rgt_ = n.rgt_;
lft_ = n.lft_;
}
};
/*!
* \brief The OdmTexturing class is used to create textures to a welded ply-mesh using the camera
* positions from pmvs as input. The result is stored in an obj-file with corresponding
* mtl-file and the textures saved as jpg.
*/
class OdmTexturing
{
public:
OdmTexturing();
~OdmTexturing();
/*!
* \brief run Runs the texturing functionality using the provided input arguments.
* For a list of the accepted arguments, please see the main page documentation or
* call the program with parameter "-help".
* \param argc Application argument count.
* \param argv Argument values.
* \return 0 if successful.
*/
int run(int argc, char **argv);
private:
/*!
* \brief parseArguments Parses command line arguments.
* \param argc Application argument count.
* \param argv Argument values.
*/
void parseArguments(int argc, char** argv);
/*!
* \brief loadMesh Loads a PLY-file containing vertices and faces.
*/
void loadMesh();
/*!
* \brief loadCameras Loads cameras from a bundle.out file with corresponding image list file.
*/
void loadCameras();
/*!
* \brief triangleToImageAssignment Assigns optimal camera to faces for the faces that are visible.
*/
void triangleToImageAssignment();
/*!
* \brief calculatePatches Arrange faces into patches as a prestep to arranging UV-mapping.
*/
void calculatePatches();
/*!
* \brief recursiveFindCoords Recursive function used in sortPatches() to find free area to place patch.
* \param n The container in which to check for free space in.
* \param w The width of the box to place.
* \param h The height of the box to place.
* \return The coordinates where the patch has been placed.
*/
Coords recursiveFindCoords(Node &n, float w, float h);
/*!
* \brief sortPatches Sorts patches into UV-containers to be used in createTextures() using a rectangle packer approach.
*/
void sortPatches();
/*!
* \brief createTextures Creates textures to the mesh.
*/
void createTextures();
/*!
* \brief writeObjFile Writes the textured mesh to file on the OBJ format.
*/
void writeObjFile();
/*!
* \brief printHelp Prints help, explaining usage. Can be shown by calling the program with arguments: "-help".
*/
void printHelp();
Logger log_; /**< Logging object. */
std::string logFilePath_; /**< Path to store the log file. */
std::string bundlePath_; /**< Path to the bundle.out file. */
std::string imagesPath_; /**< Path to the folder with all images in the image list. */
std::string imagesListPath_; /**< Path to the image list. */
std::string inputModelPath_; /**< Path to the ply-file containing the mesh to be textured. */
std::string outputFolder_; /**< Path to the folder to store the output mesh and textures. */
double bundleResizedTo_; /**< The size used in the previous steps to calculate the camera focal_length. */
double textureWithSize_; /**< The desired size of the images to texture with. */
double textureResolution_; /**< The resolution of each texture. */
double padding_; /**< A padding used to handle edge cases. */
int nrTextures_; /**< The number of textures created. */
pcl::TextureMesh::Ptr mesh_; /**< PCL Texture Mesh */
std::vector<Patch> patches_; /**< The vector containing all patches */
pcl::texture_mapping::CameraVector cameras_; /**< The vector containing all cameras. */
std::vector<int> tTIA_; /**< The vector containing the optimal cameras for all faces. */
};
class OdmTexturingException : public std::exception
{
public:
OdmTexturingException() : message("Error in OdmTexturing") {}
OdmTexturingException(std::string msgInit) : message("Error in OdmTexturing:\n" + msgInit) {}
~OdmTexturingException() throw() {}
virtual const char* what() const throw() {return message.c_str(); }
private:
std::string message; /**< The error message. */
};

15
modules/odm_texturing/src/main.cpp
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// Include texturing source code
#include "OdmTexturing.hpp"
/*!
* \mainpage main OpenDroneMap Texturing Module
*
*
*
*/
int main (int argc, char** argv)
{
OdmTexturing textureCreator;
return textureCreator.run(argc, argv);
}

336
modules/odm_texturing/src/modifiedPclFunctions.cpp
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#include "modifiedPclFunctions.hpp"
int saveOBJFile(const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision)
{
if (tex_mesh.cloud.data.empty ())
{
PCL_ERROR ("[pcl::io::saveOBJFile] Input point cloud has no data!\n");
return (-1);
}
// Open file
std::ofstream fs;
fs.precision (precision);
fs.open (file_name.c_str ());
// Define material file
std::string mtl_file_name = file_name.substr (0, file_name.find_last_of (".")) + ".mtl";
// Strip path for "mtllib" command
std::string mtl_file_name_nopath = mtl_file_name;
//std::cout << mtl_file_name_nopath << std::endl;
mtl_file_name_nopath.erase (0, mtl_file_name.find_last_of ('/') + 1);
/* Write 3D information */
// number of points
int nr_points = tex_mesh.cloud.width * tex_mesh.cloud.height;
int point_size = tex_mesh.cloud.data.size () / nr_points;
// mesh size
int nr_meshes = tex_mesh.tex_polygons.size ();
// number of faces for header
int nr_faces = 0;
for (int m = 0; m < nr_meshes; ++m)
nr_faces += tex_mesh.tex_polygons[m].size ();
// Write the header information
fs << "####" << std::endl;
fs << "# OBJ dataFile simple version. File name: " << file_name << std::endl;
fs << "# Vertices: " << nr_points << std::endl;
fs << "# Faces: " <<nr_faces << std::endl;
fs << "# Material information:" << std::endl;
fs << "mtllib " << mtl_file_name_nopath << std::endl;
fs << "####" << std::endl;
// Write vertex coordinates
fs << "# Vertices" << std::endl;
for (int i = 0; i < nr_points; ++i)
{
int xyz = 0;
// "v" just be written one
bool v_written = false;
for (size_t d = 0; d < tex_mesh.cloud.fields.size (); ++d)
{
int count = tex_mesh.cloud.fields[d].count;
if (count == 0)
count = 1; // we simply cannot tolerate 0 counts (coming from older converter code)
int c = 0;
// adding vertex
if ((tex_mesh.cloud.fields[d].datatype == pcl::PCLPointField::FLOAT32) /*sensor_msgs::PointField::FLOAT32)*/ && (
tex_mesh.cloud.fields[d].name == "x" ||
tex_mesh.cloud.fields[d].name == "y" ||
tex_mesh.cloud.fields[d].name == "z"))
{
if (!v_written)
{
// write vertices beginning with v
fs << "v ";
v_written = true;
}
float value;
memcpy (&value, &tex_mesh.cloud.data[i * point_size + tex_mesh.cloud.fields[d].offset + c * sizeof (float)], sizeof (float));
fs << value;
if (++xyz == 3)
break;
fs << " ";
}
}
if (xyz != 3)
{
PCL_ERROR ("[pcl::io::saveOBJFile] Input point cloud has no XYZ data!\n");
return (-2);
}
fs << std::endl;
}
fs << "# "<< nr_points <<" vertices" << std::endl;
// // Write vertex normals
// for (int i = 0; i < nr_points; ++i)
// {
// int xyz = 0;
// // "vn" just be written one
// bool v_written = false;
// for (size_t d = 0; d < tex_mesh.cloud.fields.size (); ++d)
// {
// int count = tex_mesh.cloud.fields[d].count;
// if (count == 0)
// count = 1; // we simply cannot tolerate 0 counts (coming from older converter code)
// int c = 0;
// // adding vertex
// if ((tex_mesh.cloud.fields[d].datatype == pcl::PCLPointField::FLOAT32) && (
// tex_mesh.cloud.fields[d].name == "normal_x" ||
// tex_mesh.cloud.fields[d].name == "normal_y" ||
// tex_mesh.cloud.fields[d].name == "normal_z"))
// {
// if (!v_written)
// {
// // write vertices beginning with vn
// fs << "vn ";
// v_written = true;
// }
// float value;
// memcpy (&value, &tex_mesh.cloud.data[i * point_size + tex_mesh.cloud.fields[d].offset + c * sizeof (float)], sizeof (float));
// fs << value;
// if (++xyz == 3)
// break;
// fs << " ";
// }
// }
// if (xyz != 3)
// {
// //PCL_ERROR ("[pcl::io::saveOBJFile] Input point cloud has no normals!\n");
// //return (-2);
// }
// fs << std::endl;
// }
// Write vertex texture with "vt" (adding latter)
for (int m = 0; m < nr_meshes; ++m)
{
if(tex_mesh.tex_coordinates.size() == 0)
continue;
//PCL_INFO ("%d vertex textures in submesh %d\n", tex_mesh.tex_coordinates[m].size (), m);
fs << "# " << tex_mesh.tex_coordinates[m].size() << " vertex textures in submesh " << m << std::endl;
for (size_t i = 0; i < tex_mesh.tex_coordinates[m].size (); ++i)
{
fs << "vt ";
fs << tex_mesh.tex_coordinates[m][i][0] << " " << tex_mesh.tex_coordinates[m][i][1] << std::endl;
}
}
int f_idx = 0;
// int idx_vt =0;
//PCL_INFO ("Writting faces...\n");
for (int m = 0; m < nr_meshes; ++m)
{
if (m > 0)
f_idx += tex_mesh.tex_polygons[m-1].size ();
if(tex_mesh.tex_materials.size() !=0)
{
fs << "# The material will be used for mesh " << m << std::endl;
//TODO pbl here with multi texture and unseen faces
fs << "usemtl " << tex_mesh.tex_materials[m].tex_name << std::endl;
fs << "# Faces" << std::endl;
}
for (size_t i = 0; i < tex_mesh.tex_polygons[m].size(); ++i)
{
// Write faces with "f"
fs << "f";
size_t j = 0;
// There's one UV per vertex per face, i.e., the same vertex can have
// different UV depending on the face.
for (j = 0; j < tex_mesh.tex_polygons[m][i].vertices.size (); ++j)
{
unsigned int idx = tex_mesh.tex_polygons[m][i].vertices[j] + 1;
fs << " " << idx
<< "/" << 3*(i+f_idx) +j+1;
//<< "/" << idx; // vertex index in obj file format starting with 1
}
fs << std::endl;
}
//PCL_INFO ("%d faces in mesh %d \n", tex_mesh.tex_polygons[m].size () , m);
fs << "# "<< tex_mesh.tex_polygons[m].size() << " faces in mesh " << m << std::endl;
}
fs << "# End of File";
// Close obj file
//PCL_INFO ("Closing obj file\n");
fs.close ();
/* Write material defination for OBJ file*/
// Open file
//PCL_INFO ("Writing material files\n");
//dont do it if no material to write
if(tex_mesh.tex_materials.size() ==0)
return (0);
std::ofstream m_fs;
m_fs.precision (precision);
m_fs.open (mtl_file_name.c_str ());
//std::cout << "MTL file is located at_ " << mtl_file_name << std::endl;
// default
m_fs << "#" << std::endl;
m_fs << "# Wavefront material file" << std::endl;
m_fs << "#" << std::endl;
for(int m = 0; m < nr_meshes; ++m)
{
m_fs << "newmtl " << tex_mesh.tex_materials[m].tex_name << std::endl;
m_fs << "Ka "<< tex_mesh.tex_materials[m].tex_Ka.r << " " << tex_mesh.tex_materials[m].tex_Ka.g << " " << tex_mesh.tex_materials[m].tex_Ka.b << std::endl; // defines the ambient color of the material to be (r,g,b).
m_fs << "Kd "<< tex_mesh.tex_materials[m].tex_Kd.r << " " << tex_mesh.tex_materials[m].tex_Kd.g << " " << tex_mesh.tex_materials[m].tex_Kd.b << std::endl; // defines the diffuse color of the material to be (r,g,b).
m_fs << "Ks "<< tex_mesh.tex_materials[m].tex_Ks.r << " " << tex_mesh.tex_materials[m].tex_Ks.g << " " << tex_mesh.tex_materials[m].tex_Ks.b << std::endl; // defines the specular color of the material to be (r,g,b). This color shows up in highlights.
m_fs << "d " << tex_mesh.tex_materials[m].tex_d << std::endl; // defines the transparency of the material to be alpha.
m_fs << "Ns "<< tex_mesh.tex_materials[m].tex_Ns << std::endl; // defines the shininess of the material to be s.
m_fs << "illum "<< tex_mesh.tex_materials[m].tex_illum << std::endl; // denotes the illumination model used by the material.
// illum = 1 indicates a flat material with no specular highlights, so the value of Ks is not used.
// illum = 2 denotes the presence of specular highlights, and so a specification for Ks is required.
m_fs << "map_Kd " << tex_mesh.tex_materials[m].tex_file << std::endl;
m_fs << "###" << std::endl;
}
m_fs.close ();
return (0);
}
bool getPixelCoordinates(const pcl::PointXYZ &pt, const pcl::TextureMapping<pcl::PointXYZ>::Camera &cam, pcl::PointXY &UV_coordinates)
{
if (pt.z > 0)
{
// compute image center and dimension
double sizeX = cam.width;
double sizeY = cam.height;
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> ((focal_x * (pt.x / pt.z) + cx)); //horizontal
UV_coordinates.y = static_cast<float> ((focal_y * (pt.y / pt.z) + cy)); //vertical
// point is visible!
if (UV_coordinates.x >= 15.0 && UV_coordinates.x <= (sizeX - 15.0) && UV_coordinates.y >= 15.0 && UV_coordinates.y <= (sizeY - 15.0))
{
return (true); // point was visible by the camera
}
}
// point is NOT visible by the camera
UV_coordinates.x = -1.0f;
UV_coordinates.y = -1.0f;
return (false); // point was not visible by the camera
}
bool isFaceProjected (const pcl::TextureMapping<pcl::PointXYZ>::Camera &camera, const pcl::PointXYZ &p1, const pcl::PointXYZ &p2, const pcl::PointXYZ &p3, pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3)
{
return (getPixelCoordinates(p1, camera, proj1) && getPixelCoordinates(p2, camera, proj2) && getPixelCoordinates(p3, camera, proj3));
}
void getTriangleCircumscribedCircleCentroid( const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius)
{
// compute centroid's coordinates (translate back to original coordinates)
circumcenter.x = static_cast<float> (p1.x + p2.x + p3.x ) / 3;
circumcenter.y = static_cast<float> (p1.y + p2.y + p3.y ) / 3;
double r1 = (circumcenter.x - p1.x) * (circumcenter.x - p1.x) + (circumcenter.y - p1.y) * (circumcenter.y - p1.y) ;
double r2 = (circumcenter.x - p2.x) * (circumcenter.x - p2.x) + (circumcenter.y - p2.y) * (circumcenter.y - p2.y) ;
double r3 = (circumcenter.x - p3.x) * (circumcenter.x - p3.x) + (circumcenter.y - p3.y) * (circumcenter.y - p3.y) ;
// radius
radius = std::sqrt( std::max( r1, std::max( r2, r3) )) ;
}
bool checkPointInsideTriangle(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, const pcl::PointXY &pt)
{
// Compute vectors
Eigen::Vector2d v0, v1, v2;
v0(0) = p3.x - p1.x; v0(1) = p3.y - p1.y; // v0= C - A
v1(0) = p2.x - p1.x; v1(1) = p2.y - p1.y; // v1= B - A
v2(0) = pt.x - p1.x; v2(1) = pt.y - p1.y; // v2= P - A
// Compute dot products
double dot00 = v0.dot(v0); // dot00 = dot(v0, v0)
double dot01 = v0.dot(v1); // dot01 = dot(v0, v1)
double dot02 = v0.dot(v2); // dot02 = dot(v0, v2)
double dot11 = v1.dot(v1); // dot11 = dot(v1, v1)
double dot12 = v1.dot(v2); // dot12 = dot(v1, v2)
// Compute barycentric coordinates
double invDenom = 1.0 / (dot00*dot11 - dot01*dot01);
double u = (dot11*dot02 - dot01*dot12) * invDenom;
double v = (dot00*dot12 - dot01*dot02) * invDenom;
// Check if point is in triangle
return ((u >= 0) && (v >= 0) && (u + v < 1));
}

20
modules/odm_texturing/src/modifiedPclFunctions.hpp
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@ -1,20 +0,0 @@
#pragma once
// STL
#include <iostream>
#include <fstream>
// PCL
#include <pcl/point_types.h>
#include <pcl/surface/texture_mapping.h>
#include <pcl/io/ply_io.h>
int saveOBJFile(const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision);
bool getPixelCoordinates(const pcl::PointXYZ &pt, const pcl::TextureMapping<pcl::PointXYZ>::Camera &cam, pcl::PointXY &UV_coordinates);
bool isFaceProjected (const pcl::TextureMapping<pcl::PointXYZ>::Camera &camera, const pcl::PointXYZ &p1, const pcl::PointXYZ &p2, const pcl::PointXYZ &p3, pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3);
void getTriangleCircumscribedCircleCentroid(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius);
bool checkPointInsideTriangle(const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, const pcl::PointXY &pt);

3
scripts/odm_app.py
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@ -69,8 +69,7 @@ class ODMApp(ecto.BlackBox):
skip_hole_fill=p.args.texturing_skip_hole_filling,
keep_unseen_faces=p.args.texturing_keep_unseen_faces,
tone_mapping=p.args.texturing_tone_mapping),
'georeferencing': ODMGeoreferencingCell(img_size=p.args.resize_to,
gcp_file=p.args.gcp,
'georeferencing': ODMGeoreferencingCell(gcp_file=p.args.gcp,
use_exif=p.args.use_exif,
verbose=p.args.verbose),
'dem': ODMDEMCell(verbose=p.args.verbose),

4
scripts/odm_georeferencing.py
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@ -15,7 +15,6 @@ class ODMGeoreferencingCell(ecto.Cell):
'points used for georeferencing.The file needs to '
'be on the following line format: \neasting '
'northing height pixelrow pixelcol imagename', 'gcp_list.txt')
params.declare("img_size", 'image size used in calibration', 2400)
params.declare("use_exif", 'use exif', False)
params.declare("verbose", 'print additional messages to console', False)
@ -122,7 +121,6 @@ class ODMGeoreferencingCell(ecto.Cell):
'pc_geo': odm_georeferencing_model_ply_geo,
'geo_sys': os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo),
'model_geo': odm_georeferencing_model_obj_geo,
'size': self.params.img_size,
'gcp': gcpfile,
'verbose': verbose
@ -138,7 +136,7 @@ class ODMGeoreferencingCell(ecto.Cell):
log.ODM_INFO('Found %s' % gcpfile)
try:
system.run('{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-bundleResizedTo {size} -inputFile {model} -outputFile {model_geo} '
'-inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))