kopia lustrzana https://github.com/OpenDroneMap/ODM
Dakota Benjamin
rodzic
9f89dda2e0
commit
98b4b377ab
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@ -3,7 +3,6 @@ add_subdirectory(odm_extract_utm)
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add_subdirectory(odm_georef)
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add_subdirectory(odm_meshing)
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add_subdirectory(odm_orthophoto)
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add_subdirectory(odm_texturing)
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add_subdirectory(odm_25dmeshing)
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if (ODM_BUILD_SLAM)
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add_subdirectory(odm_slam)
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@ -1,37 +0,0 @@
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project(odm_texturing)
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cmake_minimum_required(VERSION 2.8)
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# Set pcl dir to the input spedified with option -DPCL_DIR="path"
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set(PCL_DIR "PCL_DIR-NOTFOUND" CACHE "PCL_DIR" "Path to the pcl installation directory")
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# Set opencv dir to the input spedified with option -DOPENCV_DIR="path"
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set(OPENCV_DIR "OPENCV_DIR-NOTFOUND" CACHE "OPENCV_DIR" "Path to the opencv installation directory")
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# Add compiler options.
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add_definitions(-Wall -Wextra)
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# Find pcl at the location specified by PCL_DIR
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find_package(PCL 1.8 HINTS "${PCL_DIR}/share/pcl-1.8" REQUIRED)
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# Find OpenCV at the default location
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find_package(OpenCV HINTS "${OPENCV_DIR}" REQUIRED)
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# Only link with required opencv modules.
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set(OpenCV_LIBS opencv_core opencv_imgproc opencv_highgui)
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# Add the PCL, Eigen and OpenCV include dirs.
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# Necessary since the PCL_INCLUDE_DIR variable set by find_package is broken.)
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include_directories(${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR})
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include_directories(${EIGEN_ROOT})
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include_directories(${OpenCV_INCLUDE_DIRS})
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#library_directories(${OpenCV_LIBRARY_DIRS})
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# Add source directory
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aux_source_directory("./src" SRC_LIST)
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# Add exectuteable
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add_executable(${PROJECT_NAME} ${SRC_LIST})
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target_link_libraries(odm_texturing ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${OpenCV_LIBS})
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@ -1,203 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE QtCreatorProject>
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<!-- Written by Qt Creator 2.4.1, 2015-02-09T16:23:25. -->
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<qtcreator>
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<data>
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<variable>ProjectExplorer.Project.ActiveTarget</variable>
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<value type="int">0</value>
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</data>
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<data>
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<variable>ProjectExplorer.Project.EditorSettings</variable>
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<valuemap type="QVariantMap">
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<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
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<value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
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<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
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<value type="QString" key="language">Cpp</value>
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<valuemap type="QVariantMap" key="value">
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<value type="QString" key="CurrentPreferences">CppGlobal</value>
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</valuemap>
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</valuemap>
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<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
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<value type="QString" key="language">QmlJS</value>
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<valuemap type="QVariantMap" key="value">
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<value type="QString" key="CurrentPreferences">QmlJSGlobal</value>
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</valuemap>
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</valuemap>
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<value type="int" key="EditorConfiguration.CodeStyle.Count">2</value>
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<value type="QByteArray" key="EditorConfiguration.Codec">System</value>
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<value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
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<value type="int" key="EditorConfiguration.IndentSize">4</value>
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<value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
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<value type="int" key="EditorConfiguration.PaddingMode">1</value>
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<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
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<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
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<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
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<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
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<value type="int" key="EditorConfiguration.TabSize">8</value>
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<value type="bool" key="EditorConfiguration.UseGlobal">true</value>
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<value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
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<value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
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<value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
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<value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
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<value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
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<value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
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<value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
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<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
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<value type="QString" key="CMakeProjectManager.CMakeBuildConfiguration.BuildDirectory">/home/spotscale/odm/OpenDroneMap_spotscale/odm_texturing4-build</value>
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<value type="QString" key="CMakeProjectManager.CMakeBuildConfiguration.ToolChain">ProjectExplorer.ToolChain.Gcc:/usr/bin/g++.x86-linux-generic-elf-32bit./usr/bin/gdb</value>
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<value type="QString" key="ProjectExplorer.BuildCOnfiguration.ToolChain">ProjectExplorer.ToolChain.Gcc:/usr/bin/g++.x86-linux-generic-elf-32bit./usr/bin/gdb</value>
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<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
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<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
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<value type="bool" key="CMakeProjectManager.MakeStep.Clean">false</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.MakeStep</value>
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<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
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<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
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<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments">clean</value>
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<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
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<value type="bool" key="CMakeProjectManager.MakeStep.Clean">true</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.MakeStep</value>
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</valuemap>
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<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
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</valuemap>
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<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
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<value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
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<valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">all</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeBuildConfiguration</value>
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<value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
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<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
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<value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">No deployment</value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
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<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
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<value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
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<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
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<value type="bool" key="Analyzer.Project.UseGlobal">true</value>
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<value type="bool" key="Analyzer.Project.UseGlobal">true</value>
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<valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
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<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
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<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
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<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
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<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
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<value type="bool" key="Analyzer.Valgrind.Callgrind.EnableBranchSim">false</value>
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<value type="double" key="Analyzer.Valgrind.Callgrind.MinimumCostRatio">0.01</value>
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<value type="int">3</value>
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<value type="int">4</value>
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<value type="int">5</value>
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<value type="int">6</value>
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<value type="int">7</value>
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<value type="int">3</value>
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<value type="int">4</value>
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<value type="int">5</value>
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<value type="int">6</value>
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<value type="int">7</value>
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<value type="int">8</value>
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<value type="int">9</value>
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<value type="int">10</value>
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<value type="int">11</value>
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<value type="int">12</value>
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<value type="int">13</value>
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<value type="int">14</value>
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|
||||
<value type="int" key="CMakeProjectManager.BaseEnvironmentBase">2</value>
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||||
<value type="QString" key="CMakeProjectManager.CMakeRunConfiguation.Title">odm_texturing</value>
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||||
<value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.Arguments">-verbose -bundleFile "../../../shared_folder/copr2/reconstruction-with-image-size-1200/bundle/bundle.out" -imagesPath "../../../shared_folder/copr2" -imagesListPath "../../../shared_folder/copr2/reconstruction-with-image-size-1200/list.txt" -inputModelPath "../../../shared_folder/copr2/reconstruction-with-image-size-1200-results/odm_mesh-0000.ply" -outputFolder "../../../shared_folder/copr2/reconstruction-with-image-size-1200-results/odm_texturing/" -textureResolution 4096 -textureWithSize 3600 -bundleResizedTo 1200</value>
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||||
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||||
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||||
<value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
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||||
<value type="bool" key="RunConfiguration.UseCppDebugger">true</value>
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||||
<value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
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<value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">false</value>
|
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<variable>ProjectExplorer.Project.TargetCount</variable>
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||||
<value type="int">1</value>
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|
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<variable>ProjectExplorer.Project.Updater.EnvironmentId</variable>
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<value type="QString">{785a73be-b55f-490c-9d46-e1451c235840}</value>
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<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
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||||
<value type="int">10</value>
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|
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</qtcreator>
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||||
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@ -1,31 +0,0 @@
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#include "Logger.hpp"
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Logger::Logger(bool isPrintingInCout) : isPrintingInCout_(isPrintingInCout)
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{
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}
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Logger::~Logger()
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{
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}
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void Logger::printToFile(std::string filePath)
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{
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std::ofstream file(filePath.c_str(), std::ios::binary);
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file << logStream_.str();
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file.close();
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}
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bool Logger::isPrintingInCout() const
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{
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return isPrintingInCout_;
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}
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void Logger::setIsPrintingInCout(bool isPrintingInCout)
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||||
{
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isPrintingInCout_ = isPrintingInCout;
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}
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@ -1,68 +0,0 @@
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#pragma once
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// STL
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#include <string>
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#include <sstream>
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#include <fstream>
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#include <iostream>
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/*!
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* \brief The Logger class is used to store program messages in a log file.
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* \details By using the << operator while printInCout is set, the class writes both to
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* cout and to file, if the flag is not set, output is written to file only.
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||||
*/
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class Logger
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{
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public:
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/*!
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* \brief Logger Contains functionality for printing and displaying log information.
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* \param printInCout Flag toggling if operator << also writes to cout.
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*/
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Logger(bool isPrintingInCout = true);
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/*!
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* \brief Destructor.
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||||
*/
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~Logger();
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/*!
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* \brief print Prints the contents of the log to file.
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* \param filePath Path specifying where to write the log.
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*/
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void printToFile(std::string filePath);
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/*!
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* \brief isPrintingInCout Check if console printing flag is set.
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||||
* \return Console printing flag.
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||||
*/
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bool isPrintingInCout() const;
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||||
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||||
/*!
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||||
* \brief setIsPrintingInCout Set console printing flag.
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||||
* \param isPrintingInCout Value, if true, messages added to the log are also printed in cout.
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||||
*/
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||||
void setIsPrintingInCout(bool isPrintingInCout);
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||||
|
||||
/*!
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||||
* Operator for printing messages to log and in the standard output stream if desired.
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||||
*/
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||||
template<class T>
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||||
friend Logger& operator<< (Logger &log, T t)
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||||
{
|
||||
// If console printing is enabled.
|
||||
if (log.isPrintingInCout_)
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||||
{
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||||
std::cout << t;
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||||
std::cout.flush();
|
||||
}
|
||||
// Write to log.
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||||
log.logStream_ << t;
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||||
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||||
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. */
|
||||
};
|
||||
Plik diff jest za duży
Load Diff
|
|
@ -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. */
|
||||
};
|
||||
|
|
@ -1,15 +0,0 @@
|
|||
// 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);
|
||||
}
|
||||
|
|
@ -1,336 +0,0 @@
|
|||
/*
|
||||
* 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));
|
||||
}
|
||||
|
|
@ -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);
|
||||
Ładowanie…
Reference in New Issue