template<typename PointInT> void
pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras (pcl::TextureMesh &mesh, const pcl::texture_mapping::CameraVector &cameras)
{
if (mesh.tex_polygons.size () != 1)
return;
pcl::PointCloud<pcl::PointXYZ>::Ptr mesh_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2 (mesh.cloud, *mesh_cloud);
std::vector<pcl::Vertices> faces;
for (int current_cam = 0; current_cam < static_cast<int> (cameras.size ()); ++current_cam)
{
PCL_INFO ("Processing camera %d of %d.\n", current_cam+1, cameras.size ());
// transform mesh into camera's frame
pcl::PointCloud<pcl::PointXYZ>::Ptr camera_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::transformPointCloud (*mesh_cloud, *camera_cloud, cameras[current_cam].pose.inverse ());
// CREATE UV MAP FOR CURRENT FACES
pcl::PointCloud<pcl::PointXY>::Ptr projections (new pcl::PointCloud<pcl::PointXY>);
std::vector<pcl::Vertices>::iterator current_face;
std::vector<bool> visibility;
visibility.resize (mesh.tex_polygons[current_cam].size ());
std::vector<UvIndex> indexes_uv_to_points;
// for each current face
//TODO change this
pcl::PointXY nan_point;
nan_point.x = std::numeric_limits<float>::quiet_NaN ();
nan_point.y = std::numeric_limits<float>::quiet_NaN ();
UvIndex u_null;
u_null.idx_cloud = -1;
u_null.idx_face = -1;
int cpt_invisible=0;
for (int idx_face = 0; idx_face < static_cast<int> (mesh.tex_polygons[current_cam].size ()); ++idx_face)
{
//project each vertice, if one is out of view, stop
pcl::PointXY uv_coord1;
pcl::PointXY uv_coord2;
pcl::PointXY uv_coord3;
if (isFaceProjected (cameras[current_cam],
camera_cloud->points[mesh.tex_polygons[current_cam][idx_face].vertices[0]],
camera_cloud->points[mesh.tex_polygons[current_cam][idx_face].vertices[1]],
camera_cloud->points[mesh.tex_polygons[current_cam][idx_face].vertices[2]],
uv_coord1,
uv_coord2,
uv_coord3))
{
// face is in the camera's FOV
// add UV coordinates
projections->points.push_back (uv_coord1);
projections->points.push_back (uv_coord2);
projections->points.push_back (uv_coord3);
// remember corresponding face
UvIndex u1, u2, u3;
u1.idx_cloud = mesh.tex_polygons[current_cam][idx_face].vertices[0];
u2.idx_cloud = mesh.tex_polygons[current_cam][idx_face].vertices[1];
u3.idx_cloud = mesh.tex_polygons[current_cam][idx_face].vertices[2];
u1.idx_face = idx_face; u2.idx_face = idx_face; u3.idx_face = idx_face;
indexes_uv_to_points.push_back (u1);
indexes_uv_to_points.push_back (u2);
indexes_uv_to_points.push_back (u3);
//keep track of visibility
visibility[idx_face] = true;
}
else
{
projections->points.push_back (nan_point);
projections->points.push_back (nan_point);
projections->points.push_back (nan_point);
indexes_uv_to_points.push_back (u_null);
indexes_uv_to_points.push_back (u_null);
indexes_uv_to_points.push_back (u_null);
//keep track of visibility
visibility[idx_face] = false;
cpt_invisible++;
}
}
// projections contains all UV points of the current faces
// indexes_uv_to_points links a uv point to its point in the camera cloud
// visibility contains tells if a face was in the camera FOV (false = skip)
// TODO handle case were no face could be projected
if (visibility.size () - cpt_invisible !=0)
{
//create kdtree
pcl::KdTreeFLANN<pcl::PointXY> kdtree;
kdtree.setInputCloud (projections);
std::vector<int> idxNeighbors;
std::vector<float> neighborsSquaredDistance;
// af first (idx_pcan < current_cam), check if some of the faces attached to previous cameras occlude the current faces
// then (idx_pcam == current_cam), check for self occlusions. At this stage, we skip faces that were already marked as occluded
cpt_invisible = 0;
for (int idx_pcam = 0 ; idx_pcam <= current_cam ; ++idx_pcam)
{
// project all faces
for (int idx_face = 0; idx_face < static_cast<int> (mesh.tex_polygons[idx_pcam].size ()); ++idx_face)
{
if (idx_pcam == current_cam && !visibility[idx_face])
{
// we are now checking for self occlusions within the current faces
// the current face was already declared as occluded.
// therefore, it cannot occlude another face anymore => we skip it
continue;
}
// project each vertice, if one is out of view, stop
pcl::PointXY uv_coord1;
pcl::PointXY uv_coord2;
pcl::PointXY uv_coord3;
if (isFaceProjected (cameras[current_cam],
camera_cloud->points[mesh.tex_polygons[idx_pcam][idx_face].vertices[0]],
camera_cloud->points[mesh.tex_polygons[idx_pcam][idx_face].vertices[1]],
camera_cloud->points[mesh.tex_polygons[idx_pcam][idx_face].vertices[2]],
uv_coord1,
uv_coord2,
uv_coord3))
{
// face is in the camera's FOV
//get its circumsribed circle
double radius;
pcl::PointXY center;
// getTriangleCircumcenterAndSize (uv_coord1, uv_coord2, uv_coord3, center, radius);
getTriangleCircumcscribedCircleCentroid(uv_coord1, uv_coord2, uv_coord3, center, radius); // this function yields faster results than getTriangleCircumcenterAndSize
// get points inside circ.circle
if (kdtree.radiusSearch (center, radius, idxNeighbors, neighborsSquaredDistance) > 0 )
{
// for each neighbor
for (size_t i = 0; i < idxNeighbors.size (); ++i)
{
if (std::max (camera_cloud->points[mesh.tex_polygons[idx_pcam][idx_face].vertices[0]].z,
std::max (camera_cloud->points[mesh.tex_polygons[idx_pcam][idx_face].vertices[1]].z,
camera_cloud->points[mesh.tex_polygons[idx_pcam][idx_face].vertices[2]].z))
< camera_cloud->points[indexes_uv_to_points[idxNeighbors[i]].idx_cloud].z)
{
// neighbor is farther than all the face's points. Check if it falls into the triangle
if (checkPointInsideTriangle(uv_coord1, uv_coord2, uv_coord3, projections->points[idxNeighbors[i]]))
{
// current neighbor is inside triangle and is closer => the corresponding face
visibility[indexes_uv_to_points[idxNeighbors[i]].idx_face] = false;
cpt_invisible++;
//TODO we could remove the projections of this face from the kd-tree cloud, but I fond it slower, and I need the point to keep ordered to querry UV coordinates later
}
}
}
}
}
}
}
}
// now, visibility is true for each face that belongs to the current camera
// if a face is not visible, we push it into the next one.
if (static_cast<int> (mesh.tex_coordinates.size ()) <= current_cam)
{
std::vector<Eigen::Vector2f> dummy_container;
mesh.tex_coordinates.push_back (dummy_container);
}
mesh.tex_coordinates[current_cam].resize (3 * visibility.size ());
std::vector<pcl::Vertices> occluded_faces;
occluded_faces.resize (visibility.size ());
std::vector<pcl::Vertices> visible_faces;
visible_faces.resize (visibility.size ());
int cpt_occluded_faces = 0;
int cpt_visible_faces = 0;
for (size_t idx_face = 0 ; idx_face < visibility.size () ; ++idx_face)
{
if (visibility[idx_face])
{
// face is visible by the current camera copy UV coordinates
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3](0) = projections->points[idx_face*3].x;
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3](1) = projections->points[idx_face*3].y;
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 1](0) = projections->points[idx_face*3 + 1].x;
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 1](1) = projections->points[idx_face*3 + 1].y;
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 2](0) = projections->points[idx_face*3 + 2].x;
mesh.tex_coordinates[current_cam][cpt_visible_faces * 3 + 2](1) = projections->points[idx_face*3 + 2].y;
visible_faces[cpt_visible_faces] = mesh.tex_polygons[current_cam][idx_face];
cpt_visible_faces++;
}
else
{
// face is occluded copy face into temp vector
occluded_faces[cpt_occluded_faces] = mesh.tex_polygons[current_cam][idx_face];
cpt_occluded_faces++;
}
}
mesh.tex_coordinates[current_cam].resize (cpt_visible_faces*3);
occluded_faces.resize (cpt_occluded_faces);
mesh.tex_polygons.push_back (occluded_faces);
visible_faces.resize (cpt_visible_faces);
mesh.tex_polygons[current_cam].clear ();
mesh.tex_polygons[current_cam] = visible_faces;
int nb_faces = 0;
for (int i = 0; i < static_cast<int> (mesh.tex_polygons.size ()); i++)
nb_faces += static_cast<int> (mesh.tex_polygons[i].size ());
}
// we have been through all the cameras.
// if any faces are left, they were not visible by any camera
// we still need to produce uv coordinates for them
if (mesh.tex_coordinates.size() <= cameras.size ())
{
std::vector<Eigen::Vector2f> dummy_container;
mesh.tex_coordinates.push_back(dummy_container);
}
for(size_t idx_face = 0 ; idx_face < mesh.tex_polygons[cameras.size()].size() ; ++idx_face)
{
Eigen::Vector2f UV1, UV2, UV3;
UV1(0) = -1.0; UV1(1) = -1.0;
UV2(0) = -1.0; UV2(1) = -1.0;
UV3(0) = -1.0; UV3(1) = -1.0;
mesh.tex_coordinates[cameras.size()].push_back(UV1);
mesh.tex_coordinates[cameras.size()].push_back(UV2);
mesh.tex_coordinates[cameras.size()].push_back(UV3);
}
}
template<typename PointInT> void
pcl::TextureMapping<PointInT>::mapMultipleTexturesToMeshUV (pcl::TextureMesh &tex_mesh, pcl::texture_mapping::CameraVector &cams)
{
if (tex_mesh.tex_polygons.size () != cams.size () + 1)
{
PCL_ERROR ("The mesh should be divided into nbCamera+1 sub-meshes.\n");
PCL_ERROR ("You provided %d cameras and a mesh containing %d sub-meshes.\n", cams.size (), tex_mesh.tex_polygons.size ());
return;
}
PCL_INFO ("You provided %d cameras and a mesh containing %d sub-meshes.\n", cams.size (), tex_mesh.tex_polygons.size ());
pcl::PointCloud<pcl::PointXYZ>::Ptr originalCloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr camera_transformed_cloud (new pcl::PointCloud<pcl::PointXYZ>);
// convert mesh's cloud to pcl format for ease
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *originalCloud);
// texture coordinates for each mesh
std::vector<std::vector<Eigen::Vector2f> > texture_map;
for (size_t m = 0; m < cams.size (); ++m)
{
// get current camera parameters
Camera current_cam = cams[m];
// get camera transform
Eigen::Affine3f cam_trans = current_cam.pose;
// transform cloud into current camera frame
pcl::transformPointCloud (*originalCloud, *camera_transformed_cloud, cam_trans.inverse ());
// vector of texture coordinates for each face
std::vector<Eigen::Vector2f> texture_map_tmp;
// processing each face visible by this camera
pcl::PointXYZ pt;
size_t idx;
for (size_t i = 0; i < tex_mesh.tex_polygons[m].size (); ++i)
{
Eigen::Vector2f tmp_VT;
// for each point of this face
for (size_t j = 0; j < tex_mesh.tex_polygons[m][i].vertices.size (); ++j)
{
// get point
idx = tex_mesh.tex_polygons[m][i].vertices[j];
pt = camera_transformed_cloud->points[idx];
// compute UV coordinates for this point
getPointUVCoordinates (pt, current_cam, tmp_VT);
texture_map_tmp.push_back (tmp_VT);
}// end points
}// end faces
// texture materials
std::stringstream tex_name;
tex_name << "material_" << m;
tex_name >> tex_material_.tex_name;
tex_material_.tex_file = current_cam.texture_file;
tex_mesh.tex_materials.push_back (tex_material_);
// texture coordinates
tex_mesh.tex_coordinates.push_back (texture_map_tmp);
}// end cameras
// push on extra empty UV map (for unseen faces) so that obj writer does not crash!
std::vector<Eigen::Vector2f> texture_map_tmp;
for (size_t i = 0; i < tex_mesh.tex_polygons[cams.size ()].size (); ++i)
for (size_t j = 0; j < tex_mesh.tex_polygons[cams.size ()][i].vertices.size (); ++j)
{
Eigen::Vector2f tmp_VT;
tmp_VT[0] = -1;
tmp_VT[1] = -1;
texture_map_tmp.push_back (tmp_VT);
}
tex_mesh.tex_coordinates.push_back (texture_map_tmp);
// push on an extra dummy material for the same reason
std::stringstream tex_name;
tex_name << "material_" << cams.size ();
tex_name >> tex_material_.tex_name;
tex_material_.tex_file = "occluded.jpg";
tex_mesh.tex_materials.push_back (tex_material_);
}
template<typename PointInT> int
pcl::TextureMapping<PointInT>::sortFacesByCamera (pcl::TextureMesh &tex_mesh, pcl::TextureMesh &sorted_mesh,
const pcl::texture_mapping::CameraVector &cameras, const double octree_voxel_size,
PointCloud &visible_pts)
{
if (tex_mesh.tex_polygons.size () != 1)
{
PCL_ERROR ("The mesh must contain only 1 sub-mesh!\n");
return (-1);
}
if (cameras.size () == 0)
{
PCL_ERROR ("Must provide at least one camera info!\n");
return (-1);
}
// copy mesh
sorted_mesh = tex_mesh;
// clear polygons from cleaned_mesh
sorted_mesh.tex_polygons.clear ();
pcl::PointCloud<pcl::PointXYZ>::Ptr original_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_cloud (new pcl::PointCloud<pcl::PointXYZ>);
// load points into a PCL format
pcl::fromPCLPointCloud2 (tex_mesh.cloud, *original_cloud);
// for each camera
for (size_t cam = 0; cam < cameras.size (); ++cam)
{
// get camera pose as transform
Eigen::Affine3f cam_trans = cameras[cam].pose;
// transform original cloud in camera coordinates
pcl::transformPointCloud (*original_cloud, *transformed_cloud, cam_trans.inverse ());
// find occlusions on transformed cloud
std::vector<int> visible, occluded;
removeOccludedPoints (transformed_cloud, filtered_cloud, octree_voxel_size, visible, occluded);
visible_pts = *filtered_cloud;
// find visible faces => add them to polygon N for camera N
// add polygon group for current camera in clean
std::vector<pcl::Vertices> visibleFaces_currentCam;
// iterate over the faces of the current mesh
for (size_t faces = 0; faces < tex_mesh.tex_polygons[0].size (); ++faces)
{
// check if all the face's points are visible
bool faceIsVisible = true;
std::vector<int>::iterator it;
// iterate over face's vertex
for (size_t current_pt_indice = 0; faceIsVisible && current_pt_indice < tex_mesh.tex_polygons[0][faces].vertices.size (); ++current_pt_indice)
{
// TODO this is far too long! Better create an helper function that raycasts here.
it = find (occluded.begin (), occluded.end (), tex_mesh.tex_polygons[0][faces].vertices[current_pt_indice]);
if (it == occluded.end ())
{
// point is not occluded
// does it land on the camera's image plane?
pcl::PointXYZ pt = transformed_cloud->points[tex_mesh.tex_polygons[0][faces].vertices[current_pt_indice]];
Eigen::Vector2f dummy_UV;
if (!getPointUVCoordinates (pt, cameras[cam], dummy_UV))
{
// point is not visible by the camera
faceIsVisible = false;
}
}
else
{
faceIsVisible = false;
}
}
if (faceIsVisible)
{
// push current visible face into the sorted mesh
visibleFaces_currentCam.push_back (tex_mesh.tex_polygons[0][faces]);
// remove it from the unsorted mesh
tex_mesh.tex_polygons[0].erase (tex_mesh.tex_polygons[0].begin () + faces);
faces--;
}
}
sorted_mesh.tex_polygons.push_back (visibleFaces_currentCam);
}
// we should only have occluded and non-visible faces left in tex_mesh.tex_polygons[0]
// we need to add them as an extra polygon in the sorted mesh
sorted_mesh.tex_polygons.push_back (tex_mesh.tex_polygons[0]);
return (0);
}
/** \brief Display a 3D representation showing the a cloud and a list of camera with their 6DOf poses */
void showCameras (pcl::texture_mapping::CameraVector cams, pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud)
{
// visualization object
pcl::visualization::PCLVisualizer visu ("cameras");
// add a visual for each camera at the correct pose
for(size_t i = 0 ; i < cams.size () ; ++i)
{
// read current camera
pcl::TextureMapping<pcl::PointXYZ>::Camera cam = cams[i];
double focal = cam.focal_length;
double height = cam.height;
double width = cam.width;
// create a 5-point visual for each camera
pcl::PointXYZ p1, p2, p3, p4, p5;
p1.x=0; p1.y=0; p1.z=0;
double dist = 0.75;
double minX, minY, maxX, maxY;
maxX = dist*tan (atan (width / (2.0*focal)));
minX = -maxX;
maxY = dist*tan (atan (height / (2.0*focal)));
minY = -maxY;
p2.x=minX; p2.y=minY; p2.z=dist;
p3.x=maxX; p3.y=minY; p3.z=dist;
p4.x=maxX; p4.y=maxY; p4.z=dist;
p5.x=minX; p5.y=maxY; p5.z=dist;
p1=pcl::transformPoint (p1, cam.pose);
p2=pcl::transformPoint (p2, cam.pose);
p3=pcl::transformPoint (p3, cam.pose);
p4=pcl::transformPoint (p4, cam.pose);
p5=pcl::transformPoint (p5, cam.pose);
std::stringstream ss;
ss << "Cam #" << i+1;
visu.addText3D(ss.str (), p1, 0.1, 1.0, 1.0, 1.0, ss.str ());
ss.str ("");
ss << "camera_" << i << "line1";
visu.addLine (p1, p2,ss.str ());
ss.str ("");
ss << "camera_" << i << "line2";
visu.addLine (p1, p3,ss.str ());
ss.str ("");
ss << "camera_" << i << "line3";
visu.addLine (p1, p4,ss.str ());
ss.str ("");
ss << "camera_" << i << "line4";
visu.addLine (p1, p5,ss.str ());
ss.str ("");
ss << "camera_" << i << "line5";
visu.addLine (p2, p5,ss.str ());
ss.str ("");
ss << "camera_" << i << "line6";
visu.addLine (p5, p4,ss.str ());
ss.str ("");
ss << "camera_" << i << "line7";
visu.addLine (p4, p3,ss.str ());
ss.str ("");
ss << "camera_" << i << "line8";
visu.addLine (p3, p2,ss.str ());
}
// add a coordinate system
visu.addCoordinateSystem (1.0, "global");
// add the mesh's cloud (colored on Z axis)
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> color_handler (cloud, "z");
visu.addPointCloud (cloud, color_handler, "cloud");
// reset camera
visu.resetCamera ();
// wait for user input
visu.spin ();
}
