pcl::TextureMapping< PointInT > Class Template Reference
[Module surface]

The texture mapping algorithm. More...

#include <pcl/surface/texture_mapping.h>

Collaboration diagram for pcl::TextureMapping< PointInT >:

Public Types
typedef boost::shared_ptr < PointInT >	Ptr
typedef boost::shared_ptr < const PointInT >	ConstPtr
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef pcl::octree::OctreePointCloudSearch < PointInT >	Octree
typedef Octree::Ptr	OctreePtr
typedef Octree::ConstPtr	OctreeConstPtr
typedef pcl::texture_mapping::Camera	Camera
typedef pcl::texture_mapping::UvIndex	UvIndex
Public Member Functions
	TextureMapping ()
	Constructor.
	~TextureMapping ()
	Destructor.
void	setF (float f)
	Set mesh scale control.
void	setVectorField (float x, float y, float z)
	Set vector field.
void	setTextureFiles (std::vector< std::string > tex_files)
	Set texture files.
void	setTextureMaterials (TexMaterial tex_material)
	Set texture materials.
void	mapTexture2Mesh (pcl::TextureMesh &tex_mesh)
	Map texture to a mesh synthesis algorithm.
void	mapTexture2MeshUV (pcl::TextureMesh &tex_mesh)
	Map texture to a mesh UV mapping.
void	mapMultipleTexturesToMeshUV (pcl::TextureMesh &tex_mesh, pcl::texture_mapping::CameraVector &cams)
	Map textures acquired from a set of cameras onto a mesh.
bool	getPointUVCoordinates (const pcl::PointXYZ &pt, const Camera &cam, Eigen::Vector2f &UV_coordinates)
	computes UV coordinates of point, observed by one particular camera
bool	isPointOccluded (const pcl::PointXYZ &pt, const OctreePtr octree)
	Check if a point is occluded using raycasting on octree.
void	removeOccludedPoints (const PointCloudPtr &input_cloud, PointCloudPtr &filtered_cloud, const double octree_voxel_size, std::vector< int > &visible_indices, std::vector< int > &occluded_indices)
	Remove occluded points from a point cloud.
void	removeOccludedPoints (const pcl::TextureMesh &tex_mesh, pcl::TextureMesh &cleaned_mesh, const double octree_voxel_size)
	Remove occluded points from a textureMesh.
void	removeOccludedPoints (const pcl::TextureMesh &tex_mesh, PointCloudPtr &filtered_cloud, const double octree_voxel_size)
	Remove occluded points from a textureMesh.
int	sortFacesByCamera (pcl::TextureMesh &tex_mesh, pcl::TextureMesh &sorted_mesh, const pcl::texture_mapping::CameraVector &cameras, const double octree_voxel_size, PointCloud &visible_pts)
	Segment faces by camera visibility.
void	showOcclusions (const PointCloudPtr &input_cloud, pcl::PointCloud< pcl::PointXYZI >::Ptr &colored_cloud, const double octree_voxel_size, const bool show_nb_occlusions=true, const int max_occlusions=4)
	Colors a point cloud, depending on its occlusions.
void	showOcclusions (pcl::TextureMesh &tex_mesh, pcl::PointCloud< pcl::PointXYZI >::Ptr &colored_cloud, double octree_voxel_size, bool show_nb_occlusions=true, int max_occlusions=4)
	Colors the point cloud of a Mesh, depending on its occlusions.
void	textureMeshwithMultipleCameras (pcl::TextureMesh &mesh, const pcl::texture_mapping::CameraVector &cameras)
	Segment and texture faces by camera visibility.
Protected Member Functions
std::vector< Eigen::Vector2f >	mapTexture2Face (const Eigen::Vector3f &p1, const Eigen::Vector3f &p2, const Eigen::Vector3f &p3)
	Map texture to a face.
void	getTriangleCircumcenterAndSize (const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circomcenter, double &radius)
	Returns the circumcenter of a triangle and the circle's radius.
void	getTriangleCircumcscribedCircleCentroid (const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius)
	Returns the centroid of a triangle and the corresponding circumscribed circle's radius.
bool	getPointUVCoordinates (const pcl::PointXYZ &pt, const Camera &cam, pcl::PointXY &UV_coordinates)
	computes UV coordinates of point, observed by one particular camera
bool	isFaceProjected (const Camera &camera, const pcl::PointXYZ &p1, const pcl::PointXYZ &p2, const pcl::PointXYZ &p3, pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3)
	Returns true if all the vertices of one face are projected on the camera's image plane.
bool	checkPointInsideTriangle (const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, const pcl::PointXY &pt)
	Returns True if a point lays within a triangle.
std::string	getClassName () const
	Class get name method.
Protected Attributes
float	f_
	mesh scale control.
Eigen::Vector3f	vector_field_
	vector field
std::vector< std::string >	tex_files_
	list of texture files
TexMaterial	tex_material_
	list of texture materials

Detailed Description

template<typename PointInT>
class pcl::TextureMapping< PointInT >

The texture mapping algorithm.

Author:: Khai Tran, Raphael Favier

Definition at line 84 of file texture_mapping.h.

Member Typedef Documentation

template<typename PointInT >

typedef pcl::texture_mapping::Camera pcl::TextureMapping< PointInT >::Camera

Definition at line 99 of file texture_mapping.h.

template<typename PointInT >

typedef boost::shared_ptr< const PointInT > pcl::TextureMapping< PointInT >::ConstPtr

Definition at line 89 of file texture_mapping.h.

template<typename PointInT >

typedef pcl::octree::OctreePointCloudSearch<PointInT> pcl::TextureMapping< PointInT >::Octree

Definition at line 95 of file texture_mapping.h.

template<typename PointInT >

typedef Octree::ConstPtr pcl::TextureMapping< PointInT >::OctreeConstPtr

Definition at line 97 of file texture_mapping.h.

template<typename PointInT >

typedef Octree::Ptr pcl::TextureMapping< PointInT >::OctreePtr

Definition at line 96 of file texture_mapping.h.

template<typename PointInT >

typedef pcl::PointCloud<PointInT> pcl::TextureMapping< PointInT >::PointCloud

Definition at line 91 of file texture_mapping.h.

template<typename PointInT >

typedef PointCloud::ConstPtr pcl::TextureMapping< PointInT >::PointCloudConstPtr

Definition at line 93 of file texture_mapping.h.

template<typename PointInT >

typedef PointCloud::Ptr pcl::TextureMapping< PointInT >::PointCloudPtr

Definition at line 92 of file texture_mapping.h.

template<typename PointInT >

typedef boost::shared_ptr< PointInT > pcl::TextureMapping< PointInT >::Ptr

Definition at line 88 of file texture_mapping.h.

template<typename PointInT >

typedef pcl::texture_mapping::UvIndex pcl::TextureMapping< PointInT >::UvIndex

Definition at line 100 of file texture_mapping.h.

Constructor & Destructor Documentation

template<typename PointInT >

pcl::TextureMapping< PointInT >::TextureMapping ( ) [inline]

Constructor.

Definition at line 103 of file texture_mapping.h.

template<typename PointInT >

pcl::TextureMapping< PointInT >::~TextureMapping ( ) [inline]

Destructor.

Definition at line 109 of file texture_mapping.h.

Member Function Documentation

template<typename PointInT >

bool pcl::TextureMapping< PointInT >::checkPointInsideTriangle	(	const pcl::PointXY &	p1,
		const pcl::PointXY &	p2,
		const pcl::PointXY &	p3,
		const pcl::PointXY &	pt
	)			`[inline, protected]`

Returns True if a point lays within a triangle.

see http://www.blackpawn.com/texts/pointinpoly/default.html

Parameters:

`[in]`	p1	first point of the triangle.
`[in]`	p2	second point of the triangle.
`[in]`	p3	third point of the triangle.
`[in]`	pt	the querry point.

Definition at line 1065 of file texture_mapping.hpp.

References pcl::PointXY::x, and pcl::PointXY::y.

Referenced by pcl::TextureMapping< PointInT >::textureMeshwithMultipleCameras().

template<typename PointInT >

std::string pcl::TextureMapping< PointInT >::getClassName ( ) const [inline, protected]

Class get name method.

Definition at line 388 of file texture_mapping.h.

template<typename PointInT >

bool pcl::TextureMapping< PointInT >::getPointUVCoordinates	(	const pcl::PointXYZ &	pt,
		const Camera &	cam,
		pcl::PointXY &	UV_coordinates
	)			`[inline, protected]`

computes UV coordinates of point, observed by one particular camera

Parameters:

`[in]`	pt	XYZ point to project on camera plane
`[in]`	cam	the camera used for projection
`[out]`	UV_coordinates	the resulting UV coordinates. Set to (-1.0,-1.0) if the point is not visible by the camera

Returns:: false if the point is not visible by the camera

Definition at line 1038 of file texture_mapping.hpp.

References pcl::texture_mapping::Camera::focal_length, pcl::texture_mapping::Camera::height, pcl::texture_mapping::Camera::width, pcl::PointXY::x, and pcl::PointXY::y.

template<typename PointInT >

bool pcl::TextureMapping< PointInT >::getPointUVCoordinates	(	const pcl::PointXYZ &	pt,
		const Camera &	cam,
		Eigen::Vector2f &	UV_coordinates
	)			`[inline]`

computes UV coordinates of point, observed by one particular camera

Parameters:

`[in]`	pt	XYZ point to project on camera plane
`[in]`	cam	the camera used for projection
`[out]`	UV_coordinates	the resulting uv coordinates. Set to (-1.0,-1.0) if the point is not visible by the camera

Returns:: false if the point is not visible by the camera

Definition at line 182 of file texture_mapping.h.

References pcl::texture_mapping::Camera::focal_length, pcl::texture_mapping::Camera::height, and pcl::texture_mapping::Camera::width.

Referenced by pcl::TextureMapping< PointInT >::isFaceProjected(), pcl::TextureMapping< PointInT >::mapMultipleTexturesToMeshUV(), and pcl::TextureMapping< PointInT >::sortFacesByCamera().

template<typename PointInT >

void pcl::TextureMapping< PointInT >::getTriangleCircumcenterAndSize	(	const pcl::PointXY &	p1,
		const pcl::PointXY &	p2,
		const pcl::PointXY &	p3,
		pcl::PointXY &	circomcenter,
		double &	radius
	)			`[inline, protected]`

Returns the circumcenter of a triangle and the circle's radius.

see http://en.wikipedia.org/wiki/Circumcenter for formulas.

Parameters:

`[in]`	p1	first point of the triangle.
`[in]`	p2	second point of the triangle.
`[in]`	p3	third point of the triangle.
`[out]`	circumcenter	resulting circumcenter
`[out]`	radius	the radius of the circumscribed circle.

Definition at line 989 of file texture_mapping.hpp.

References pcl::PointXY::x, and pcl::PointXY::y.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::getTriangleCircumcscribedCircleCentroid	(	const pcl::PointXY &	p1,
		const pcl::PointXY &	p2,
		const pcl::PointXY &	p3,
		pcl::PointXY &	circumcenter,
		double &	radius
	)			`[inline, protected]`

Returns the centroid of a triangle and the corresponding circumscribed circle's radius.

yield a tighter circle than getTriangleCircumcenterAndSize.

Parameters:

`[in]`	p1	first point of the triangle.
`[in]`	p2	second point of the triangle.
`[in]`	p3	third point of the triangle.
`[out]`	circumcenter	resulting circumcenter
`[out]`	radius	the radius of the circumscribed circle.

Definition at line 1022 of file texture_mapping.hpp.

References pcl::PointXY::x, and pcl::PointXY::y.

Referenced by pcl::TextureMapping< PointInT >::textureMeshwithMultipleCameras().

template<typename PointInT >

bool pcl::TextureMapping< PointInT >::isFaceProjected	(	const Camera &	camera,
		const pcl::PointXYZ &	p1,
		const pcl::PointXYZ &	p2,
		const pcl::PointXYZ &	p3,
		pcl::PointXY &	proj1,
		pcl::PointXY &	proj2,
		pcl::PointXY &	proj3
	)			`[inline, protected]`

Returns true if all the vertices of one face are projected on the camera's image plane.

Parameters:

`[in]`	camera	camera on which to project the face.
`[in]`	p1	first point of the face.
`[in]`	p2	second point of the face.
`[in]`	p3	third point of the face.
`[out]`	proj1	UV coordinates corresponding to p1.
`[out]`	proj2	UV coordinates corresponding to p2.
`[out]`	proj3	UV coordinates corresponding to p3.

Definition at line 1091 of file texture_mapping.hpp.

References pcl::TextureMapping< PointInT >::getPointUVCoordinates().

Referenced by pcl::TextureMapping< PointInT >::textureMeshwithMultipleCameras().

template<typename PointInT >

bool pcl::TextureMapping< PointInT >::isPointOccluded	(	const pcl::PointXYZ &	pt,
		const OctreePtr	octree
	)			`[inline]`

Check if a point is occluded using raycasting on octree.

Parameters:

`[in]`	pt	XYZ from which the ray will start (toward the camera)
`[in]`	octree	the octree used for raycasting. It must be initialized with a cloud transformed into the camera's frame

Returns:: true if the point is occluded.

Definition at line 377 of file texture_mapping.hpp.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::mapMultipleTexturesToMeshUV	(	pcl::TextureMesh &	tex_mesh,
		pcl::texture_mapping::CameraVector &	cams
	)			`[inline]`

Map textures acquired from a set of cameras onto a mesh.

With UV mapping, the mesh must be divided into NbCamera + 1 sub-meshes. Each sub-mesh corresponding to the faces visible by one camera. The last submesh containing all non-visible faces

Parameters:

`[in]`	tex_mesh	texture mesh
`[in]`	cams	cameras used for UV mapping

Definition at line 287 of file texture_mapping.hpp.

References pcl::TextureMesh::cloud, pcl::fromPCLPointCloud2(), pcl::TextureMapping< PointInT >::getPointUVCoordinates(), pcl::PointCloud< PointT >::points, pcl::texture_mapping::Camera::pose, pcl::TextureMesh::tex_coordinates, pcl::TexMaterial::tex_file, pcl::TextureMapping< PointInT >::tex_material_, pcl::TextureMesh::tex_materials, pcl::TexMaterial::tex_name, pcl::TextureMesh::tex_polygons, pcl::texture_mapping::Camera::texture_file, and pcl::transformPointCloud().

template<typename PointInT >

std::vector< Eigen::Vector2f > pcl::TextureMapping< PointInT >::mapTexture2Face	(	const Eigen::Vector3f &	p1,
		const Eigen::Vector3f &	p2,
		const Eigen::Vector3f &	p3
	)			`[inline, protected]`

Map texture to a face.

Parameters:

`[in]`	p1	the first point
`[in]`	p2	the second point
`[in]`	p3	the third point

Definition at line 46 of file texture_mapping.hpp.

References pcl::TextureMapping< PointInT >::f_, and pcl::TextureMapping< PointInT >::vector_field_.

Referenced by pcl::TextureMapping< PointInT >::mapTexture2Mesh().

template<typename PointInT >

void pcl::TextureMapping< PointInT >::mapTexture2Mesh ( pcl::TextureMesh & tex_mesh ) [inline]

Map texture to a mesh synthesis algorithm.

Parameters:

[in] tex_mesh texture mesh

Definition at line 144 of file texture_mapping.hpp.

References pcl::TextureMesh::cloud, pcl::PCLPointCloud2::data, pcl::PCLPointCloud2::fields, pcl::PCLPointCloud2::height, pcl::TextureMapping< PointInT >::mapTexture2Face(), pcl::TextureMesh::tex_coordinates, pcl::TexMaterial::tex_file, pcl::TextureMapping< PointInT >::tex_files_, pcl::TextureMapping< PointInT >::tex_material_, pcl::TextureMesh::tex_materials, pcl::TexMaterial::tex_name, pcl::TextureMesh::tex_polygons, and pcl::PCLPointCloud2::width.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::mapTexture2MeshUV ( pcl::TextureMesh & tex_mesh ) [inline]

Map texture to a mesh UV mapping.

Parameters:

[in] tex_mesh texture mesh

Definition at line 200 of file texture_mapping.hpp.

References pcl::TextureMesh::cloud, pcl::PCLPointCloud2::data, pcl::PCLPointCloud2::fields, pcl::PCLPointCloud2::height, pcl::TextureMesh::tex_coordinates, pcl::TexMaterial::tex_file, pcl::TextureMapping< PointInT >::tex_files_, pcl::TextureMapping< PointInT >::tex_material_, pcl::TextureMesh::tex_materials, pcl::TexMaterial::tex_name, pcl::TextureMesh::tex_polygons, and pcl::PCLPointCloud2::width.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::removeOccludedPoints	(	const pcl::TextureMesh &	tex_mesh,
		PointCloudPtr &	filtered_cloud,
		const double	octree_voxel_size
	)			`[inline]`

Remove occluded points from a textureMesh.

Parameters:

`[in]`	tex_mesh	input mesh, on witch to perform occlusion detection
`[out]`	filtered_cloud	resulting cloud, containing only visible points
`[in]`	octree_voxel_size	octree resolution (in meters)

Definition at line 539 of file texture_mapping.hpp.

References pcl::TextureMesh::cloud, pcl::fromPCLPointCloud2(), and pcl::TextureMapping< PointInT >::removeOccludedPoints().

template<typename PointInT >

void pcl::TextureMapping< PointInT >::removeOccludedPoints	(	const pcl::TextureMesh &	tex_mesh,
		pcl::TextureMesh &	cleaned_mesh,
		const double	octree_voxel_size
	)			`[inline]`

Remove occluded points from a textureMesh.

Parameters:

`[in]`	tex_mesh	input mesh, on witch to perform occlusion detection
`[out]`	cleaned_mesh	resulting mesh, containing only visible points
`[in]`	octree_voxel_size	octree resolution (in meters)

Definition at line 483 of file texture_mapping.hpp.

References pcl::TextureMesh::cloud, pcl::fromPCLPointCloud2(), pcl::TextureMapping< PointInT >::removeOccludedPoints(), and pcl::TextureMesh::tex_polygons.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::removeOccludedPoints	(	const PointCloudPtr &	input_cloud,
		PointCloudPtr &	filtered_cloud,
		const double	octree_voxel_size,
		std::vector< int > &	visible_indices,
		std::vector< int > &	occluded_indices
	)			`[inline]`

Remove occluded points from a point cloud.

Parameters:

`[in]`	input_cloud	the cloud on which to perform occlusion detection
`[out]`	filtered_cloud	resulting cloud, containing only visible points
`[in]`	octree_voxel_size	octree resolution (in meters)
`[out]`	visible_indices	will contain indices of visible points
`[out]`	occluded_indices	will contain indices of occluded points

Definition at line 419 of file texture_mapping.hpp.

Referenced by pcl::TextureMapping< PointInT >::removeOccludedPoints(), and pcl::TextureMapping< PointInT >::sortFacesByCamera().

template<typename PointInT >

void pcl::TextureMapping< PointInT >::setF ( float f ) [inline]

Set mesh scale control.

Parameters:

[in] f

Definition at line 117 of file texture_mapping.h.

References pcl::TextureMapping< PointInT >::f_.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::setTextureFiles ( std::vector< std::string > tex_files ) [inline]

Set texture files.

Parameters:

[in] tex_files list of texture files

Definition at line 139 of file texture_mapping.h.

References pcl::TextureMapping< PointInT >::tex_files_.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::setTextureMaterials ( TexMaterial tex_material ) [inline]

Set texture materials.

Parameters:

[in] tex_material texture material

Definition at line 148 of file texture_mapping.h.

References pcl::TextureMapping< PointInT >::tex_material_.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::setVectorField	(	float	x,
		float	y,
		float	z
	)			`[inline]`

Set vector field.

Parameters:

`[in]`	x	data point x
`[in]`	y	data point y
`[in]`	z	data point z

Definition at line 128 of file texture_mapping.h.

References pcl::TextureMapping< PointInT >::vector_field_.

template<typename PointInT >

void pcl::TextureMapping< PointInT >::showOcclusions	(	pcl::TextureMesh &	tex_mesh,
		pcl::PointCloud< pcl::PointXYZI >::Ptr &	colored_cloud,
		double	octree_voxel_size,
		bool	show_nb_occlusions = `true`,
		int	max_occlusions = `4`
	)			`[inline]`

Colors the point cloud of a Mesh, depending on its occlusions.

If showNbOcclusions is set to True, each point is colored depending on the number of points occluding it. Else, each point is given a different a 0 value is not occluded, 1 if occluded. By default, the number of occlusions is bounded to 4.

Parameters:

`[in]`	tex_mesh	input mesh on which occlusions will be computed.
`[out]`	colored_cloud	resulting colored cloud showing the number of occlusions per point.
`[in]`	octree_voxel_size	octree resolution (in meters).
`[in]`	show_nb_occlusions	If false, color information will only represent.
`[in]`	max_occlusions	Limit the number of occlusions per point.

Definition at line 731 of file texture_mapping.hpp.

References pcl::TextureMesh::cloud, pcl::fromPCLPointCloud2(), and pcl::TextureMapping< PointInT >::showOcclusions().

template<typename PointInT >

void pcl::TextureMapping< PointInT >::showOcclusions	(	const PointCloudPtr &	input_cloud,
		pcl::PointCloud< pcl::PointXYZI >::Ptr &	colored_cloud,
		const double	octree_voxel_size,
		const bool	show_nb_occlusions = `true`,
		const int	max_occlusions = `4`
	)			`[inline]`

Colors a point cloud, depending on its occlusions.

If showNbOcclusions is set to True, each point is colored depending on the number of points occluding it. Else, each point is given a different a 0 value is not occluded, 1 if occluded. By default, the number of occlusions is bounded to 4.

Parameters:

`[in]`	input_cloud	input cloud on which occlusions will be computed.
`[out]`	colored_cloud	resulting colored cloud showing the number of occlusions per point.
`[in]`	octree_voxel_size	octree resolution (in meters).
`[in]`	show_nb_occlusions	If false, color information will only represent.
`[in]`	max_occlusions	Limit the number of occlusions per point.

Definition at line 651 of file texture_mapping.hpp.

References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::defineBoundingBox(), pcl::euclideanDistance(), pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelIndices(), pcl::_PointXYZI::intensity, pcl::PointCloud< PointT >::points, and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::setInputCloud().

Referenced by pcl::TextureMapping< PointInT >::showOcclusions().

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
	)			`[inline]`

Segment faces by camera visibility.

Point-based segmentation.

With N camera, faces will be arranged into N+1 groups: 1 for each camera, plus 1 for faces not visible from any camera.

Parameters:

`[in]`	tex_mesh	input mesh that needs sorting. Must contain only 1 sub-mesh.
`[in]`	sorted_mesh	resulting mesh, will contain nbCamera + 1 sub-mesh.
`[in]`	cameras	vector containing the cameras used for texture mapping.
`[in]`	octree_voxel_size	octree resolution (in meters)
`[out]`	visible_pts	cloud containing only visible points

Definition at line 554 of file texture_mapping.hpp.

References pcl::TextureMesh::cloud, pcl::fromPCLPointCloud2(), pcl::TextureMapping< PointInT >::getPointUVCoordinates(), pcl::PointCloud< PointT >::points, pcl::TextureMapping< PointInT >::removeOccludedPoints(), pcl::TextureMesh::tex_polygons, and pcl::transformPointCloud().

template<typename PointInT >

void pcl::TextureMapping< PointInT >::textureMeshwithMultipleCameras	(	pcl::TextureMesh &	mesh,
		const pcl::texture_mapping::CameraVector &	cameras
	)			`[inline]`

Segment and texture faces by camera visibility.

Face-based segmentation.

With N camera, faces will be arranged into N+1 groups: 1 for each camera, plus 1 for faces not visible from any camera. The mesh will also contain uv coordinates for each face

Parameters:

	in/out]	tex_mesh input mesh that needs sorting. Should contain only 1 sub-mesh.
`[in]`	cameras	vector containing the cameras used for texture mapping.

Definition at line 743 of file texture_mapping.hpp.

References pcl::TextureMapping< PointInT >::checkPointInsideTriangle(), pcl::TextureMesh::cloud, pcl::fromPCLPointCloud2(), pcl::TextureMapping< PointInT >::getTriangleCircumcscribedCircleCentroid(), pcl::texture_mapping::UvIndex::idx_cloud, pcl::texture_mapping::UvIndex::idx_face, pcl::TextureMapping< PointInT >::isFaceProjected(), pcl::KdTreeFLANN< PointT, Dist >::radiusSearch(), pcl::KdTreeFLANN< PointT, Dist >::setInputCloud(), pcl::TextureMesh::tex_coordinates, pcl::TextureMesh::tex_polygons, pcl::transformPointCloud(), pcl::PointXY::x, and pcl::PointXY::y.

Member Data Documentation

template<typename PointInT >

float pcl::TextureMapping< PointInT >::f_ [protected]

mesh scale control.

Definition at line 310 of file texture_mapping.h.

Referenced by pcl::TextureMapping< PointInT >::mapTexture2Face(), and pcl::TextureMapping< PointInT >::setF().

template<typename PointInT >

std::vector<std::string> pcl::TextureMapping< PointInT >::tex_files_ [protected]

list of texture files

Definition at line 316 of file texture_mapping.h.

Referenced by pcl::TextureMapping< PointInT >::mapTexture2Mesh(), pcl::TextureMapping< PointInT >::mapTexture2MeshUV(), and pcl::TextureMapping< PointInT >::setTextureFiles().

template<typename PointInT >

TexMaterial pcl::TextureMapping< PointInT >::tex_material_ [protected]

list of texture materials

Definition at line 319 of file texture_mapping.h.

Referenced by pcl::TextureMapping< PointInT >::mapMultipleTexturesToMeshUV(), pcl::TextureMapping< PointInT >::mapTexture2Mesh(), pcl::TextureMapping< PointInT >::mapTexture2MeshUV(), and pcl::TextureMapping< PointInT >::setTextureMaterials().

template<typename PointInT >

Eigen::Vector3f pcl::TextureMapping< PointInT >::vector_field_ [protected]

vector field

Definition at line 313 of file texture_mapping.h.

Referenced by pcl::TextureMapping< PointInT >::mapTexture2Face(), and pcl::TextureMapping< PointInT >::setVectorField().

The documentation for this class was generated from the following files:

/builddir/build/BUILD/pcl-pcl-1.7.1/surface/include/pcl/surface/texture_mapping.h
/builddir/build/BUILD/pcl-pcl-1.7.1/surface/include/pcl/surface/impl/texture_mapping.hpp

pcl::TextureMapping< PointInT > Class Template Reference [Module surface]

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT> class pcl::TextureMapping< PointInT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

pcl::TextureMapping< PointInT > Class Template Reference
[Module surface]

template<typename PointInT>
class pcl::TextureMapping< PointInT >