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Fixed a bug where camera facing polygons were not textured

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This commit is contained in:
matlabbe
2017-03-03 15:22:20 -05:00
parent fd55828c42
commit 3cf8ea63d8
5 changed files with 19 additions and 17 deletions
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21
corelib/src/pcl18/surface/impl/texture_mapping.hpp
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@@ -1103,17 +1103,16 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
{
// check if the polygon is facing the camera, assuming counterclockwise normal
Eigen::Vector3f v0(
pt1.x - pt0.x,
pt1.y - pt0.y,
pt1.z - pt0.z);
uv_coords2.x - uv_coords1.x,
uv_coords2.y - uv_coords1.y,
0);
Eigen::Vector3f v1(
pt2.x - pt0.x,
pt2.y - pt0.y,
pt2.z - pt0.z);
uv_coords3.x - uv_coords1.x,
uv_coords3.y - uv_coords1.y,
0);
Eigen::Vector3f normal = v0.cross(v1);
float angle = normal.dot(Eigen::Vector3f(0.0f,0.0f,-1.0f));
float angle = normal.dot(Eigen::Vector3f(0.0f,0.0f,1.0f));
bool facingTheCam = angle>0.0f;
float distanceToCam = std::min(std::min(pt0.z, pt1.z), pt2.z);
pcl::PointXY center;
center.x = (uv_coords1.x+uv_coords2.x+uv_coords3.x)/3.0f;
@@ -1254,12 +1253,13 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
UWARN("Texturing cancelled!");
return false;
}
int textured = 0;
for(unsigned int idx_face=0; idx_face<faces.size(); ++idx_face)
{
if((idx_face+1)%10000 == 0)
{
UDEBUG("face %d/%d", idx_face+1, (int)faces.size());
if(state && !state->callback(uFormat("Textured %d/%d polygons", (int)idx_face+1, (int)faces.size())))
if(state && !state->callback(uFormat("Textured %d/%d of %d polygons", textured, idx_face+1, (int)faces.size())))
{
//cancelled!
UWARN("Texturing cancelled!");
@@ -1293,6 +1293,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
if(cameraIndex >= 0)
{
++textured;
mesh.tex_polygons[cameraIndex].push_back(face);
mesh.tex_coordinates[cameraIndex].push_back(Eigen::Vector2f(uv_coords[0].x, uv_coords[0].y));
mesh.tex_coordinates[cameraIndex].push_back(Eigen::Vector2f(uv_coords[1].x, uv_coords[1].y));
@@ -1306,7 +1307,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
mesh.tex_coordinates[cameras.size()].push_back(Eigen::Vector2f(-1.0,-1.0));
}
}
UINFO("Process %d polygons...done!", (int)faces.size());
UINFO("Process %d polygons...done! (%d textured)", (int)faces.size(), textured);
return true;
}