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Moved ExportCloudsDialog::mergeTextures() method in util3d_surface module

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matlabbe
2017-06-13 19:20:09 -04:00
parent 29a48aba66
commit 811afa1171
9 changed files with 1308 additions and 1058 deletions
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217
corelib/src/util3d.cpp
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@@ -1916,223 +1916,6 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr concatenateClouds(const std::list<pcl::Po
return cloud;
}
pcl::TextureMesh::Ptr concatenateTextureMeshes(const std::list<pcl::TextureMesh::Ptr> & meshes)
{
pcl::TextureMesh::Ptr output(new pcl::TextureMesh);
std::map<std::string, int> addedMaterials; //<file, index>
for(std::list<pcl::TextureMesh::Ptr>::const_iterator iter = meshes.begin(); iter!=meshes.end(); ++iter)
{
if((*iter)->cloud.point_step &&
(*iter)->cloud.data.size()/(*iter)->cloud.point_step &&
(*iter)->tex_polygons.size() &&
(*iter)->tex_coordinates.size())
{
// append point cloud
int polygonStep = output->cloud.height * output->cloud.width;
pcl::PCLPointCloud2 tmp;
pcl::concatenatePointCloud(output->cloud, iter->get()->cloud, tmp);
output->cloud = tmp;
UASSERT((*iter)->tex_polygons.size() == (*iter)->tex_coordinates.size() &&
(*iter)->tex_polygons.size() == (*iter)->tex_materials.size());
int materialCount = (*iter)->tex_polygons.size();
for(int i=0; i<materialCount; ++i)
{
std::map<std::string, int>::iterator jter = addedMaterials.find((*iter)->tex_materials[i].tex_file);
int index;
if(jter != addedMaterials.end())
{
index = jter->second;
}
else
{
addedMaterials.insert(std::make_pair((*iter)->tex_materials[i].tex_file, output->tex_materials.size()));
index = output->tex_materials.size();
output->tex_materials.push_back((*iter)->tex_materials[i]);
output->tex_materials.back().tex_name = uFormat("material_%d", index);
output->tex_polygons.resize(output->tex_polygons.size() + 1);
output->tex_coordinates.resize(output->tex_coordinates.size() + 1);
}
// update and append polygon indices
int oi = output->tex_polygons[index].size();
output->tex_polygons[index].resize(output->tex_polygons[index].size() + (*iter)->tex_polygons[i].size());
for(unsigned int j=0; j<(*iter)->tex_polygons[i].size(); ++j)
{
pcl::Vertices polygon = (*iter)->tex_polygons[i][j];
for(unsigned int k=0; k<polygon.vertices.size(); ++k)
{
polygon.vertices[k] += polygonStep;
}
output->tex_polygons[index][oi+j] = polygon;
}
// append uv coordinates
oi = output->tex_coordinates[index].size();
output->tex_coordinates[index].resize(output->tex_coordinates[index].size() + (*iter)->tex_coordinates[i].size());
for(unsigned int j=0; j<(*iter)->tex_coordinates[i].size(); ++j)
{
output->tex_coordinates[index][oi+j] = (*iter)->tex_coordinates[i][j];
}
}
}
}
return output;
}
int gcd(int a, int b) {
return b == 0 ? a : gcd(b, a % b);
}
void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept)
{
UASSERT(textureSize>0 && imageSize.width>0 && imageSize.height>0);
if(maxTextures < 1)
{
maxTextures = 1;
}
int materials = 0;
for(unsigned int i=0; i<mesh.tex_materials.size(); ++i)
{
if(mesh.tex_polygons.size())
{
++materials;
}
}
if(materials)
{
int w = imageSize.width; // 640
int h = imageSize.height; // 480
int g = gcd(w,h); // 160
int a = w/g; // 4=640/160
int b = h/g; // 3=480/160
UDEBUG("w=%d h=%d g=%d a=%d b=%d", w, h, g, a, b);
int colCount = 0;
int rowCount = 0;
float factor = 0.1f;
float epsilon = 0.001f;
scale = 1.0f;
while((colCount*rowCount)*maxTextures < materials || (factor == 0.1f || scale > 1.0f))
{
// first run try scale = 1 (no scaling)
if(factor!=0.1f)
{
scale = float(textureSize)/float(w*b*factor);
}
colCount = float(textureSize)/(scale*float(w));
rowCount = float(textureSize)/(scale*float(h));
factor+=epsilon; // search the maximum perfect fit
}
int outputTextures = (materials / (colCount*rowCount)) + (materials % (colCount*rowCount) > 0?1:0);
UDEBUG("materials=%d col=%d row=%d output textures=%d factor=%f scale=%f", materials, colCount, rowCount, outputTextures, factor-epsilon, scale);
UASSERT(mesh.tex_coordinates.size() == mesh.tex_materials.size() && mesh.tex_polygons.size() == mesh.tex_materials.size());
// prepare size
std::vector<int> totalPolygons(outputTextures, 0);
std::vector<int> totalCoordinates(outputTextures, 0);
int count = 0;
for(unsigned int i=0; i<mesh.tex_materials.size(); ++i)
{
if(mesh.tex_polygons[i].size())
{
int indexMaterial = count / (colCount*rowCount);
UASSERT(indexMaterial < outputTextures);
totalPolygons[indexMaterial]+=mesh.tex_polygons[i].size();
totalCoordinates[indexMaterial]+=mesh.tex_coordinates[i].size();
++count;
}
}
pcl::TextureMesh outputMesh;
int pi = 0;
int ci = 0;
int ti=0;
float scaledHeight = float(int(scale*float(h)))/float(textureSize);
float scaledWidth = float(int(scale*float(w)))/float(textureSize);
float lowerBorderSize = 1.0f - scaledHeight*float(rowCount);
UDEBUG("scaledWidth=%f scaledHeight=%f lowerBorderSize=%f", scaledWidth, scaledHeight, lowerBorderSize);
if(materialsKept)
{
materialsKept->resize(mesh.tex_materials.size(), false);
}
for(unsigned int t=0; t<mesh.tex_materials.size(); ++t)
{
if(mesh.tex_polygons[t].size())
{
int indexMaterial = ti / (colCount*rowCount);
UASSERT(indexMaterial < outputTextures);
if((int)outputMesh.tex_polygons.size() <= indexMaterial)
{
std::vector<pcl::Vertices> newPolygons(totalPolygons[indexMaterial]);
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > newCoordinates(totalCoordinates[indexMaterial]); // UV coordinates
#else
std::vector<Eigen::Vector2f> newCoordinates(totalCoordinates[indexMaterial]); // UV coordinates
#endif
outputMesh.tex_polygons.push_back(newPolygons);
outputMesh.tex_coordinates.push_back(newCoordinates);
pi=0;
ci=0;
}
int row = (ti/colCount) % rowCount;
int col = ti%colCount;
float offsetU = scaledWidth * float(col);
float offsetV = scaledHeight * float((rowCount - 1) - row) + lowerBorderSize;
// Texture coords have lower-left origin
for(unsigned int i=0; i<mesh.tex_polygons[t].size(); ++i)
{
UASSERT(pi < (int)outputMesh.tex_polygons[indexMaterial].size());
outputMesh.tex_polygons[indexMaterial][pi++] = mesh.tex_polygons[t].at(i);
}
for(unsigned int i=0; i<mesh.tex_coordinates[t].size(); ++i)
{
const Eigen::Vector2f & v = mesh.tex_coordinates[t].at(i);
if(v[0] >= 0 && v[1] >=0)
{
outputMesh.tex_coordinates[indexMaterial][ci][0] = v[0]*scaledWidth + offsetU;
outputMesh.tex_coordinates[indexMaterial][ci][1] = v[1]*scaledHeight + offsetV;
}
else
{
outputMesh.tex_coordinates[indexMaterial][ci] = v;
}
++ci;
}
++ti;
if(materialsKept)
{
materialsKept->at(t) = true;
}
}
}
pcl::TexMaterial m = mesh.tex_materials.front();
mesh.tex_materials.clear();
for(int i=0; i<outputTextures; ++i)
{
m.tex_file = "texture";
m.tex_name = "material";
if(outputTextures > 1)
{
m.tex_file += uNumber2Str(i);
m.tex_name += uNumber2Str(i);
}
mesh.tex_materials.push_back(m);
}
mesh.tex_coordinates = outputMesh.tex_coordinates;
mesh.tex_polygons = outputMesh.tex_polygons;
}
}
pcl::IndicesPtr concatenate(const std::vector<pcl::IndicesPtr> & indices)
{
//compute total size