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Export Added RoiRatios parameter to texturing (#171)

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matlabbe
2017-04-20 11:51:23 -04:00
parent c068c3c33a
commit a274f3cf01
10 changed files with 279 additions and 198 deletions
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85
corelib/src/pcl18/surface/impl/texture_mapping.hpp
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@@ -1389,44 +1389,61 @@ pcl::TextureMapping<PointInT>::getTriangleCircumcscribedCircleCentroid ( const p
template<typename PointInT> inline bool
pcl::TextureMapping<PointInT>::getPointUVCoordinates(const PointInT &pt, const Camera &cam, pcl::PointXY &UV_coordinates)
{
if (pt.z > 0 && (max_distance_<=0.0f || pt.z<max_distance_))
{
// 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;
if (pt.z > 0 && (max_distance_<=0.0f || pt.z<max_distance_))
{
// 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;
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) / sizeX); //horizontal
UV_coordinates.y = 1.0f - static_cast<float> ((focal_y * (pt.y / pt.z) + cy) / sizeY); //vertical
// project point on camera's image plane
UV_coordinates.x = static_cast<float> ((focal_x * (pt.x / pt.z) + cx) / sizeX); //horizontal
UV_coordinates.y = static_cast<float> ((focal_y * (pt.y / pt.z) + cy) / sizeY); //vertical
// point is visible!
if (UV_coordinates.x >= 0.0 && UV_coordinates.x <= 1.0 && UV_coordinates.y >= 0.0 && UV_coordinates.y <= 1.0)
return (true); // point was visible by the camera
}
if(cam.roi.size() == 4)
{
if( UV_coordinates.x < cam.roi[0]/sizeX ||
UV_coordinates.y < cam.roi[1]/sizeY ||
UV_coordinates.x > (cam.roi[0]+cam.roi[2])/sizeX ||
UV_coordinates.y > (cam.roi[1]+cam.roi[3])/sizeY)
{
// point is NOT in region of interest of the camera
UV_coordinates.x = -1.0f;
UV_coordinates.y = -1.0f;
return false;
}
}
// 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
// original code of PCL inverted y
UV_coordinates.y = 1.0f - UV_coordinates.y;
// point is visible!
if (UV_coordinates.x >= 0.0 && UV_coordinates.x <= 1.0 && UV_coordinates.y >= 0.0 && UV_coordinates.y <= 1.0)
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
}
///////////////////////////////////////////////////////////////////////////////////////////////

1
corelib/src/pcl18/surface/texture_mapping.h
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@@ -77,6 +77,7 @@ namespace pcl
double height;
double width;
std::string texture_file;
std::vector<double> roi; // [x, y, width, height]
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};