Made writeOBJ. Not working, currently not able to do Patch.getPointInd()

aux/triangle.h

@@ -27,7 +27,9 @@ class Triangle{
  T getv(const int& i)const;
 
  std::vector<T> unwrap()const;
-
+
+ Triangle<T>& operator=(const Triangle<T>& t);
+
  private:
  T v0_;
  T v1_;
@@ -92,4 +94,11 @@ std::vector<T> Triangle<T>::unwrap()const{
  return outvec;
 }
 
+template<typename T>
+Triangle<T>& Triangle<T>::operator=(const Triangle<T>& t){
+ for (int i=0;i<3;++i){
+ setv(i,t.getv(i));
+ }
+ return *this;
+}
 #endif

main.cpp

@@ -45,6 +45,10 @@ int main() {
  std::cout << (width>-1) <<std::endl;
  std::cout <<"Map Global UV: ";
  std::cout << w.mapGlobalUV(width)<<std::endl;
+ std::cout <<"Make Texture Mesh: ";
+ std::cout << w.makeTextureMesh()<<std::endl;
+ std::cout <<"Write obj File: ";
+ std::cout << w.writeOBJ()<<std::endl;
 
 /* 
  std::vector<Camera> cams = w.getCameras();

world/world.cpp

@@ -214,8 +214,6 @@ bool World::readPatchInfo(const std::string& fpath){
  patches_[pointIndex].setNImages(numImg);
  patches_[pointIndex].setInds(inds);
  patches_[pointIndex].setPointInd(pointIndex);
-
- // VERBOSE std::cout<<patchi<<": "<<p<<"\n";
  }
  }
 
@@ -306,9 +304,10 @@ bool World::buildTriangles(){
 
  std::vector<pcl::Vertices>verts(mesh_.polygons);
  Patch p;
+ size_t patchIndex;
  for (size_t i=0; i<verts.size(); i++){
  for (int ii=0;ii<3;ii++){
- p = findPatch(verts[i].vertices[ii]);
+ p = patches_[patchIndex];
  triangles_[i].setv(ii,p);
  }
  printPct(i,verts.size());
@@ -435,17 +434,42 @@ bool World::makeTextureMesh(){
  texMat.tex_illum = 2;
  tm.setTextureMaterials(texMat);
 
- std::vector<std::string> texFiles;
- texFiles.push_back("./textureAtlas.png");
- tm.setTextureFiles(texFiles);
-
+ std::string texFile("./texture_atlas.png");
+// tm.setTextureFiles(texFiles);
+ size_t numTriangles(triangles_.size());
  texMesh_.header = mesh_.header;
  texMesh_.cloud = mesh_.cloud;
- texMesh_.tex_polygons.push_back( mesh_.polygons );
-
 
+ std::vector<Eigen::Vector2f> texCoord(numTriangles*3);
+ std::vector<pcl::Vertices> polygons(numTriangles);
+ pcl::Vertices vert;
+ Triangle<Patch> t;
+ Patch p;
+ for (size_t triInd=0;triInd<numTriangles;++triInd){
+ for (int vertInd=0;vertInd<3;++vertInd){
+ t = triangles_[triInd];
+ p = t.getv(vertInd);
+ std::cout<<p<<std::endl;
+ std::cout<<p.getPointInd()<<std::endl;
+ vert.vertices[vertInd] = p.getPointInd();
+ texCoord[triInd*3+vertInd] = uvg_[triInd].getv(vertInd);
+ }
+ polygons[triInd] = vert;
+ }
+ texMesh_.tex_polygons.push_back( polygons );
+
+ texMat.tex_name = "material_0";
+ texMat.tex_file = texFile;
+ texMesh_.tex_materials.push_back(texMat);
+
+ texMesh_.tex_coordinates.push_back(texCoord);
 
- return false;
+ return true;
+}
+
+int World::writeOBJ(){
+ int status = pcl::io::saveOBJFile("./out.obj", texMesh_);
+ return status;
 }
 
 bool World::mapGlobalUV(const int& imWidth){

world/world.h

@@ -23,6 +23,7 @@
 //#include <pcl/io/vtk_lib_io.h> 
 //#include <pcl/io/ply.h> 
 #include <pcl/io/ply_io.h> 
+#include <pcl/io/obj_io.h>
 #include <pcl/point_cloud.h>
 #include <pcl/PolygonMesh.h>
 #include <pcl/kdtree/kdtree_flann.h>
@@ -72,7 +73,7 @@ class World{
  bool mapLocalUV();
  int makeTextureAtlas();
  bool makeTextureMesh();
- bool writeOBJ();
+ int writeOBJ();
 
  bool mapGlobalUV(const int& imWidth);
  cv::Mat createOneImage(const std::vector<cv::Mat>& images,int& imWidth)const;