Feature/obj texture

applications/src/main/java/boofcv/app/MeshViewerApp.java

@@ -26,15 +26,11 @@
 import boofcv.struct.image.ImageType;
 import boofcv.struct.image.InterleavedU8;
 import boofcv.struct.mesh.VertexMesh;
-import org.apache.commons.io.FilenameUtils;
-import org.ddogleg.struct.DogArray_I32;
 
 import javax.swing.*;
 import java.awt.*;
 import java.io.File;
-import java.io.FileInputStream;
 import java.io.IOException;
-import java.util.Locale;
 
 /**
  * Very simple app for opening and viewing a 3D mesh
@@ -49,19 +45,8 @@ public MeshViewerApp() {
 	private static void loadFile( File file ) {
 		// Load the mesh
 		var mesh = new VertexMesh();
-		var colors = new DogArray_I32();
-		String extension = FilenameUtils.getExtension(file.getName()).toLowerCase(Locale.ENGLISH);
-		var type = switch (extension) {
-			case "ply" -> PointCloudIO.Format.PLY;
-			case "stl" -> PointCloudIO.Format.STL;
-			case "obj" -> PointCloudIO.Format.OBJ;
-			default -> {
-				throw new RuntimeException("Unknown file type");
-			}
-		};
-
-		try (var input = new FileInputStream(file)) {
-			PointCloudIO.load(type, input, mesh, colors);
+		try {
+			PointCloudIO.load(file, mesh);
 		} catch (IOException e) {
 			e.printStackTrace(System.err);
 			System.exit(1);
@@ -86,8 +71,8 @@ private static void loadFile( File file ) {
 		SwingUtilities.invokeLater(() -> {
 			var panel = new MeshViewerPanel();
 			panel.setMesh(mesh, false);
-			if (colors.size > 0)
-				panel.setVertexColors("RGB", colors.data);
+			if (mesh.rgb.size > 0)
+				panel.setVertexColors("RGB", mesh.rgb.data);
 			if (_image != null)
 				panel.setTextureImage(_image);
 			panel.setPreferredSize(new Dimension(500, 500));

integration/boofcv-swing/src/main/java/boofcv/gui/mesh/MeshColorizeOps.java

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -40,7 +40,7 @@ public class MeshColorizeOps {
 	 * @return SurfaceColor
 	 */
 	public static RenderMesh.SurfaceColor colorizeByVertex( VertexMesh mesh, int[] vertexColor ) {
-		return ( shapeIdx ) -> vertexColor[mesh.indexes.get(mesh.offsets.get(shapeIdx))];
+		return ( shapeIdx ) -> vertexColor[mesh.faceVertexes.get(mesh.faceOffsets.get(shapeIdx))];
 	}
 
 	/**
@@ -57,7 +57,7 @@ public static RenderMesh.SurfaceColor colorizeByNormal( VertexMesh mesh ) {
 		var axisZ = new Vector3D_F64(0, 0, 1);
 
 		for (int i = 0; i < mesh.size(); i++) {
-			mesh.getShape(i, facet);
+			mesh.getFaceVectors(i, facet);
 
 			// Handle case of invalid facet gracefully by assigning it to an arbitrary color
 			if (facet.size < 3) {

main/boofcv-geo/src/main/java/boofcv/alg/cloud/DisparityToColorPointCloud.java

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -175,7 +175,10 @@ private void process( GrayU8 disparity, ColorImage color, PointCloudWriter outpu
 				// Bring it back into left camera frame
 				GeometryMath_F32.multTran(rectifiedR, p, p);
 
-				output.add(p.x, p.y, p.z, getColor(color, pixelX, pixelY));
+				output.startPoint();
+				output.location(p.x, p.y, p.z);
+				output.color(getColor(color, pixelX, pixelY));
+				output.stopPoint();
 			}
 		}
 	}
@@ -217,7 +220,10 @@ private void process( GrayF32 disparity, ColorImage color, PointCloudWriter outp
 				// Bring it back into left camera frame
 				GeometryMath_F32.multTran(rectifiedR, p, p);
 
-				output.add(p.x, p.y, p.z, getColor(color, pixelX, pixelY));
+				output.startPoint();
+				output.location(p.x, p.y, p.z);
+				output.color(getColor(color, pixelX, pixelY));
+				output.stopPoint();
 			}
 		}
 	}

main/boofcv-geo/src/main/java/boofcv/alg/cloud/PointCloudReader.java

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -38,6 +38,9 @@ public interface PointCloudReader {
 	 */
 	int size();
 
+	/** True if each point has a color */
+	boolean colors();
+
 	/**
 	 * Copies the point
 	 */
@@ -58,6 +61,8 @@ static PointCloudReader wrap3FRGB( float[] cloud, float[] rgb, int offset, int l
 			@Override
 			public int size() {return length;}
 
+			@Override public boolean colors() {return true;}
+
 			@Override
 			public void get( int index, Point3D_F32 point ) {
 				int i = offset + index*3;
@@ -85,6 +90,8 @@ static PointCloudReader wrapF32( List<Point3D_F32> cloud ) {
 		return new PointCloudReader() {
 			@Override public int size() {return cloud.size();}
 
+			@Override public boolean colors() {return false;}
+
 			@Override public void get( int index, Point3D_F32 point ) {point.setTo(cloud.get(index));}
 
 			@Override public void get( int index, Point3D_F64 point ) {convert(cloud.get(index), point);}
@@ -97,6 +104,8 @@ static PointCloudReader wrapF64( List<Point3D_F64> cloud ) {
 		return new PointCloudReader() {
 			@Override public int size() {return cloud.size();}
 
+			@Override public boolean colors() {return false;}
+
 			@Override public void get( int index, Point3D_F32 point ) {convert(cloud.get(index), point);}
 
 			@Override public void get( int index, Point3D_F64 point ) {point.setTo(cloud.get(index));}
@@ -109,6 +118,8 @@ static PointCloudReader wrapF32RGB( List<Point3dRgbI_F32> cloud ) {
 		return new PointCloudReader() {
 			@Override public int size() {return cloud.size();}
 
+			@Override public boolean colors() {return true;}
+
 			@Override public void get( int index, Point3D_F32 point ) {point.setTo(cloud.get(index));}
 
 			@Override public void get( int index, Point3D_F64 point ) {convert(cloud.get(index), point);}
@@ -121,6 +132,8 @@ static PointCloudReader wrapF64RGB( List<Point3dRgbI_F64> cloud ) {
 		return new PointCloudReader() {
 			@Override public int size() {return cloud.size();}
 
+			@Override public boolean colors() {return true;}
+
 			@Override public void get( int index, Point3D_F32 point ) {convert(cloud.get(index), point);}
 
 			@Override public void get( int index, Point3D_F64 point ) {point.setTo(cloud.get(index));}
@@ -133,6 +146,8 @@ static PointCloudReader wrapF32( List<Point3D_F32> cloud, int[] rgb ) {
 		return new PointCloudReader() {
 			@Override public int size() {return cloud.size();}
 
+			@Override public boolean colors() {return true;}
+
 			@Override public void get( int index, Point3D_F32 point ) {point.setTo(cloud.get(index));}
 
 			@Override public void get( int index, Point3D_F64 point ) {convert(cloud.get(index), point);}
@@ -145,6 +160,8 @@ static PointCloudReader wrapF64( List<Point3D_F64> cloud, int[] rgb ) {
 		return new PointCloudReader() {
 			@Override public int size() {return cloud.size();}
 
+			@Override public boolean colors() {return true;}
+
 			@Override public void get( int index, Point3D_F32 point ) {convert(cloud.get(index), point);}
 
 			@Override public void get( int index, Point3D_F64 point ) {point.setTo(cloud.get(index));}
@@ -159,6 +176,8 @@ static PointCloudReader wrap( Generic op, int size ) {
 
 			@Override public int size() {return size;}
 
+			@Override public boolean colors() {return true;}
+
 			@Override public void get( int index, Point3D_F32 point ) {
 				op.get(index, p);
 				point.x = (float)p.x;

main/boofcv-geo/src/main/java/boofcv/alg/cloud/PointCloudWriter.java

@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -40,10 +40,21 @@ public interface PointCloudWriter {
 	 */
 	void initialize( int size, boolean hasColor );
 
+	/** A new point is being added with new attributes to follow */
+	void startPoint();
+
+	/** It's done specifying attributes for the point */
+	void stopPoint();
+
+	/**
+	 * Set the 3D location of the point
+	 */
+	void location( double x, double y, double z );
+
 	/**
-	 * Adds a 3D point with color information
+	 * Sets the points color
 	 */
-	void add( double x, double y, double z, int rgb );
+	void color( int rgb );
 
 	class CloudArraysF32 implements PointCloudWriter {
 		// Storage for point cloud
@@ -57,10 +68,17 @@ class CloudArraysF32 implements PointCloudWriter {
 			cloudXyz.reserve(size*3);
 		}
 
-		@Override public void add( double x, double y, double z, int rgb ) {
+		@Override public void startPoint() {}
+
+		@Override public void stopPoint() {}
+
+		@Override public void location( double x, double y, double z ) {
 			cloudXyz.add((float)x);
 			cloudXyz.add((float)y);
 			cloudXyz.add((float)z);
+		}
+
+		@Override public void color( int rgb ) {
 			cloudRgb.add(rgb);
 		}
 
@@ -79,10 +97,15 @@ static PointCloudWriter wrapF32( DogArray<Point3D_F32> cloud ) {
 				cloud.reset();
 			}
 
-			@Override
-			public void add( double x, double y, double z, int rgb ) {
+			@Override public void startPoint() {}
+
+			@Override public void stopPoint() {}
+
+			@Override public void location( double x, double y, double z ) {
 				cloud.grow().setTo((float)x, (float)y, (float)z);
 			}
+
+			@Override public void color( int rgb ) {}
 		};
 	}
 
@@ -93,23 +116,56 @@ static PointCloudWriter wrapF64( DogArray<Point3D_F64> cloud ) {
 				cloud.reset();
 			}
 
-			@Override
-			public void add( double x, double y, double z, int rgb ) {
+			@Override public void startPoint() {}
+
+			@Override public void stopPoint() {}
+
+			@Override public void color( int rgb ) {}
+
+			@Override public void location( double x, double y, double z ) {
 				cloud.grow().setTo(x, y, z);
 			}
 		};
 	}
 
+	static PointCloudWriter wrapF64( DogArray<Point3D_F64> cloud, DogArray_I32 colors ) {
+		return new PointCloudWriter() {
+			@Override public void initialize( int size, boolean hasColor ) {
+				cloud.reserve(size);
+				cloud.reset();
+				colors.reserve(size);
+				colors.reset();
+			}
+
+			@Override public void startPoint() {}
+
+			@Override public void stopPoint() {}
+
+			@Override public void color( int rgb ) {colors.add(rgb);}
+
+			@Override public void location( double x, double y, double z ) {cloud.grow().setTo(x, y, z);}
+		};
+	}
+
 	static PointCloudWriter wrapF32RGB( DogArray<Point3dRgbI_F32> cloud ) {
 		return new PointCloudWriter() {
 			@Override public void initialize( int size, boolean hasColor ) {
 				cloud.reserve(size);
 				cloud.reset();
 			}
 
-			@Override
-			public void add( double x, double y, double z, int rgb ) {
-				cloud.grow().setTo((float)x, (float)y, (float)z, rgb);
+			@Override public void startPoint() {
+				cloud.grow();
+			}
+
+			@Override public void stopPoint() {}
+
+			@Override public void location( double x, double y, double z ) {
+				cloud.getTail().setTo((float)x, (float)y, (float)z);
+			}
+
+			@Override public void color( int rgb ) {
+				cloud.getTail().rgb = rgb;
 			}
 		};
 	}
@@ -120,9 +176,18 @@ static PointCloudWriter wrapF64RGB( DogArray<Point3dRgbI_F64> cloud ) {
 				cloud.reset();
 			}
 
-			@Override
-			public void add( double x, double y, double z, int rgb ) {
-				cloud.grow().setTo(x, y, z, rgb);
+			@Override public void startPoint() {
+				cloud.grow();
+			}
+
+			@Override public void stopPoint() {}
+
+			@Override public void location( double x, double y, double z ) {
+				cloud.getTail().setTo(x, y, z);
+			}
+
+			@Override public void color( int rgb ) {
+				cloud.getTail().rgb = rgb;
 			}
 		};
 	}