OBJ Mesh Files

- Reading texture mapped files now works PointCloudIO - Modified how it reads from files
lessthanoptimal · Jun 23, 2024 · ee21e50 · ee21e50
1 parent 3249a5a
commit ee21e50
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Showing 11 changed files with 611 additions and 85 deletions.
diff --git a/applications/src/main/java/boofcv/app/MeshViewerApp.java b/applications/src/main/java/boofcv/app/MeshViewerApp.java
@@ -26,14 +26,11 @@
 import boofcv.struct.image.ImageType;
 import boofcv.struct.image.InterleavedU8;
 import boofcv.struct.mesh.VertexMesh;
-import org.apache.commons.io.FilenameUtils;
 
 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
@@ -48,18 +45,8 @@ public MeshViewerApp() {
 	private static void loadFile( File file ) {
 		// Load the mesh
 		var mesh = new VertexMesh();
-		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);
+		try {
+			PointCloudIO.load(file, mesh);
 		} catch (IOException e) {
 			e.printStackTrace(System.err);
 			System.exit(1);

diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/cloud/PointCloudReader.java b/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;

diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/cloud/PointCloudWriter.java b/main/boofcv-geo/src/main/java/boofcv/alg/cloud/PointCloudWriter.java
@@ -128,6 +128,25 @@ static PointCloudWriter wrapF64( DogArray<Point3D_F64> cloud ) {
 		};
 	}
 
+	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 ) {

diff --git a/main/boofcv-io/src/main/java/boofcv/io/points/PointCloudIO.java b/main/boofcv-io/src/main/java/boofcv/io/points/PointCloudIO.java
@@ -36,6 +36,7 @@
 import java.nio.ByteOrder;
 import java.nio.charset.StandardCharsets;
 import java.util.Locale;
+import java.util.Map;
 
 /**
  * Code for reading different point cloud formats
@@ -95,6 +96,8 @@ public static void save3D( Format format,
 
 			@Override public int size() {return size;}
 
+			@Override public boolean colors() {return true;}
+
 			@Override public void get( int index, Point3D_F64 point ) {accessPoint.getPoint(index, point);}
 
 			@Override public int getRGB( int index ) {return accessColor.getRGB(index);}
@@ -148,6 +151,8 @@ public static void load( Format format, InputStream input, PointCloudWriter outp
 	/**
 	 * Loads the mesh from a file. File type is determined by the file's extension.
 	 *
+	 * <p>For OBJ files, if there are multiple shapes defined then only the first one is returned.</p>
+	 *
 	 * @param file Which file it should load
 	 * @param mesh (Output) storage for the mesh
 	 */
@@ -160,11 +165,30 @@ public static void load( File file, VertexMesh mesh ) throws IOException {
 			default -> throw new RuntimeException("Unknown file type: " + extension);
 		};
 
+
+		// OBJ files are special. They need to read in multiple files to get the texture map image and
+		// there can be multiple shapes defined. This will handle all those situations
+		if (type == PointCloudIO.Format.OBJ) {
+			var reader = new ObjLoadFromFiles();
+			reader.load(file, mesh);
+			return;
+		}
+
 		try (var input = new FileInputStream(file)) {
 			PointCloudIO.load(type, input, mesh);
 		}
 	}
 
+	/**
+	 * Loads a set of {@link VertexMesh} from an OBJ file. This can ready any type of OBJ file as it doesn't make
+	 * assumptions about what is contained inside of it
+	 */
+	public static Map<String, VertexMesh> loadObj( File file ) {
+		var reader = new ObjLoadFromFiles();
+		reader.load(file, null);
+		return reader.getShapeToMesh();
+	}
+
 	/**
 	 * Reads a 3D mesh from the input stream in the specified format and writes it to the output.
 	 *

diff --git a/main/boofcv-io/src/main/java/boofcv/io/points/impl/ObjFileCodec.java b/main/boofcv-io/src/main/java/boofcv/io/points/impl/ObjFileCodec.java
@@ -24,6 +24,7 @@
 import georegression.struct.point.Point2D_F32;
 import georegression.struct.point.Point3D_F32;
 import georegression.struct.point.Point3D_F64;
+import org.apache.commons.io.FilenameUtils;
 import org.ddogleg.struct.DogArray_I32;
 
 import java.io.*;
@@ -44,30 +45,71 @@ public static void save( PointCloudReader cloud, Writer writer ) throws IOExcept
 		var obj = new ObjFileWriter(writer);
 		obj.addComment("Created by BoofCV");
 
+		boolean hasColor = cloud.colors();
+
 		var point = new Point3D_F64();
 		int N = cloud.size();
 		for (int i = 0; i < N; i++) {
 			cloud.get(i, point);
-			obj.addVertex(point.x, point.y, point.z);
+			if (hasColor) {
+				addRgbVertex(obj, point, cloud.getRGB(i));
+			} else {
+				obj.addVertex(point.x, point.y, point.z);
+			}
 			obj.addPoint(-1);
 		}
 	}
 
+	/**
+	 * Creates a MTL file. This is required if the mesh is textured mapped
+	 *
+	 * @param textureFile Path to texture mapped file
+	 * @param writer Where the MTL will be written to
+	 */
+	public static void saveMtl( String textureFile, Writer writer ) throws IOException {
+		// Use hard coded values
+		String text = """
+				newmtl %s
+				Ka 1.0 1.0 1.0
+				Kd 1.0 1.0 1.0
+				Ks 0.0 0.0 0.0
+				d 1.0
+				Ns 0.0
+				illum 0
+				map_Kd %s""";
+
+		String baseName = FilenameUtils.getBaseName(textureFile);
+		writer.write(String.format(text, baseName, textureFile));
+	}
+
 	public static void save( VertexMesh mesh, Writer writer ) throws IOException {
 		var obj = new ObjFileWriter(writer);
 		obj.addComment("Created by BoofCV");
 
+		// If there's a texture file, add a material
+		if (!mesh.textureName.isEmpty()) {
+			String baseName = FilenameUtils.getBaseName(mesh.textureName);
+			obj.addLibrary(baseName + ".mtl");
+			obj.addMaterial(baseName);
+		}
+
+		boolean hasVertexColors = mesh.rgb.size > 0;
+
 		// First save the vertexes
 		int N = mesh.vertexes.size();
 		for (int i = 0; i < N; i++) {
 			Point3D_F64 p = mesh.vertexes.getTemp(i);
-			obj.addVertex(p.x, p.y, p.z);
+			if (hasVertexColors) {
+				addRgbVertex(obj, p, mesh.rgb.get(i));
+			} else {
+				obj.addVertex(p.x, p.y, p.z);
+			}
 		}
 
 		// Save vertex normals
 		for (int i = 0; i < mesh.normals.size(); i++) {
 			Point3D_F32 p = mesh.normals.getTemp(i);
-			obj.addVertex(p.x, p.y, p.z);
+			obj.addVertexNormal(p.x, p.y, p.z);
 		}
 
 		// Save vertex textures
@@ -97,8 +139,20 @@ public static void save( VertexMesh mesh, Writer writer ) throws IOException {
 		}
 	}
 
+	private static void addRgbVertex( ObjFileWriter obj, Point3D_F64 p, int rgb ) throws IOException {
+		// Convert to float format
+		double red = ((rgb >> 16) & 0xFF)/255.0;
+		double green = ((rgb >> 8) & 0xFF)/255.0;
+		double blue = (rgb & 0xFF)/255.0;
+		obj.addVertex(p.x, p.y, p.z, red, green, blue);
+	}
+
 	public static void load( InputStream input, PointCloudWriter output ) throws IOException {
 		var obj = new ObjFileReader() {
+			@Override protected void addLibrary( String name ) {}
+
+			@Override protected void addMaterial( String name ) {}
+
 			@Override protected void addVertex( double x, double y, double z ) {
 				output.startPoint();
 				output.location(x, y, z);
@@ -107,10 +161,9 @@ public static void load( InputStream input, PointCloudWriter output ) throws IOE
 
 			@Override
 			protected void addVertexWithColor( double x, double y, double z, double red, double green, double blue ) {
-				int rgb = ((int)(255*red)) << 16 | ((int)(255*green)) << 8 | ((int)(255*blue));
 				output.startPoint();
 				output.location(x, y, z);
-				output.color(rgb);
+				output.color(convertToInt(red, green, blue));
 				output.stopPoint();
 			}
 
@@ -130,15 +183,20 @@ protected void addVertexWithColor( double x, double y, double z, double red, dou
 	public static void load( InputStream input, VertexMesh output ) throws IOException {
 		output.reset();
 		var obj = new ObjFileReader() {
+			// Library and material doesn't translate well a stream input and mesh output
+			// A single obj file can define multiple objects with different texture maps
+			@Override protected void addLibrary( String name ) {}
+
+			@Override protected void addMaterial( String name ) {}
+
 			@Override protected void addVertex( double x, double y, double z ) {
 				output.vertexes.append(x, y, z);
 			}
 
 			@Override
 			protected void addVertexWithColor( double x, double y, double z, double red, double green, double blue ) {
-				int rgb = ((int)(255*red)) << 16 | ((int)(255*green)) << 8 | ((int)(255*blue));
 				output.vertexes.append(x, y, z);
-				output.rgb.add(rgb);
+				output.rgb.add(convertToInt(red, green, blue));
 			}
 
 			@Override protected void addVertexNormal( double x, double y, double z ) {
@@ -154,18 +212,36 @@ protected void addVertexWithColor( double x, double y, double z, double red, dou
 			@Override protected void addLine( DogArray_I32 vertexes ) {}
 
 			@Override protected void addFace( DogArray_I32 indexes, int vertexCount ) {
-				int types = indexes.size/vertexCount;
-				for (int idxVert = 0; idxVert < vertexCount; idxVert++) {
-					output.faceVertexes.add(indexes.get(idxVert)/types);
-					for (int i = 1; i < types; i++) {
-						if (indexes.get(i - 1) != indexes.get(i))
-							throw new RuntimeException("Only vertexes types with the same index supported");
-					}
-				}
-
-				output.faceOffsets.add(output.faceVertexes.size);
+				addFactToMesh(indexes, vertexCount, output);
 			}
 		};
 		obj.parse(new BufferedReader(new InputStreamReader(input, StandardCharsets.UTF_8)));
 	}
+
+	static void addFactToMesh( DogArray_I32 indexes, int vertexCount, VertexMesh output ) {
+		// order of that indexes are specifies is always vertex/texture/normal
+
+		boolean hasTexture = output.texture.size() > 0;
+		boolean hasNormals = output.normals.size() > 0;
+
+		int typeCount = indexes.size/vertexCount;
+		for (int idxVert = 0; idxVert < vertexCount; idxVert++) {
+			int index = idxVert*typeCount;;
+			output.faceVertexes.add(indexes.get(index++));
+
+			if (hasTexture) {
+				output.faceVertexTextures.add(indexes.get(index++));
+			}
+
+			if (hasNormals) {
+				output.faceVertexNormals.add(indexes.get(index));
+			}
+		}
+
+		output.faceOffsets.add(output.faceVertexes.size);
+	}
+
+	static int convertToInt( double red, double green, double blue ) {
+		return ((int)(255*red + 0.5)) << 16 | ((int)(255*green + 0.5)) << 8 | ((int)(255*blue + 0.5));
+	}
 }