[textureMeshwithMultipleCameras] - mesh not aligned with texture files

[rrbarioni]

Operating System and version: Windows 10
Compiler: Visual Studio 2015
PCL Version: 1.8.1

Hello,
I have a mesh of an object, where its triangles' color are defined by their vertices color.
As the mesh has a blurry aspect, I would like to perform texturization.
I am following the code described at https://github.com/PointCloudLibrary/pcl/blob/master/gpu/kinfu_large_scale/tools/standalone_texture_mapping.cpp
I have a set of images (related to the object) and its respective camera poses.
However, I am having problems when aligning those images with my mesh.

Here is my mesh without textures:

And here is some of my attempts to texturize the mesh:

I think that I have problems related to the setup of the camera pose.
I have made several attempts:

• I tried to load the rotation matrix, but transposed;
• I tried to load the translation vector, but negative;
• I have also tried the way camera parameters are set as done in https://github.com/PointCloudLibrary/pcl/blob/master/gpu/kinfu_large_scale/tools/standalone_texture_mapping.cpp

Has anybody had a similar problem?
Thanks.

[rrbarioni]

Problem solved; I actually was passing the inverse of the pose matrix to the textureMeshwithMultipleCameras function.

[stale]

Marking this as stale due to 30 days of inactivity. It will be closed in 7 days if no further activity occurs.

[zengletian1491]

How do you generate the texture images/patches?

[kunaltyagi]

Closing the topic since it's solved. Please continue the discussion regardless of the state.

[rrbarioni]

@zengletian1491 for generating the mesh, I used a 3D object reconstruction from unordered RGB images. For this texturization, I actually used one of the input RGB images (and its respective camera pose, obtained from the structure-from-motion step).