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Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option.

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This commit is contained in:
matlabbe
2021-09-19 20:20:45 -04:00
parent 44b057b0d7
commit 14b56813d3
6 changed files with 150 additions and 72 deletions
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38
corelib/src/util3d_surface.cpp
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@@ -2244,6 +2244,7 @@ bool multiBandTexturing(
dbDriver,
textureSize,
2,
"1 5 10 0",
textureFormat,
gains,
blendingGains,
@@ -2263,6 +2264,7 @@ bool multiBandTexturing(
const DBDriver * dbDriver,
unsigned int textureSize,
unsigned int textureDownScale,
const std::string & nbContrib,
const std::string & textureFormat,
const std::map<int, std::map<int, cv::Vec4d> > & gains,
const std::map<int, std::map<int, cv::Mat> > & blendingGains,
@@ -2312,11 +2314,26 @@ bool multiBandTexturing(
#endif
texturing.texParams.textureSide = textureSize;
texturing.texParams.downscale = textureDownScale;
std::vector<int> multiBandNbContrib;
std::list<std::string> values = uSplit(nbContrib, ' ');
for(std::list<std::string>::iterator iter=values.begin(); iter!=values.end(); ++iter)
{
multiBandNbContrib.push_back(uStr2Int(*iter));
}
if(multiBandNbContrib.size() != 4)
{
UERROR("multiband: Wrong number of nb of contribution (vaue=\"%s\", should be 4), using default values instead.", nbContrib.c_str());
}
else
{
texturing.texParams.multiBandNbContrib = multiBandNbContrib;
}
texturing.texParams.padding = padding;
texturing.texParams.fillHoles = fillHoles;
texturing.texParams.bestScoreThreshold = bestScoreThreshold;
texturing.texParams.angleHardThreshold = angleHardThreshold;
texturing.texParams.forceVisibleByAllVertices = forceVisibleByAllVertices;
texturing.texParams.visibilityRemappingMethod = mesh::EVisibilityRemappingMethod::Pull;
for(size_t i=0;i<cloud2.size();++i)
@@ -2479,13 +2496,20 @@ bool multiBandTexturing(
imageRoi = output;
}
Transform t = iter->second * model.localTransform();
Eigen::Matrix<double, 3, 4> m = (t.inverse()).toEigen3d().matrix().block<3,4>(0, 0);
Transform t = (iter->second * model.localTransform()).inverse();
Eigen::Matrix<double, 3, 4> m = t.toEigen3d().matrix().block<3,4>(0, 0);
sfmData::CameraPose pose(geometry::Pose3(m), true);
sfmData.setAbsolutePose((IndexT)viewId, pose);
UDEBUG("%d %d %f %f %f %f", imageSize.width, imageSize.height, model.fx(), model.fy(), model.cx(), model.cy());
std::shared_ptr<camera::IntrinsicBase> camPtr = std::make_shared<camera::Pinhole>(
#if RTABMAP_ALICE_VISION_MAJOR > 2 || (RTABMAP_ALICE_VISION_MAJOR==2 && RTABMAP_ALICE_VISION_MINOR>=4)
//https://github.com/alicevision/AliceVision/commit/9fab5c79a1c65595fe5c5001267e1c5212bc93f0#diff-b0c0a3c30de50be8e4ed283dfe4c8ae4a9bc861aa9a83bd8bfda8182e9d67c08
// [all] the camera principal point is now defined as an offset relative to the image center
imageSize.width, imageSize.height, model.fx(), model.fy(), model.cx() - double(imageSize.width) * 0.5, model.cy() - double(imageSize.height) * 0.5);
#else
imageSize.width, imageSize.height, model.fx(), model.cx(), model.cy());
#endif
sfmData.intrinsics.insert(std::make_pair((IndexT)viewId, camPtr));
std::string imagePath = tmpImageDirectory+uFormat("/%d.jpg", viewId);
@@ -2507,14 +2531,18 @@ bool multiBandTexturing(
mvsUtils::MultiViewParams mp(sfmData);
UINFO("Unwrapping...");
UINFO("Unwrapping (method=%d=%s)...", unwrapMethod, mesh::EUnwrapMethod_enumToString((mesh::EUnwrapMethod)unwrapMethod).c_str());
texturing.unwrap(mp, (mesh::EUnwrapMethod)unwrapMethod);
UINFO("Unwrapping done. %fs", timer.ticks());
// save final obj file
std::string baseName = uSplit(UFile::getName(outputOBJPath), '.').front();
#if RTABMAP_ALICE_VISION_MAJOR > 2 || (RTABMAP_ALICE_VISION_MAJOR==2 && RTABMAP_ALICE_VISION_MINOR>=4)
texturing.saveAs(outputDirectory, baseName, aliceVision::mesh::EFileType::OBJ, imageIO::EImageFileType::PNG);
#else
texturing.saveAsOBJ(outputDirectory, baseName);
UINFO("Saved %s. %fs", outputOBJPath, timer.ticks());
#endif
UINFO("Saved %s. %fs", outputOBJPath.c_str(), timer.ticks());
// generate textures
UINFO("Generating textures...");
@@ -2576,7 +2604,9 @@ bool multiBandTexturing(
UINFO("Rename/convert textures... done. %fs", timer.ticks());
#if RTABMAP_ALICE_VISION_MAJOR > 2 || (RTABMAP_ALICE_VISION_MAJOR==2 && RTABMAP_ALICE_VISION_MINOR>=3)
UINFO("Cleanup sfmdata...");
sfmData.clear();
UINFO("Cleanup sfmdata... done. %fs", timer.ticks());
#endif
return true;