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https://github.com/introlab/rtabmap.git
synced 2026-09-01 17:10:26 +08:00
Updated for AliceVision >=2.4.0 compatibility. Export: added --multiband_contrib option.
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@@ -63,7 +63,7 @@ void showUsage()
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" --mesh Create a mesh.\n"
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" --texture Create a mesh with texture.\n"
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" --texture_size # Texture size 1024, 2048, 4096, 8192, 16384 (default 8192).\n"
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" --texture_count # Maximum textures generated (default 1).\n"
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" --texture_count # Maximum textures generated (default 1). Ignored by --multiband option (adjust --multiband_contrib instead).\n"
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" --texture_range # Maximum camera range for texturing a polygon (default 0 meters: no limit).\n"
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" --texture_depth_error # Maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used, default=0).\n"
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" --texture_d2c Distance to camera policy.\n"
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@@ -91,7 +91,8 @@ void showUsage()
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" --high_gain # High brightness gain 0-100 (default 10).\n"
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" --multiband Enable multiband texturing (AliceVision dependency required).\n"
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" --multiband_downscale # Downscaling reduce the texture quality but speed up the computation time (default 2).\n"
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" --multiband_unwrap # Method to unwrap input mesh: 0=basic (default, >600k faces, fast), 1=LSCM (<=600k faces, optimize space), 2=ABF (<=300k faces, generate 1 atlas).\n"
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" --multiband_contrib \"# # # # \" Number of contributions per frequency band for the multi-band blending, should be 4 values! (default \"1 5 10 0\").\n"
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" --multiband_unwrap # Method to unwrap input mesh: 0=basic (default, >600k faces, fast), 1=ABF (<=300k faces, generate 1 atlas), 2=LSCM (<=600k faces, optimize space).\n"
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" --multiband_fillholes Fill Texture holes with plausible values.\n"
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" --multiband_padding # Texture edge padding size in pixel (0-100) (default 5).\n"
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" --multiband_scorethr # 0 to disable filtering based on threshold to relative best score (0.0-1.0). (default 0.1).\n"
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@@ -153,6 +154,7 @@ int main(int argc, char * argv[])
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bool distanceToCamPolicy = false;
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bool multiband = false;
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int multibandDownScale = 2;
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std::string multibandNbContrib = "1 5 10 0";
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int multibandUnwrap = 0;
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bool multibandFillHoles = false;
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int multibandPadding = 5;
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@@ -373,6 +375,23 @@ int main(int argc, char * argv[])
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showUsage();
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}
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}
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else if(std::strcmp(argv[i], "--multiband_contrib") == 0)
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{
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++i;
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if(i<argc-1)
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{
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if(uSplit(argv[i], ' ').size() != 4)
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{
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printf("--multiband_contrib has wrong format! value=\"%s\"\n", argv[i]);
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showUsage();
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}
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multibandNbContrib = argv[i];
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}
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else
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{
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showUsage();
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}
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}
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else if(std::strcmp(argv[i], "--multiband_unwrap") == 0)
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{
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++i;
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@@ -1424,7 +1443,7 @@ int main(int argc, char * argv[])
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printf("MultiBand texturing (size=%d, downscale=%d, unwrap method=%s, fill holes=%s, padding=%d, best score thr=%f, angle thr=%f, force visible=%s)... \"%s\"\n",
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textureSize,
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multibandDownScale,
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multibandUnwrap==2?"ABF":multibandUnwrap==1?"LSCM":"Basic",
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multibandUnwrap==1?"ABF":multibandUnwrap==2?"LSCM":"Basic",
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multibandFillHoles?"true":"false",
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multibandPadding,
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multibandBestScoreThr,
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@@ -1442,6 +1461,7 @@ int main(int argc, char * argv[])
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0,
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textureSize,
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multibandDownScale,
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multibandNbContrib,
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"jpg",
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gains,
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blendingGains,
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