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0.19.6: Added auto brightness/contrast and texture format options to multiband approach. rtabmap-export moved from examples to tools directory.

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This commit is contained in:
matlabbe
2019-11-03 14:10:02 -05:00
parent 5d789f75a9
commit 179f17d267
17 changed files with 337 additions and 190 deletions
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4
corelib/include/rtabmap/core/util2d.h
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@@ -147,7 +147,9 @@ cv::Mat RTABMAP_EXP brightnessAndContrastAuto(
const cv::Mat & src,
const cv::Mat & mask,
float clipLowHistPercent=0,
float clipHighHistPercent=0);
float clipHighHistPercent=0,
float * alphaOut = 0,
float * betaOut = 0);
cv::Mat RTABMAP_EXP exposureFusion(
const std::vector<cv::Mat> & images);

13
corelib/include/rtabmap/core/util3d_surface.h
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@@ -223,7 +223,8 @@ cv::Mat RTABMAP_EXP mergeTextures(
const ProgressState * state = 0,
unsigned char blankValue = 255, //Gray value for blank polygons (without texture)
std::map<int, std::map<int, cv::Vec4d> > * gains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B>
std::map<int, std::map<int, cv::Mat> > * blendingGains = 0); // <Camera ID, Camera Sub Index (multi-cameras), gains>
std::map<int, std::map<int, cv::Mat> > * blendingGains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains>
std::pair<float, float> * contrastValues = 0); // Alpha/beta contrast values
cv::Mat RTABMAP_EXP mergeTextures(
pcl::TextureMesh & mesh,
const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
@@ -244,13 +245,15 @@ cv::Mat RTABMAP_EXP mergeTextures(
const ProgressState * state = 0,
unsigned char blankValue = 255, //Gray value for blank polygons (without texture)
std::map<int, std::map<int, cv::Vec4d> > * gains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B>
std::map<int, std::map<int, cv::Mat> > * blendingGains = 0); // <Camera ID, Camera Sub Index (multi-cameras), gains>
std::map<int, std::map<int, cv::Mat> > * blendingGains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains>
std::pair<float, float> * contrastValues = 0); // Alpha/beta contrast values
void RTABMAP_EXP fixTextureMeshForVisualization(pcl::TextureMesh & textureMesh);
bool RTABMAP_EXP multiBandTexturing(
const std::string & outputOBJPath,
const pcl::PolygonMesh & mesh,
const pcl::PCLPointCloud2 & cloud,
const std::vector<pcl::Vertices> & polygons,
const std::map<int, Transform> & cameraPoses,
const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels, // required output of util3d::createTextureMesh()
const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
@@ -258,8 +261,10 @@ bool RTABMAP_EXP multiBandTexturing(
const Memory * memory = 0, // Should be set if images are not set
const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
int textureSize = 8192,
const std::string & textureFormat = "jpg", // png, jpg
const std::map<int, std::map<int, cv::Vec4d> > & gains = std::map<int, std::map<int, cv::Vec4d> >(), // optional output of util3d::mergeTextures()
const std::map<int, std::map<int, cv::Mat> > & blendingGains = std::map<int, std::map<int, cv::Mat> >()); // optional output of util3d::mergeTextures()
const std::map<int, std::map<int, cv::Mat> > & blendingGains = std::map<int, std::map<int, cv::Mat> >(), // optional output of util3d::mergeTextures()
const std::pair<float, float> & contrastValues = std::pair<float, float>(0,0)); // optional output of util3d::mergeTextures()
cv::Mat RTABMAP_EXP computeNormals(
const cv::Mat & laserScan,