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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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examples/CMakeLists.txt
-1
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@@ -1,6 +1,5 @@
ADD_SUBDIRECTORY( BOWMapping )
ADD_SUBDIRECTORY( Export )
IF(TARGET rtabmap_gui)
ADD_SUBDIRECTORY( RGBDMapping )
examples/Export/CMakeLists.txt
-58
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@@ -1,58 +0,0 @@
cmake_minimum_required(VERSION 2.8)
IF(DEFINED PROJECT_NAME)
set(internal TRUE)
ENDIF(DEFINED PROJECT_NAME)
if(internal)
# inside rtabmap project (see below for external build)
SET(RTABMap_INCLUDE_DIRS
${PROJECT_SOURCE_DIR}/utilite/include
${PROJECT_SOURCE_DIR}/corelib/include
)
SET(RTABMap_LIBRARIES
rtabmap_core
rtabmap_utilite
)
else()
# external build
PROJECT( MyProject )
FIND_PACKAGE(RTABMap REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(PCL 1.7 REQUIRED)
endif()
if(POLICY CMP0020)
cmake_policy(SET CMP0020 OLD)
endif()
SET(INCLUDE_DIRS
${RTABMap_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
SET(LIBRARIES
${RTABMap_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
ADD_EXECUTABLE(export main.cpp)
TARGET_LINK_LIBRARIES(export ${LIBRARIES})
if(internal)
SET_TARGET_PROPERTIES( export
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-export)
endif(internal)
INSTALL(TARGETS export
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
examples/Export/main.cpp
-499
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@@ -1,499 +0,0 @@
/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_surface.h>
#include <rtabmap/core/optimizer/OptimizerG2O.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UStl.h>
#include <pcl/filters/filter.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/common/common.h>
#include <pcl/surface/poisson.h>
#include <stdio.h>
using namespace rtabmap;
void showUsage()
{
printf("\nUsage:\n"
"rtabmap-exportCloud [options] database.db\n"
"Options:\n"
" --mesh Create a mesh.\n"
" --texture Create a mesh with texture.\n"
" --texture_size Texture size (default 4096.\n"
" --texture_count Maximum textures generated (default 1).\n"
" --ba Do global bundle adjustment before assembling the clouds.\n"
" --no_gain Disable gain compensation when texturing.\n"
" --no_blending Disable blending when texturing.\n"
" --no_clean Disable cleaning colorless polygons.\n"
" --multiband Enable multiband texturing (AliceVision dependency required).\n"
" --poisson_depth # Set Poisson depth for mesh reconstruction.\n"
" --max_polygons # Maximum polygons when creating a mesh (default 1000000, set 0 for no limit).\n"
" --max_range # Maximum range of the created clouds (default 4 m).\n"
" --decimation # Image decimation before creating the clouds (default 4).\n"
" --voxel # Voxel size of the created clouds (default 0.01 m).\n"
"\n%s", Parameters::showUsage());
;
exit(1);
}
int main(int argc, char * argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kError);
if(argc < 2)
{
showUsage();
}
bool mesh = false;
bool texture = false;
bool ba = false;
bool doGainCompensation = true;
bool doBlending = true;
bool doClean = true;
int poissonDepth = 0;
int maxPolygons = 1000000;
int decimation = 4;
float maxRange = 4.0f;
float voxelSize = 0.01f;
int textureSize = 8192;
int textureCount = 8;
bool multiband = false;
ParametersMap params = Parameters::parseArguments(argc, argv, false);
for(int i=1; i<argc-1; ++i)
{
if(std::strcmp(argv[i], "--mesh") == 0)
{
mesh = true;
}
else if(std::strcmp(argv[i], "--texture") == 0)
{
texture = true;
}
else if(std::strcmp(argv[i], "--texture_size") == 0)
{
++i;
if(i<argc-1)
{
textureSize = uStr2Int(argv[i]);
UASSERT(textureSize%256==0);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--texture_count") == 0)
{
++i;
if(i<argc-1)
{
textureCount = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--ba") == 0)
{
ba = true;
}
else if(std::strcmp(argv[i], "--no_gain") == 0)
{
doGainCompensation = false;
}
else if(std::strcmp(argv[i], "--no_blending") == 0)
{
doBlending = false;
}
else if(std::strcmp(argv[i], "--no_clean") == 0)
{
doClean = false;
}
else if(std::strcmp(argv[i], "--multiband") == 0)
{
multiband = true;
}
else if(std::strcmp(argv[i], "--poisson_depth") == 0)
{
++i;
if(i<argc-1)
{
poissonDepth = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--max_polygons") == 0)
{
++i;
if(i<argc-1)
{
maxPolygons = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--max_range") == 0)
{
++i;
if(i<argc-1)
{
maxRange = uStr2Float(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--decimation") == 0)
{
++i;
if(i<argc-1)
{
decimation = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--voxel") == 0)
{
++i;
if(i<argc-1)
{
voxelSize = uStr2Float(argv[i]);
}
else
{
showUsage();
}
}
}
std::string dbPath = argv[argc-1];
// Get parameters
ParametersMap parameters;
DBDriver * driver = DBDriver::create();
if(driver->openConnection(dbPath))
{
parameters = driver->getLastParameters();
driver->closeConnection(false);
}
else
{
UERROR("Cannot open database %s!", dbPath.c_str());
}
delete driver;
for(ParametersMap::iterator iter=params.begin(); iter!=params.end(); ++iter)
{
printf("Added custom parameter %s=%s\n",iter->first.c_str(), iter->second.c_str());
}
printf("Loading database \"%s\"...\n", dbPath.c_str());
// Get the global optimized map
Rtabmap rtabmap;
uInsert(parameters, params);
rtabmap.init(parameters, dbPath);
printf("Loading database \"%s\"... done.\n", dbPath.c_str());
std::map<int, Signature> nodes;
std::map<int, Transform> optimizedPoses;
std::multimap<int, Link> links;
printf("Optimizing the map...\n");
rtabmap.get3DMap(nodes, optimizedPoses, links, true, true);
printf("Optimizing the map... done.\n");
if(ba)
{
printf("Global bundle adjustment...\n");
OptimizerG2O g2o(parameters);
std::map<int, cv::Point3f> points3DMap;
std::map<int, std::map<int, FeatureBA> > wordReferences;
g2o.computeBACorrespondences(optimizedPoses, links, nodes, points3DMap, wordReferences, true);
std::map<int, rtabmap::CameraModel> cameraSingleModels;
for(std::map<int, Transform>::iterator iter=optimizedPoses.lower_bound(1); iter!=optimizedPoses.end(); ++iter)
{
Signature node = nodes.find(iter->first)->second;
UASSERT(node.sensorData().cameraModels().size()==1);
cameraSingleModels.insert(std::make_pair(iter->first, node.sensorData().cameraModels().front()));
}
optimizedPoses = g2o.optimizeBA(optimizedPoses.begin()->first, optimizedPoses, links, cameraSingleModels, points3DMap, wordReferences);
printf("Global bundle adjustment... done.\n");
}
// Construct the cloud
printf("Create and assemble the clouds...\n");
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::map<int, rtabmap::Transform> cameraPoses;
std::map<int, std::vector<rtabmap::CameraModel> > cameraModels;
std::map<int, cv::Mat> cameraDepths;
for(std::map<int, Transform>::iterator iter=optimizedPoses.lower_bound(1); iter!=optimizedPoses.end(); ++iter)
{
Signature node = nodes.find(iter->first)->second;
// uncompress data
node.sensorData().uncompressData();
std::vector<CameraModel> models = node.sensorData().cameraModels();
cv::Mat depth = node.sensorData().depthRaw();
pcl::IndicesPtr indices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudRGBFromSensorData(
node.sensorData(),
decimation, // image decimation before creating the clouds
maxRange, // maximum depth of the cloud
0.0f,
indices.get());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
transformedCloud = rtabmap::util3d::voxelize(cloud, indices, voxelSize);
transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
Eigen::Vector3f viewpoint( iter->second.x(), iter->second.y(), iter->second.z());
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(transformedCloud, 10, 0.0f, viewpoint);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::concatenateFields(*transformedCloud, *normals, *cloudWithNormals);
if(mergedClouds->size() == 0)
{
*mergedClouds = *cloudWithNormals;
}
else
{
*mergedClouds += *cloudWithNormals;
}
cameraPoses.insert(std::make_pair(iter->first, iter->second));
if(!models.empty())
{
cameraModels.insert(std::make_pair(iter->first, models));
}
if(!depth.empty())
{
cameraDepths.insert(std::make_pair(iter->first, depth));
}
}
printf("Create and assemble the clouds... done.\n");
if(mergedClouds->size())
{
if(!(mesh || texture))
{
printf("Voxel grid filtering of the assembled cloud (voxel=%f, %d points)\n", 0.01f, (int)mergedClouds->size());
mergedClouds = util3d::voxelize(mergedClouds, voxelSize);
printf("Saving cloud.ply... (%d points)\n", (int)mergedClouds->size());
pcl::io::savePLYFile("cloud.ply", *mergedClouds);
printf("Saving cloud.ply... done!\n");
}
else
{
Eigen::Vector4f min,max;
pcl::getMinMax3D(*mergedClouds, min, max);
float mapLength = uMax3(max[0]-min[0], max[1]-min[1], max[2]-min[2]);
int optimizedDepth = 12;
for(int i=6; i<12; ++i)
{
if(mapLength/float(1<<i) < 0.03f)
{
optimizedDepth = i;
break;
}
}
if(poissonDepth>0)
{
optimizedDepth = poissonDepth;
}
// Mesh reconstruction
printf("Mesh reconstruction... depth=%d\n", optimizedDepth);
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
pcl::Poisson<pcl::PointXYZRGBNormal> poisson;
poisson.setDepth(optimizedDepth);
poisson.setInputCloud(mergedClouds);
UTimer timer;
poisson.reconstruct(*mesh);
printf("Mesh reconstruction... done! %fs (%d polygons)\n", timer.ticks(), (int)mesh->polygons.size());
if(mesh->polygons.size())
{
rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGBNormal>(
mesh,
0.0f,
maxPolygons,
mergedClouds,
doClean?0.05:0,
!texture,
doClean);
if(!texture)
{
printf("Saving mesh.ply...\n");
pcl::io::savePLYFile("mesh.ply", *mesh);
printf("Saving mesh.ply... done!\n");
}
else
{
printf("Texturing %d polygons... cameraPoses=%d, cameraDepths=%d\n", (int)mesh->polygons.size(), (int)cameraPoses.size(), (int)cameraDepths.size());
std::vector<std::map<int, pcl::PointXY> > vertexToPixels;
pcl::TextureMeshPtr textureMesh = rtabmap::util3d::createTextureMesh(
mesh,
cameraPoses,
cameraModels,
cameraDepths,
3,
0.0f,
0.0f,
50,
std::vector<float>(),
0,
&vertexToPixels);
printf("Texturing... done! %fs\n", timer.ticks());
// Remove occluded polygons (polygons with no texture)
if(doClean && textureMesh->tex_coordinates.size())
{
printf("Cleanup mesh...\n");
rtabmap::util3d::cleanTextureMesh(*textureMesh, 0);
printf("Cleanup mesh... done! %fs\n", timer.ticks());
}
if(textureMesh->tex_materials.size())
{
printf("Merging %d textures...\n", (int)textureMesh->tex_materials.size());
std::map<int, std::map<int, cv::Vec4d> > gains;
std::map<int, std::map<int, cv::Mat> > blendingGains;
cv::Mat textures = rtabmap::util3d::mergeTextures(
*textureMesh,
std::map<int, cv::Mat>(),
std::map<int, std::vector<rtabmap::CameraModel> >(),
rtabmap.getMemory(),
0,
textureSize,
textureCount,
vertexToPixels,
doGainCompensation, 10.0f, true ,doBlending, 0, 0, 0, false,
0,
0,
&gains,
&blendingGains);
printf("Merging %d textures... done. %fs\n", (int)textureMesh->tex_materials.size(), timer.ticks());
// TextureMesh OBJ
bool success = false;
UASSERT(!textures.empty());
for(size_t i=0; i<textureMesh->tex_materials.size(); ++i)
{
textureMesh->tex_materials[i].tex_file += ".jpg";
printf("Saving texture to %s.\n", textureMesh->tex_materials[i].tex_file.c_str());
UASSERT(textures.cols % textures.rows == 0);
success = cv::imwrite(textureMesh->tex_materials[i].tex_file, cv::Mat(textures, cv::Range::all(), cv::Range(textures.rows*i, textures.rows*(i+1))));
if(!success)
{
UERROR("Failed saving %s!", textureMesh->tex_materials[i].tex_file.c_str());
}
else
{
printf("Saved %s.\n", textureMesh->tex_materials[i].tex_file.c_str());
}
}
if(success)
{
std::string filePath = "mesh.obj";
printf("Saving obj (%d vertices) to %s.\n", (int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step, filePath.c_str());
success = pcl::io::saveOBJFile(filePath, *textureMesh) == 0;
if(success)
{
printf("Saved obj to %s!\n", filePath.c_str());
}
else
{
UERROR("Failed saving obj to %s!", filePath.c_str());
}
}
if(multiband)
{
#ifndef RTABMAP_ALICE_VISION
UERROR("Cannot use --unwrap option, RTAB-Map is not built with AliceVision support.");
#else
timer.restart();
printf("MultiBand texturing... \"mesh_multiband.obj\"\n");
if(util3d::multiBandTexturing("mesh_multiband.obj",
*mesh,
cameraPoses,
vertexToPixels,
std::map<int, cv::Mat >(),
std::map<int, std::vector<CameraModel> >(),
rtabmap.getMemory(),
0,
textureSize,
gains,
blendingGains))
{
printf("MultiBand texturing...done. %fs\n", timer.ticks());
}
else
{
printf("MultiBand texturing...failed! %fs\n", timer.ticks());
}
#endif
}
}
}
}
}
}
else
{
printf("Export failed! The cloud is empty.\n");
}
return 0;
}