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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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35
guilib/src/ExportCloudsDialog.cpp
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@@ -653,7 +653,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_cameraFilterVelRad->setValue(0);
_ui->doubleSpinBox_laplacianVariance->setValue(0);
_ui->spinBox_textureBrightnessContrastRatioLow->setValue(0);
_ui->spinBox_textureBrightnessContrastRatioHigh->setValue(0);
_ui->spinBox_textureBrightnessContrastRatioHigh->setValue(5);
_ui->checkBox_exposureFusion->setChecked(false);
_ui->checkBox_blending->setChecked(true);
_ui->comboBox_blendingDecimation->setCurrentIndex(0);
@@ -3840,10 +3840,15 @@ void ExportCloudsDialog::saveTextureMeshes(
cv::Mat globalTextures;
bool texturesMerged = _ui->comboBox_meshingTextureSize->isEnabled() && _ui->comboBox_meshingTextureSize->currentIndex() > 0;
if(texturesMerged && mesh->tex_materials.size()>1)
{
{
_progressDialog->appendText(tr("Merging textures..."));
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
std::map<int, std::map<int, cv::Vec4d> > gains;
std::map<int, std::map<int, cv::Mat> > blendingGains;
std::pair<float, float> contrastValues(0,0);
globalTextures = util3d::mergeTextures(
*mesh,
images,
@@ -3851,7 +3856,7 @@ void ExportCloudsDialog::saveTextureMeshes(
0,
_dbDriver,
textureSize,
_ui->spinBox_mesh_maxTextures->value(),
_ui->checkBox_multiband->isEnabled() && _ui->checkBox_multiband->isChecked()?1:_ui->spinBox_mesh_maxTextures->value(),
textureVertexToPixels,
_ui->checkBox_gainCompensation->isChecked(),
_ui->doubleSpinBox_gainBeta->value(),
@@ -3864,17 +3869,25 @@ void ExportCloudsDialog::saveTextureMeshes(
0,
0,
&gains,
&blendingGains);
&blendingGains,
&contrastValues);
_progressDialog->appendText(tr("Merging textures... done."));
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
if(_ui->checkBox_multiband->isEnabled() && _ui->checkBox_multiband->isChecked() && mesh->tex_polygons.size() == 1)
{
pcl::PolygonMesh multibandMesh;
multibandMesh.cloud = mesh->cloud;
multibandMesh.polygons = mesh->tex_polygons[0];
_progressDialog->appendText(tr("Multiband texturing... (this may take a couple of minutes!)"));
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
success = util3d::multiBandTexturing(
path.toStdString(),
multibandMesh,
mesh->cloud,
mesh->tex_polygons[0],
poses,
textureVertexToPixels,
images,
@@ -3882,8 +3895,10 @@ void ExportCloudsDialog::saveTextureMeshes(
0,
_dbDriver,
textureSize,
_ui->comboBox_meshingTextureFormat->currentText().toStdString(),
gains,
blendingGains);
blendingGains,
contrastValues);
if(success)
{
_progressDialog->incrementStep();