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Bundler: fixed 3D points orientation, added color.

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matlabbe
2018-10-24 20:34:53 -04:00
parent c14e20330f
commit 1ef61db73b
1 changed files with 27 additions and 3 deletions
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30
guilib/src/ExportBundlerDialog.cpp
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@@ -176,6 +176,7 @@ void ExportBundlerDialog::exportBundler(
std::map<int, Transform> cameras; std::map<int, Transform> cameras;
std::map<int, int> cameraIndexes; std::map<int, int> cameraIndexes;
int camIndex = 0; int camIndex = 0;
std::map<int, QColor> colors;
for(std::map<int, Transform>::const_iterator iter=newPoses.begin(); iter!=newPoses.end(); ++iter) for(std::map<int, Transform>::const_iterator iter=newPoses.begin(); iter!=newPoses.end(); ++iter)
{ {
if(signatures.find(iter->first) != signatures.end()) if(signatures.find(iter->first) != signatures.end())
@@ -269,6 +270,28 @@ void ExportBundlerDialog::exportBundler(
if(kter->first == iter->first) if(kter->first == iter->first)
{ {
descriptors.push_back(kter->second); descriptors.push_back(kter->second);
if(colors.find(jter->first) == colors.end())
{
if(!image.empty() &&
kter->second.kpt.pt.x >= 0.0f && (int)kter->second.kpt.pt.x < image.cols &&
kter->second.kpt.pt.y >= 0.0f && (int)kter->second.kpt.pt.y < image.rows)
{
UASSERT(image.type() == CV_8UC3 || image.type() == CV_8UC1);
QColor c;
if(image.channels() == 3)
{
cv::Vec3b & pixel = image.at<cv::Vec3b>((int)kter->second.kpt.pt.y, (int)kter->second.kpt.pt.x);
c.setRgb(pixel[0], pixel[1], pixel[2]);
}
else // grayscale
{
unsigned char & pixel = image.at<unsigned char>((int)kter->second.kpt.pt.y, (int)kter->second.kpt.pt.x);
c.setRgb(pixel, pixel, pixel);
}
colors.insert(std::make_pair(jter->first, c));
}
}
} }
} }
} }
@@ -409,9 +432,10 @@ void ExportBundlerDialog::exportBundler(
for(std::map<int, cv::Point3f>::iterator iter=points3DMap.begin(); iter!=points3DMap.end(); ++iter) for(std::map<int, cv::Point3f>::iterator iter=points3DMap.begin(); iter!=points3DMap.end(); ++iter)
{ {
std::map<int, std::map<int, FeatureBA> >::iterator jter = wordReferences.find(iter->first); std::map<int, std::map<int, FeatureBA> >::iterator jter = wordReferences.find(iter->first);
cv::Point3f pt3d = util3d::transformPoint(iter->second, opengl_world_T_rtabmap_world); out << iter->second.x << " " << iter->second.y << " " << iter->second.z << "\n";
out << pt3d.x << " " << pt3d.y << " " << pt3d.z << "\n"; UASSERT(colors.find(iter->first) != colors.end());
out << 255 << " " << 0 << " " << 0 << "\n"; // make them all red for now QColor & c = colors.at(iter->first);
out << c.red() << " " << c.green() << " " << c.blue() << "\n";
out << jter->second.size(); out << jter->second.size();
for(std::map<int, FeatureBA>::iterator kter = jter->second.begin(); kter!=jter->second.end(); ++kter) for(std::map<int, FeatureBA>::iterator kter = jter->second.begin(); kter!=jter->second.end(); ++kter)
{ {