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AliceVision integration, see util3d::multiBandTexturing()

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This commit is contained in:
matlabbe
2019-10-28 21:16:02 -04:00
parent c16b22de57
commit 2afa76c07c
12 changed files with 717 additions and 69 deletions
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59
guilib/src/ExportCloudsDialog.cpp
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@@ -382,6 +382,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mesh_textureExposureFusion", _ui->checkBox_exposureFusion->isChecked());
settings.setValue("mesh_textureBlending", _ui->checkBox_blending->isChecked());
settings.setValue("mesh_textureBlendingDecimation", _ui->comboBox_blendingDecimation->currentIndex());
settings.setValue("mesh_textureMultiband", _ui->checkBox_multiband->isChecked());
settings.setValue("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value());
@@ -523,6 +524,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
}
_ui->checkBox_blending->setChecked(settings.value("mesh_textureBlending", _ui->checkBox_blending->isChecked()).toBool());
_ui->comboBox_blendingDecimation->setCurrentIndex(settings.value("mesh_textureBlendingDecimation", _ui->comboBox_blendingDecimation->currentIndex()).toInt());
_ui->checkBox_multiband->setChecked(settings.value("mesh_textureMultiband", _ui->checkBox_multiband->isChecked()).toBool());
_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
_ui->checkBox_mesh_quad->setChecked(settings.value("mesh_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
@@ -655,6 +657,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->checkBox_exposureFusion->setChecked(false);
_ui->checkBox_blending->setChecked(true);
_ui->comboBox_blendingDecimation->setCurrentIndex(0);
_ui->checkBox_multiband->setChecked(false);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
_ui->checkBox_mesh_quad->setChecked(false);
@@ -833,6 +836,11 @@ void ExportCloudsDialog::updateReconstructionFlavor()
_ui->spinBox_meshMaxPolygons->setEnabled(_ui->comboBox_meshingApproach->currentIndex()!=3);
_ui->label_meshMaxPolygons->setEnabled(_ui->comboBox_meshingApproach->currentIndex()!=3);
#endif
#ifndef RTABMAP_ALICE_VISION
_ui->checkBox_multiband->setEnabled(false);
_ui->label_multiband->setEnabled(false);
#endif
}
}
@@ -860,6 +868,9 @@ void ExportCloudsDialog::setSaveButton()
_ui->checkBox_mesh_quad->setVisible(false);
_ui->checkBox_mesh_quad->setEnabled(false);
_ui->label_quad->setVisible(false);
_ui->checkBox_multiband->setVisible(true);
_ui->checkBox_multiband->setEnabled(true);
_ui->label_multiband->setVisible(true);
updateReconstructionFlavor();
}
@@ -873,6 +884,9 @@ void ExportCloudsDialog::setOkButton()
_ui->checkBox_mesh_quad->setVisible(true);
_ui->checkBox_mesh_quad->setEnabled(true);
_ui->label_quad->setVisible(true);
_ui->checkBox_multiband->setVisible(false);
_ui->checkBox_multiband->setEnabled(false);
_ui->label_multiband->setVisible(false);
updateReconstructionFlavor();
}
@@ -2969,7 +2983,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr previousCloud;
pcl::IndicesPtr previousIndices;
Transform previousPose;
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end() && !_canceled; ++iter, ++index)
for(std::map<int, Transform>::const_iterator iter = poses.lower_bound(1); iter!=poses.end() && !_canceled; ++iter, ++index)
{
int points = 0;
int totalIndices = 0;
@@ -3826,7 +3840,10 @@ void ExportCloudsDialog::saveTextureMeshes(
cv::Mat globalTextures;
bool texturesMerged = _ui->comboBox_meshingTextureSize->isEnabled() && _ui->comboBox_meshingTextureSize->currentIndex() > 0;
if(texturesMerged && mesh->tex_materials.size()>1)
{
{
std::map<int, std::map<int, cv::Vec4d> > gains;
std::map<int, std::map<int, cv::Mat> > blendingGains;
globalTextures = util3d::mergeTextures(
*mesh,
images,
@@ -3843,7 +3860,43 @@ void ExportCloudsDialog::saveTextureMeshes(
blendingDecimation,
_ui->spinBox_textureBrightnessContrastRatioLow->value(),
_ui->spinBox_textureBrightnessContrastRatioHigh->value(),
_ui->checkBox_exposureFusion->isEnabled() && _ui->checkBox_exposureFusion->isChecked());
_ui->checkBox_exposureFusion->isEnabled() && _ui->checkBox_exposureFusion->isChecked(),
0,
0,
&gains,
&blendingGains);
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];
success = util3d::multiBandTexturing(
path.toStdString(),
multibandMesh,
poses,
textureVertexToPixels,
images,
calibrations,
0,
_dbDriver,
textureSize,
gains,
blendingGains);
if(success)
{
_progressDialog->incrementStep();
_progressDialog->appendText(tr("Saving the mesh... done."));
QMessageBox::information(this, tr("Save successful!"), tr("Mesh saved to \"%1\"").arg(path));
}
else
{
QMessageBox::warning(this, tr("Save failed!"), tr("Failed to save to \"%1\"").arg(path));
}
return;
}
}
bool singleTexture = mesh->tex_materials.size() == 1;