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export: added --texture_blur filtering option

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This commit is contained in:
matlabbe
2022-07-20 22:08:45 -04:00
parent 5943a8b065
commit 34ed9d79c7
2 changed files with 54 additions and 5 deletions
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tools/Export/main.cpp
+52 -3
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@@ -69,6 +69,7 @@ void showUsage()
" --texture_depth_error # Maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used, default=0).\n"
" --texture_roi_ratios \"# # # #\" Region of interest from images to texture or to color scans. Format is \"left right top bottom\" (e.g. \"0 0 0 0.1\" means 10%% of the image bottom not used).\n"
" --texture_d2c Distance to camera policy.\n"
" --texture_blur # Motion blur threshold (default 0: disabled). Below this threshold, the image is considered blurred. 0 means disabled. 50 can be good default.\n"
" --cam_projection Camera projection on assembled cloud and export node ID on each point (in PointSourceId field).\n"
" --cam_projection_keep_all Keep not colored points from cameras (node ID will be 0 and color will be red).\n"
" --cam_projection_decimation Decimate images before projecting the points.\n"
@@ -183,6 +184,7 @@ int main(int argc, char * argv[])
float textureDepthError = 0;
std::vector<float> textureRoiRatios;
bool distanceToCamPolicy = false;
int laplacianThr = 0;
bool multiband = false;
int multibandDownScale = 2;
std::string multibandNbContrib = "1 5 10 0";
@@ -372,6 +374,18 @@ int main(int argc, char * argv[])
{
distanceToCamPolicy = true;
}
else if(std::strcmp(argv[i], "--texture_blur") == 0)
{
++i;
if(i<argc-1)
{
laplacianThr = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--cam_projection") == 0)
{
camProjection = true;
@@ -1791,11 +1805,46 @@ int main(int argc, char * argv[])
}
else
{
printf("Texturing %d polygons... robotPoses=%d, cameraModels=%d, cameraDepths=%d\n", (int)mesh->polygons.size(), (int)robotPoses.size(), (int)cameraModels.size(), (int)cameraDepths.size());
// Camera filtering for texturing
std::map<int, rtabmap::Transform> robotPosesFiltered;
if(laplacianThr>0)
{
printf("Filtering %ld images from texturing...\n", robotPoses.size());
for(std::map<int, rtabmap::Transform>::iterator iter=robotPoses.begin(); iter!=robotPoses.end(); ++iter)
{
UASSERT(nodes.find(iter->first) != nodes.end());
cv::Mat img;
nodes.find(iter->first)->second.sensorData().uncompressDataConst(&img, 0);
if(!img.empty())
{
cv::Mat imgLaplacian;
cv::Laplacian(img, imgLaplacian, CV_16S);
cv::Mat m, s;
cv::meanStdDev(imgLaplacian, m, s);
double stddev_pxl = s.at<double>(0);
double var = stddev_pxl*stddev_pxl;
if(var < (double)laplacianThr)
{
printf("Camera's image %d is detected as blurry (var=%f < thr=%d), camera is ignored for texturing.\n", iter->first, var, laplacianThr);
}
else
{
robotPosesFiltered.insert(*iter);
}
}
}
printf("Filtered %ld/%ld images from texturing", robotPosesFiltered.size(), robotPoses.size());
}
else
{
robotPosesFiltered = robotPoses;
}
printf("Texturing %d polygons... robotPoses=%d, cameraModels=%d, cameraDepths=%d\n", (int)mesh->polygons.size(), (int)robotPosesFiltered.size(), (int)cameraModels.size(), (int)cameraDepths.size());
std::vector<std::map<int, pcl::PointXY> > vertexToPixels;
pcl::TextureMeshPtr textureMesh = rtabmap::util3d::createTextureMesh(
mesh,
robotPoses,
robotPosesFiltered,
cameraModels,
cameraDepths,
textureRange,
@@ -1914,7 +1963,7 @@ int main(int argc, char * argv[])
if(util3d::multiBandTexturing(outputPath,
textureMesh->cloud,
textureMesh->tex_polygons[0],
robotPoses,
robotPosesFiltered,
vertexToPixels,
std::map<int, cv::Mat >(),
std::map<int, std::vector<CameraModel> >(),