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Increased polygon texturing step speed

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matlabbe
2017-03-04 02:53:11 -05:00
parent 46ec0b8f70
commit 4db957f437
4 changed files with 15 additions and 5 deletions
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1
corelib/src/Rtabmap.cpp
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@@ -1396,6 +1396,7 @@ bool Rtabmap::process(
// When analyzing logs, it's convenient to know
// if the hypothesis would be rejected if T_loop would be lower.
rejectedHypothesis = true;
UDEBUG("rejected hypothesis: under loop ratio %f < %f", _highestHypothesis.second, _loopRatio*lastHighestHypothesis.second);
}
//for statistic...

8
corelib/src/pcl18/surface/impl/texture_mapping.hpp
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@@ -1068,6 +1068,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
// pre compute all cam inverse and visibility
std::vector<std::map<int, FaceInfo > > visibleFaces(cameras.size());
std::vector<Eigen::Affine3f> invCamTransform(cameras.size());
std::vector<std::list<int> > faceCameras(faces.size());
UINFO("Precompute visible faces per cam (%d faces, %d cams)", (int)faces.size(), (int)cameras.size());
for (unsigned int current_cam = 0; current_cam < cameras.size(); ++current_cam)
{
@@ -1219,6 +1220,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
{
polygonsKept.insert(polygon_to_face_index[*jter]);
faceCameras[polygon_to_face_index[*jter]].push_back(current_cam);
}
}
@@ -1271,10 +1273,12 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
int cameraIndex = -1;
float closestDistanceToCam = std::numeric_limits<float>::max();
pcl::PointXY uv_coords[3];
for (unsigned int current_cam = 0; current_cam < cameras.size(); ++current_cam)
for (std::list<int>::iterator camIter = faceCameras[idx_face].begin(); camIter!=faceCameras[idx_face].end(); ++camIter)
{
int current_cam = *camIter;
std::map<int, FaceInfo>::iterator iter = visibleFaces[current_cam].find(idx_face);
if (iter != visibleFaces[current_cam].end() && iter->second.facingTheCam)
UASSERT(iter != visibleFaces[current_cam].end());
if (iter->second.facingTheCam)
{
float distanceToCam = iter->second.distance;