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Fixed assert when exporting textured mesh with both multiband and blending enabled with grayscale images

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matlabbe
2024-03-04 17:05:17 -08:00
parent 8019a2dc49
commit 52e1b01597
2 changed files with 30 additions and 14 deletions
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42
corelib/src/util3d_surface.cpp
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@@ -2398,7 +2398,7 @@ bool multiBandTexturing(
std::string tmpImageDirectory = outputDirectory+"/rtabmap_tmp_textures"; std::string tmpImageDirectory = outputDirectory+"/rtabmap_tmp_textures";
UDirectory::removeDir(tmpImageDirectory); UDirectory::removeDir(tmpImageDirectory);
UDirectory::makeDir(tmpImageDirectory); UDirectory::makeDir(tmpImageDirectory);
UINFO("Temporary saving images in directory \"%s\"...", tmpImageDirectory.c_str()); UINFO("Temporary saving images from %ld nodes in directory \"%s\"...", cameraPoses.size(), tmpImageDirectory.c_str());
int viewId = 0; int viewId = 0;
for(std::map<int, Transform>::const_iterator iter = cameraPoses.lower_bound(1); iter!=cameraPoses.end(); ++iter) for(std::map<int, Transform>::const_iterator iter = cameraPoses.lower_bound(1); iter!=cameraPoses.end(); ++iter)
{ {
@@ -2510,28 +2510,45 @@ bool multiBandTexturing(
imageSize.height = image.rows; imageSize.height = image.rows;
imageSize.width = image.cols; imageSize.width = image.cols;
} }
UASSERT(image.cols % imageSize.width == 0); UASSERT(image.cols % imageSize.width == 0);
cv::Mat imageRoi = image.colRange(i*imageSize.width, (i+1)*imageSize.width); cv::Mat imageRoi = image.colRange(i*imageSize.width, (i+1)*imageSize.width);
if(gains.find(camId) != gains.end() && if(gains.find(camId) != gains.end() &&
gains.at(camId).find(i) != gains.at(camId).end()) gains.at(camId).find(i) != gains.at(camId).end())
{ {
const cv::Vec4d & g = gains.at(camId).at(i); const cv::Vec4d & g = gains.at(camId).at(i);
std::vector<cv::Mat> channels; if(imageRoi.channels() == 1)
cv::split(imageRoi, channels); {
cv::multiply(imageRoi, g.val[0], imageRoi);
}
else
{
std::vector<cv::Mat> channels;
cv::split(imageRoi, channels);
// assuming BGR // assuming BGR
cv::multiply(channels[0], g.val[gainRGB?3:0], channels[0]); cv::multiply(channels[0], g.val[gainRGB?3:0], channels[0]);
cv::multiply(channels[1], g.val[gainRGB?2:0], channels[1]); cv::multiply(channels[1], g.val[gainRGB?2:0], channels[1]);
cv::multiply(channels[2], g.val[gainRGB?1:0], channels[2]); cv::multiply(channels[2], g.val[gainRGB?1:0], channels[2]);
cv::Mat output; cv::Mat output;
cv::merge(channels, output); cv::merge(channels, output);
imageRoi = output; imageRoi = output;
}
} }
if(blendingGains.find(camId) != blendingGains.end() && if(blendingGains.find(camId) != blendingGains.end() &&
blendingGains.at(camId).find(i) != blendingGains.at(camId).end()) blendingGains.at(camId).find(i) != blendingGains.at(camId).end())
{ {
// Should be color for blending options
if(imageRoi.channels() == 1)
{
cv::Mat imageRoiColor;
cv::cvtColor(imageRoi, imageRoiColor, CV_GRAY2BGR);
imageRoi = imageRoiColor;
}
cv::Mat g = blendingGains.at(camId).at(i); cv::Mat g = blendingGains.at(camId).at(i);
cv::Mat dst; cv::Mat dst;
cv::blur(g, dst, cv::Size(3,3)); cv::blur(g, dst, cv::Size(3,3));
@@ -2559,9 +2576,7 @@ bool multiBandTexturing(
sfmData.intrinsics.insert(std::make_pair((IndexT)viewId, camPtr)); sfmData.intrinsics.insert(std::make_pair((IndexT)viewId, camPtr));
std::string imagePath = tmpImageDirectory+uFormat("/%d.jpg", viewId); std::string imagePath = tmpImageDirectory+uFormat("/%d.jpg", viewId);
cv::imwrite(imagePath, imageRoi); cv::imwrite(imagePath, imageRoi);
std::shared_ptr<sfmData::View> viewPtr = std::make_shared<sfmData::View>( std::shared_ptr<sfmData::View> viewPtr = std::make_shared<sfmData::View>(
imagePath, imagePath,
(IndexT)viewId, (IndexT)viewId,
@@ -2572,8 +2587,9 @@ bool multiBandTexturing(
sfmData.views.insert(std::make_pair((IndexT)viewId, viewPtr)); sfmData.views.insert(std::make_pair((IndexT)viewId, viewPtr));
++viewId; ++viewId;
} }
UDEBUG("camId=%d", camId);
} }
UINFO("Temporary saving images in directory \"%s\"... done (%d images). %fs", tmpImageDirectory.c_str(), viewId, (int)cameraPoses.size(), timer.ticks()); UINFO("Temporary saving images in directory \"%s\"... done (%d images of %d nodes). %fs", tmpImageDirectory.c_str(), viewId, (int)cameraPoses.size(), timer.ticks());
mvsUtils::MultiViewParams mp(sfmData); mvsUtils::MultiViewParams mp(sfmData);

2
guilib/src/ExportCloudsDialog.cpp
View File

@@ -4676,7 +4676,7 @@ void ExportCloudsDialog::saveTextureMeshes(
path.toStdString(), path.toStdString(),
mesh->cloud, mesh->cloud,
mesh->tex_polygons[0], mesh->tex_polygons[0],
poses, filterNodes(poses),
textureVertexToPixels, textureVertexToPixels,
images, images,
calibrations, calibrations,