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Merge branch 'alicevision'

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matlabbe
2019-10-28 21:17:16 -04:00
parent 260192bcc4 2afa76c07c
commit 5d789f75a9
13 changed files with 738 additions and 69 deletions
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23
corelib/include/rtabmap/core/util3d_surface.h
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@@ -220,7 +220,10 @@ cv::Mat RTABMAP_EXP mergeTextures(
int brightnessContrastRatioLow = 0, //0=disabled, values between 0 and 100
int brightnessContrastRatioHigh = 0, //0=disabled, values between 0 and 100
bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
const ProgressState * state = 0);
const ProgressState * state = 0,
unsigned char blankValue = 255, //Gray value for blank polygons (without texture)
std::map<int, std::map<int, cv::Vec4d> > * gains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B>
std::map<int, std::map<int, cv::Mat> > * blendingGains = 0); // <Camera ID, Camera Sub Index (multi-cameras), gains>
cv::Mat RTABMAP_EXP mergeTextures(
pcl::TextureMesh & mesh,
const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
@@ -238,10 +241,26 @@ cv::Mat RTABMAP_EXP mergeTextures(
int brightnessContrastRatioLow = 0, //0=disabled, values between 0 and 100
int brightnessContrastRatioHigh = 0, //0=disabled, values between 0 and 100
bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
const ProgressState * state = 0);
const ProgressState * state = 0,
unsigned char blankValue = 255, //Gray value for blank polygons (without texture)
std::map<int, std::map<int, cv::Vec4d> > * gains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B>
std::map<int, std::map<int, cv::Mat> > * blendingGains = 0); // <Camera ID, Camera Sub Index (multi-cameras), gains>
void RTABMAP_EXP fixTextureMeshForVisualization(pcl::TextureMesh & textureMesh);
bool RTABMAP_EXP multiBandTexturing(
const std::string & outputOBJPath,
const pcl::PolygonMesh & mesh,
const std::map<int, Transform> & cameraPoses,
const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels, // required output of util3d::createTextureMesh()
const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
const std::map<int, std::vector<CameraModel> > & cameraModels, // Should match images
const Memory * memory = 0, // Should be set if images are not set
const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
int textureSize = 8192,
const std::map<int, std::map<int, cv::Vec4d> > & gains = std::map<int, std::map<int, cv::Vec4d> >(), // optional output of util3d::mergeTextures()
const std::map<int, std::map<int, cv::Mat> > & blendingGains = std::map<int, std::map<int, cv::Mat> >()); // optional output of util3d::mergeTextures()
cv::Mat RTABMAP_EXP computeNormals(
const cv::Mat & laserScan,
int searchK,