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Export: optimized camera projection RAM usage. Added --texture_angle and --cam_projection_decimation options.

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matlabbe
2021-11-21 17:10:57 -05:00
parent 090ae0c444
commit 67710ef94c
3 changed files with 362 additions and 210 deletions
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122
guilib/src/ExportCloudsDialog.cpp
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@@ -2718,7 +2718,6 @@ bool ExportCloudsDialog::getExportedClouds(
// color the cloud
UASSERT(pointToPixel.empty() || pointToPixel.size() == assembledCloud->size());
QMap<int, cv::Mat> cachedImages;
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr assembledCloudValidPoints;
if(!_ui->checkBox_camProjKeepPointsNotSeenByCameras->isChecked())
{
@@ -2730,67 +2729,84 @@ bool ExportCloudsDialog::getExportedClouds(
{
textureVertexToPixels.resize(assembledCloud->size());
}
int oi=0;
for(size_t i=0; i<pointToPixel.size(); ++i)
if(_ui->checkBox_camProjRecolorPoints->isChecked())
{
pcl::PointXYZRGBNormal & pt = assembledCloud->at(i);
if(_ui->checkBox_camProjRecolorPoints->isChecked() && !_ui->checkBox_fromDepth->isChecked())
int imagesDone = 1;
for(std::map<int, rtabmap::Transform>::iterator iter=cameraPoses.begin(); iter!=cameraPoses.end(); ++iter)
{
pt.r = 255;
pt.g = 0;
pt.b = 0;
pt.a = 255;
}
int nodeID = pointToPixel[i].first.first;
int cameraIndex = pointToPixel[i].first.second;
if(nodeID>0 && cameraIndex>=0)
{
if(_ui->checkBox_camProjRecolorPoints->isChecked())
int nodeID = iter->first;
cv::Mat image;
if(cachedSignatures.contains(nodeID) && !cachedSignatures.value(nodeID).sensorData().imageCompressed().empty())
{
cv::Mat image;
if(cachedImages.contains(nodeID))
cachedSignatures.value(nodeID).sensorData().uncompressDataConst(&image, 0);
}
else if(_dbDriver)
{
SensorData data;
_dbDriver->getNodeData(nodeID, data, true, false, false, false);
data.uncompressDataConst(&image, 0);
}
if(!image.empty())
{
UASSERT(cameraModels.find(nodeID) != cameraModels.end());
int modelsSize = cameraModels.at(nodeID).size();
for(size_t i=0; i<pointToPixel.size(); ++i)
{
image = cachedImages.value(nodeID);
}
else if(cachedSignatures.contains(nodeID) && !cachedSignatures.value(nodeID).sensorData().imageCompressed().empty())
{
cachedSignatures.value(nodeID).sensorData().uncompressDataConst(&image, 0);
cachedImages.insert(nodeID, image);
}
else if(_dbDriver)
{
SensorData data;
_dbDriver->getNodeData(nodeID, data, true, false, false, false);
data.uncompressDataConst(&image, 0);
cachedImages.insert(nodeID, image);
}
if(!image.empty())
{
int subImageWidth = image.cols / cameraModels.at(nodeID).size();
image = image(cv::Range::all(), cv::Range(cameraIndex*subImageWidth, (cameraIndex+1)*subImageWidth));
int x = pointToPixel[i].second.x * (float)image.cols;
int y = pointToPixel[i].second.y * (float)image.rows;
UASSERT(x>=0 && x<image.cols);
UASSERT(y>=0 && y<image.rows);
if(image.type()==CV_8UC3)
int cameraIndex = pointToPixel[i].first.second;
if(nodeID == pointToPixel[i].first.first && cameraIndex>=0)
{
cv::Vec3b bgr = image.at<cv::Vec3b>(y, x);
pt.b = bgr[0];
pt.g = bgr[1];
pt.r = bgr[2];
}
else
{
UASSERT(image.type()==CV_8UC1);
pt.r = pt.g = pt.b = image.at<unsigned char>(pointToPixel[i].second.y * image.rows, pointToPixel[i].second.x * image.cols);
pcl::PointXYZRGBNormal & pt = assembledCloud->at(i);
int subImageWidth = image.cols / modelsSize;
cv::Mat subImage = image(cv::Range::all(), cv::Range(cameraIndex*subImageWidth, (cameraIndex+1)*subImageWidth));
int x = pointToPixel[i].second.x * (float)subImage.cols;
int y = pointToPixel[i].second.y * (float)subImage.rows;
UASSERT(x>=0 && x<subImage.cols);
UASSERT(y>=0 && y<subImage.rows);
if(subImage.type()==CV_8UC3)
{
cv::Vec3b bgr = subImage.at<cv::Vec3b>(y, x);
pt.b = bgr[0];
pt.g = bgr[1];
pt.r = bgr[2];
}
else
{
UASSERT(subImage.type()==CV_8UC1);
pt.r = pt.g = pt.b = subImage.at<unsigned char>(pointToPixel[i].second.y * subImage.rows, pointToPixel[i].second.x * subImage.cols);
}
}
}
}
QString msg = tr("Processed %1/%2 images").arg(imagesDone++).arg(cameraPoses.size());
UINFO(msg.toStdString().c_str());
_progressDialog->appendText(msg);
}
}
pcl::IndicesPtr validIndices(new std::vector<int>(pointToPixel.size()));
size_t oi = 0;
for(size_t i=0; i<pointToPixel.size(); ++i)
{
pcl::PointXYZRGBNormal & pt = assembledCloud->at(i);
if(pointToPixel[i].first.first <=0)
{
if(_ui->checkBox_camProjRecolorPoints->isChecked() && !_ui->checkBox_fromDepth->isChecked())
{
pt.r = 255;
pt.g = 0;
pt.b = 0;
pt.a = 255;
}
}
else
{
int nodeID = pointToPixel[i].first.first;
int cameraIndex = pointToPixel[i].first.second;
int exportedId = nodeID;
if(_ui->comboBox_camProjExportCamera->currentIndex() == 2)
{