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Texturing: using depth image to filter wrongly projected textures

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matlabbe
2017-06-06 11:42:42 -04:00
parent fa95ede3e9
commit 7a0a82bcb4
6 changed files with 376 additions and 131 deletions
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6
corelib/include/rtabmap/core/util3d_surface.h
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@@ -137,7 +137,10 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
const std::map<int, Transform> & poses,
const std::map<int, CameraModel> & cameraModels,
const std::map<int, cv::Mat> & cameraDepths,
float maxDistance = 0.0f, // max camera distance to polygon to apply texture
float maxDepthError = 0.0f, // maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)
float maxAngle = 0.0f, // maximum angle between camera and face (0=disabled)
int minClusterSize = 50, // minimum size of polygons clusters textured
const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
const ProgressState * state = 0,
@@ -146,7 +149,10 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
const std::map<int, Transform> & poses,
const std::map<int, std::vector<CameraModel> > & cameraModels,
const std::map<int, cv::Mat> & cameraDepths,
float maxDistance = 0.0f, // max camera distance to polygon to apply texture
float maxDepthError = 0.0f, // maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)
float maxAngle = 0.0f, // maximum angle between camera and face (0=disabled)
int minClusterSize = 50, // minimum size of polygons clusters textured
const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
const ProgressState * state = 0,