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Texturing: using depth image to filter wrongly projected textures

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This commit is contained in:
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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corelib/src/util3d_surface.cpp
+27
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@@ -574,6 +574,7 @@ pcl::PolygonMesh::Ptr createMesh(
pcl::texture_mapping::CameraVector createTextureCameras(
const std::map<int, Transform> & poses,
const std::map<int, std::vector<CameraModel> > & cameraModels,
const std::map<int, cv::Mat> & cameraDepths,
const std::vector<float> & roiRatios)
{
UASSERT_MSG(poses.size() == cameraModels.size(), uFormat("%d vs %d", (int)poses.size(), (int)cameraModels.size()).c_str());
@@ -585,6 +586,8 @@ pcl::texture_mapping::CameraVector createTextureCameras(
{
UASSERT(poseIter->first == modelIter->first);
std::map<int, cv::Mat>::const_iterator depthIter = cameraDepths.find(poseIter->first);
// for each sub camera
for(unsigned int i=0; i<modelIter->second.size(); ++i)
{
@@ -621,6 +624,15 @@ pcl::texture_mapping::CameraVector createTextureCameras(
cam.roi[2] = cam.width * (1.0 - roiRatios[1]) - cam.roi[0]; // right -> width
cam.roi[3] = cam.height * (1.0 - roiRatios[3]) - cam.roi[1]; // bottom -> height
}
if(depthIter != cameraDepths.end() && !depthIter->second.empty())
{
UASSERT(depthIter->second.type() == CV_32FC1 || depthIter->second.type() == CV_16UC1);
UASSERT(depthIter->second.cols % modelIter->second.size() == 0);
int subWidth = depthIter->second.cols/(modelIter->second.size());
cam.depth = cv::Mat(depthIter->second, cv::Range(0, depthIter->second.rows), cv::Range(subWidth*i, subWidth*(i+1)));
}
cameras.push_back(cam);
}
}
@@ -631,7 +643,10 @@ pcl::TextureMesh::Ptr 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,
float maxDepthError,
float maxAngle,
int minClusterSize,
const std::vector<float> & roiRatios,
const ProgressState * state,
@@ -649,7 +664,10 @@ pcl::TextureMesh::Ptr createTextureMesh(
mesh,
poses,
cameraSubModels,
cameraDepths,
maxDistance,
maxDepthError,
maxAngle,
minClusterSize,
roiRatios,
state,
@@ -660,7 +678,10 @@ pcl::TextureMesh::Ptr 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,
float maxDepthError,
float maxAngle,
int minClusterSize,
const std::vector<float> & roiRatios,
const ProgressState * state,
@@ -680,6 +701,7 @@ pcl::TextureMesh::Ptr createTextureMesh(
pcl::texture_mapping::CameraVector cameras = createTextureCameras(
poses,
cameraModels,
cameraDepths,
roiRatios);
// Create materials for each texture (and one extra for occluded faces)
@@ -722,6 +744,11 @@ pcl::TextureMesh::Ptr createTextureMesh(
// Texture by projection
pcl::TextureMapping<pcl::PointXYZ> tm; // TextureMapping object that will perform the sort
tm.setMaxDistance(maxDistance);
tm.setMaxAngle(maxAngle);
if(maxDepthError > 0.0f)
{
tm.setMaxDepthError(maxDepthError);
}
tm.setMinClusterSize(minClusterSize);
if(tm.textureMeshwithMultipleCameras2(*textureMesh, cameras, state, vertexToPixels))
{