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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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278
guilib/src/ui/exportCloudsDialog.ui
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@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1412</y>
<y>-2146</y>
<width>773</width>
<height>3953</height>
<height>4045</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1486,7 +1486,111 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
<item row="7" column="1">
<item row="12" column="0">
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
<property name="suffix">
<string> %</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>49</number>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_meshingTextureSize_6">
<property name="text">
<string>Brightness and contrast balance high ratio. Only used when textures are merged.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QComboBox" name="comboBox_blendingDecimation">
<item>
<property name="text">
<string>Auto</string>
</property>
</item>
<item>
<property name="text">
<string>1</string>
</property>
</item>
<item>
<property name="text">
<string>2</string>
</property>
</item>
<item>
<property name="text">
<string>4</string>
</property>
</item>
<item>
<property name="text">
<string>8</string>
</property>
</item>
<item>
<property name="text">
<string>16</string>
</property>
</item>
<item>
<property name="text">
<string>32</string>
</property>
</item>
<item>
<property name="text">
<string>64</string>
</property>
</item>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_blending">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_exposureFusion_3">
<property name="text">
<string>Blending decimation. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_meshingTextureSize_7">
<property name="text">
<string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_meshingTextureSize_8">
<property name="text">
<string>Maximum output textures.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_exposureFusion_2">
<property name="text">
<string>Blending. Only used with dense reconstruction flavor and if clouds are assembled.</string>
@@ -1528,7 +1632,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="9" column="1">
<item row="11" column="1">
<widget class="QLabel" name="label_meshingTextureSize_5">
<property name="text">
<string>Brightness and contrast balance low ratio. Only used when textures are merged.</string>
@@ -1562,29 +1666,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="10" column="0">
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
<property name="suffix">
<string> %</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>49</number>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_meshingTextureSize_6">
<property name="text">
<string>Brightness and contrast balance high ratio. Only used when textures are merged.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_meshingTextureSize">
<item>
@@ -1634,14 +1715,14 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="12" column="0">
<item row="14" column="0">
<widget class="QCheckBox" name="checkBox_exposureFusion">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_meshingTextureSize_4">
<property name="text">
<string>Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor.</string>
@@ -1654,50 +1735,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<item row="3" column="0">
<widget class="QLineEdit" name="lineEdit_meshingTextureRoiRatios"/>
</item>
<item row="8" column="0">
<widget class="QComboBox" name="comboBox_blendingDecimation">
<item>
<property name="text">
<string>Auto</string>
</property>
</item>
<item>
<property name="text">
<string>1</string>
</property>
</item>
<item>
<property name="text">
<string>2</string>
</property>
</item>
<item>
<property name="text">
<string>4</string>
</property>
</item>
<item>
<property name="text">
<string>8</string>
</property>
</item>
<item>
<property name="text">
<string>16</string>
</property>
</item>
<item>
<property name="text">
<string>32</string>
</property>
</item>
<item>
<property name="text">
<string>64</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_meshingTextureSize">
<property name="text">
@@ -1708,21 +1745,14 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_blending">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_cameraFilter">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="0">
<item row="11" column="0">
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioLow">
<property name="suffix">
<string> %</string>
@@ -1735,7 +1765,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
<property name="minimum">
<number>0</number>
@@ -1746,16 +1776,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_exposureFusion_3">
<property name="text">
<string>Blending decimation. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_meshingTextureSize_3">
<property name="text">
<string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
@@ -1765,7 +1785,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="12" column="1">
<item row="14" column="1">
<widget class="QLabel" name="label_exposureFusion">
<property name="text">
<string>Exposure fusion. Only used when textures are merged and brightness/contrast balance ratios are used (merging original texture + 1 for each ratios).</string>
@@ -1775,16 +1795,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_meshingTextureSize_7">
<property name="text">
<string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_mesh_maxTextures">
<property name="minimum">
@@ -1795,16 +1805,70 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_meshingTextureSize_8">
<item row="5" column="1">
<widget class="QLabel" name="label_meshingTextureSize_9">
<property name="text">
<string>Maximum output textures.</string>
<string>Maximum depth error between reconstructed mesh projection in camera and corresponding value in depth image to apply texturing (negative means disabled, 0 means that longest edge length of the face is used as maximum error).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDepthError">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_meshingTextureSize_10">
<property name="text">
<string>Maximum angle between camera and face to apply texture (0 means disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxAngle">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>