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texturing: remove assert when poses and models are not the same size (just ignore poses without models, intermediate nodes issue)

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matlabbe
2021-09-07 16:26:56 -04:00
parent 20361400e1
commit 7baedf4c72
1 changed files with 56 additions and 55 deletions
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111
corelib/src/util3d_surface.cpp
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@@ -601,71 +601,72 @@ pcl::texture_mapping::CameraVector createTextureCameras(
const std::map<int, cv::Mat> & cameraDepths, const std::map<int, cv::Mat> & cameraDepths,
const std::vector<float> & roiRatios) const std::vector<float> & roiRatios)
{ {
UASSERT_MSG(poses.size() == cameraModels.size(), uFormat("%d vs %d", (int)poses.size(), (int)cameraModels.size()).c_str());
UASSERT(roiRatios.empty() || roiRatios.size() == 4); UASSERT(roiRatios.empty() || roiRatios.size() == 4);
pcl::texture_mapping::CameraVector cameras; pcl::texture_mapping::CameraVector cameras;
std::map<int, Transform>::const_iterator poseIter=poses.begin();
std::map<int, std::vector<CameraModel> >::const_iterator modelIter=cameraModels.begin(); for(std::map<int, Transform>::const_iterator poseIter=poses.begin(); poseIter!=poses.end(); ++poseIter)
for(; poseIter!=poses.end(); ++poseIter, ++modelIter)
{ {
UASSERT(poseIter->first == modelIter->first); std::map<int, std::vector<CameraModel> >::const_iterator modelIter=cameraModels.find(poseIter->first);
std::map<int, cv::Mat>::const_iterator depthIter = cameraDepths.find(poseIter->first); if(modelIter!=cameraModels.end())
// for each sub camera
for(unsigned int i=0; i<modelIter->second.size(); ++i)
{ {
pcl::TextureMapping<pcl::PointXYZ>::Camera cam; std::map<int, cv::Mat>::const_iterator depthIter = cameraDepths.find(poseIter->first);
// should be in camera frame
UASSERT(!modelIter->second[i].localTransform().isNull() && !poseIter->second.isNull());
Transform t = poseIter->second*modelIter->second[i].localTransform();
cam.pose = t.toEigen3f(); // for each sub camera
for(unsigned int i=0; i<modelIter->second.size(); ++i)
if(modelIter->second[i].imageHeight() <=0 || modelIter->second[i].imageWidth() <=0)
{ {
UERROR("Should have camera models with width/height set to create texture cameras!"); pcl::TextureMapping<pcl::PointXYZ>::Camera cam;
return pcl::texture_mapping::CameraVector(); // should be in camera frame
} UASSERT(!modelIter->second[i].localTransform().isNull() && !poseIter->second.isNull());
Transform t = poseIter->second*modelIter->second[i].localTransform();
UASSERT(modelIter->second[i].fx()>0 && modelIter->second[i].imageHeight()>0 && modelIter->second[i].imageWidth()>0); cam.pose = t.toEigen3f();
cam.focal_length_w=modelIter->second[i].fx();
cam.focal_length_h=modelIter->second[i].fy();
cam.center_w=modelIter->second[i].cx();
cam.center_h=modelIter->second[i].cy();
cam.height=modelIter->second[i].imageHeight();
cam.width=modelIter->second[i].imageWidth();
if(modelIter->second.size() == 1)
{
cam.texture_file = uFormat("%d", poseIter->first); // camera index
}
else
{
cam.texture_file = uFormat("%d_%d", poseIter->first, (int)i); // camera index, sub camera model index
}
if(!roiRatios.empty())
{
cam.roi.resize(4);
cam.roi[0] = cam.width * roiRatios[0]; // left -> x
cam.roi[1] = cam.height * roiRatios[2]; // top -> y
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()) if(modelIter->second[i].imageHeight() <=0 || modelIter->second[i].imageWidth() <=0)
{ {
UASSERT(depthIter->second.type() == CV_32FC1 || depthIter->second.type() == CV_16UC1); UERROR("Should have camera models with width/height set to create texture cameras!");
UASSERT(depthIter->second.cols % modelIter->second.size() == 0); return pcl::texture_mapping::CameraVector();
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)));
UASSERT(modelIter->second[i].fx()>0 && modelIter->second[i].imageHeight()>0 && modelIter->second[i].imageWidth()>0);
cam.focal_length_w=modelIter->second[i].fx();
cam.focal_length_h=modelIter->second[i].fy();
cam.center_w=modelIter->second[i].cx();
cam.center_h=modelIter->second[i].cy();
cam.height=modelIter->second[i].imageHeight();
cam.width=modelIter->second[i].imageWidth();
if(modelIter->second.size() == 1)
{
cam.texture_file = uFormat("%d", poseIter->first); // camera index
}
else
{
cam.texture_file = uFormat("%d_%d", poseIter->first, (int)i); // camera index, sub camera model index
}
if(!roiRatios.empty())
{
cam.roi.resize(4);
cam.roi[0] = cam.width * roiRatios[0]; // left -> x
cam.roi[1] = cam.height * roiRatios[2]; // top -> y
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)));
}
UDEBUG("%f", cam.focal_length);
UDEBUG("%f", cam.height);
UDEBUG("%f", cam.width);
UDEBUG("cam.pose=%s", t.prettyPrint().c_str());
cameras.push_back(cam);
} }
UDEBUG("%f", cam.focal_length);
UDEBUG("%f", cam.height);
UDEBUG("%f", cam.width);
UDEBUG("cam.pose=%s", t.prettyPrint().c_str());
cameras.push_back(cam);
} }
} }
return cameras; return cameras;