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Export Added RoiRatios parameter to texturing (#171)

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This commit is contained in:
matlabbe
2017-04-20 11:51:23 -04:00
parent c068c3c33a
commit a274f3cf01
10 changed files with 279 additions and 198 deletions
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corelib/src/util3d_surface.cpp
+14 -2
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@@ -573,9 +573,11 @@ pcl::PolygonMesh::Ptr createMesh(
pcl::texture_mapping::CameraVector createTextureCameras(
const std::map<int, Transform> & poses,
const std::map<int, CameraModel> & cameraModels)
const std::map<int, CameraModel> & cameraModels,
const std::vector<float> & roiRatios)
{
UASSERT(poses.size() == cameraModels.size());
UASSERT(roiRatios.empty() || roiRatios.size() == 4);
pcl::texture_mapping::CameraVector cameras(poses.size());
std::map<int, Transform>::const_iterator poseIter=poses.begin();
std::map<int, CameraModel>::const_iterator modelIter=cameraModels.begin();
@@ -602,6 +604,14 @@ pcl::texture_mapping::CameraVector createTextureCameras(
cam.height=modelIter->second.imageHeight();
cam.width=modelIter->second.imageWidth();
cam.texture_file = uFormat("%d", poseIter->first);
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
}
cameras[oi++] = cam;
}
return cameras;
@@ -613,6 +623,7 @@ pcl::TextureMesh::Ptr createTextureMesh(
const std::map<int, CameraModel> & cameraModels,
float maxDistance,
int minClusterSize,
const std::vector<float> & roiRatios,
const ProgressState * state,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels)
{
@@ -629,7 +640,8 @@ pcl::TextureMesh::Ptr createTextureMesh(
// create cameras
pcl::texture_mapping::CameraVector cameras = createTextureCameras(
poses,
cameraModels);
cameraModels,
roiRatios);
// Create materials for each texture (and one extra for occluded faces)
textureMesh->tex_materials.resize (cameras.size () + 1);