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Code Issues Packages Projects Releases Wiki Activity

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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34
guilib/src/ExportCloudsDialog.cpp
View File

@@ -159,6 +159,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->comboBox_meshingTextureSize, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_meshingTextureMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_mesh_minTextureClusterSize, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->lineEdit_meshingTextureRoiRatios, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_cameraFilter, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_cameraFilter, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_cameraFilterRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -286,6 +287,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex());
settings.setValue("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value());
settings.setValue("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value());
settings.setValue("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text());
settings.setValue("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked());
settings.setValue("mesh_textureCameraFilteringRadius", _ui->doubleSpinBox_cameraFilterRadius->value());
settings.setValue("mesh_textureCameraFilteringAngle", _ui->doubleSpinBox_cameraFilterAngle->value());
@@ -384,6 +386,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->comboBox_meshingTextureSize->setCurrentIndex(settings.value("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex()).toInt());
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(settings.value("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value()).toDouble());
_ui->spinBox_mesh_minTextureClusterSize->setValue(settings.value("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value()).toDouble());
_ui->lineEdit_meshingTextureRoiRatios->setText(settings.value("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text()).toString());
_ui->checkBox_cameraFilter->setChecked(settings.value("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked()).toBool());
_ui->doubleSpinBox_cameraFilterRadius->setValue(settings.value("mesh_textureCameraFilteringRadius", _ui->doubleSpinBox_cameraFilterRadius->value()).toDouble());
_ui->doubleSpinBox_cameraFilterAngle->setValue(settings.value("mesh_textureCameraFilteringAngle", _ui->doubleSpinBox_cameraFilterAngle->value()).toDouble());
@@ -482,6 +485,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->comboBox_meshingTextureSize->setCurrentIndex(5); // 4096
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(3.0);
_ui->spinBox_mesh_minTextureClusterSize->setValue(50);
_ui->lineEdit_meshingTextureRoiRatios->setText("");
_ui->checkBox_cameraFilter->setChecked(false);
_ui->doubleSpinBox_cameraFilterRadius->setValue(0.1);
_ui->doubleSpinBox_cameraFilterAngle->setValue(30);
@@ -1940,12 +1944,42 @@ bool ExportCloudsDialog::getExportedClouds(
TexturingState texturingState(_progressDialog);
_progressDialog->setMaximumSteps(_progressDialog->maximumSteps()+iter->second->polygons.size()/10000+1);
std::vector<float> roiRatios;
QStringList strings = _ui->lineEdit_meshingTextureRoiRatios->text().split(' ');
if(!_ui->lineEdit_meshingTextureRoiRatios->text().isEmpty())
{
if(strings.size()==4)
{
roiRatios.resize(4);
roiRatios[0]=strings[0].toDouble();
roiRatios[1]=strings[1].toDouble();
roiRatios[2]=strings[2].toDouble();
roiRatios[3]=strings[3].toDouble();
if(!(roiRatios[0]>=0.0f && roiRatios[0]<=1.0f &&
roiRatios[1]>=0.0f && roiRatios[1]<=1.0f &&
roiRatios[2]>=0.0f && roiRatios[2]<=1.0f &&
roiRatios[3]>=0.0f && roiRatios[3]<=1.0f))
{
roiRatios.clear();
}
}
if(roiRatios.empty())
{
QString msg = tr("Wrong ROI format. Region of Interest (ROI) must have 4 values [left right top bottom] between 0 and 1 separated by space (%1), ignoring it for texturing...").arg(_ui->lineEdit_meshingTextureRoiRatios->text());
UWARN(msg.toStdString().c_str());
_progressDialog->appendText(msg, Qt::darkYellow);
_progressDialog->setAutoClose(false);
}
}
textureMesh = util3d::createTextureMesh(
iter->second,
cameraPoses,
cameraModels,
_ui->doubleSpinBox_meshingTextureMaxDistance->value(),
_ui->spinBox_mesh_minTextureClusterSize->value(),
roiRatios,
&texturingState,
cameraPoses.size()>1?&textureVertexToPixels:0); // only get vertexToPixels if merged clouds with multi textures

309
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1967</y>
<width>773</width>
<height>3396</height>
<y>-1802</y>
<width>778</width>
<height>3385</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1373,40 +1373,61 @@ 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="0" column="1">
<widget class="QLabel" name="label_meshingTextureFormat">
<item row="7" 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="6" column="1">
<widget class="QLabel" name="label_exposureFusion_2">
<property name="text">
<string>Texture format.</string>
<string>Blending. Only used with dense reconstruction flavor and if clouds are assembled.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" 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="3" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_meshingTextureSize_2">
<property name="text">
<string>Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor.</string>
@@ -1416,20 +1437,42 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_exposureFusion">
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>3.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_meshingTextureSize_5">
<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>
<string>Brightness and contrast balance low ratio. Only used when textures are merged.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_meshingTextureSize_3">
<item row="0" column="1">
<widget class="QLabel" name="label_meshingTextureFormat">
<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>
<string>Texture format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1460,13 +1503,43 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="9" 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="6" column="0">
<widget class="QCheckBox" name="checkBox_blending">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_cameraFilter">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" 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>
@@ -1516,27 +1589,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="7" 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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" 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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioLow">
<property name="suffix">
<string> %</string>
@@ -1549,63 +1602,24 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>3.000000000000000</double>
</property>
</widget>
</item>
<item row="8" 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">
<item row="11" column="0">
<widget class="QCheckBox" name="checkBox_exposureFusion">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_blending">
<property name="text">
<string/>
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="5" 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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_exposureFusion_3">
<property name="text">
<string>Blending decimation. </string>
@@ -1615,50 +1629,49 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="6" 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>
<item row="4" 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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" 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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" 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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" 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="QLineEdit" name="lineEdit_meshingTextureRoiRatios"/>
</item>
</layout>
</item>
<item>

8
guilib/src/ui/preferencesDialog.ui
View File

@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-433</y>
<y>-641</y>
<width>678</width>
<height>2701</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>20</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -775,7 +775,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
<item row="5" column="2">
<widget class="QLabel" name="label_353">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
<string>ROI ratios [left right top bottom] between 0 and 1.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -11484,7 +11484,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
<item row="5" column="1">
<widget class="QLabel" name="label_261">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
<string>ROI ratios [left right top bottom] between 0 and 1.</string>
</property>
<property name="wordWrap">
<bool>true</bool>