i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Export: Added exposure fusion option

Browse Source
This commit is contained in:
matlabbe
2017-03-30 21:33:15 -04:00
parent f33b838204
commit accbe5a423
4 changed files with 130 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
guilib/src/ExportCloudsDialog.cpp
View File

@@ -136,6 +136,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->checkBox_gainFull, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_textureBrightnessContrastRatioLow, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_textureBrightnessContrastRatioHigh, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_exposureFusion, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
@@ -281,6 +282,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mesh_textureCameraFilteringAngle", _ui->doubleSpinBox_cameraFilterAngle->value());
settings.setValue("mesh_textureBrightnessConstrastRatioLow", _ui->spinBox_textureBrightnessContrastRatioLow->value());
settings.setValue("mesh_textureBrightnessConstrastRatioHigh", _ui->spinBox_textureBrightnessContrastRatioHigh->value());
settings.setValue("mesh_textureExposureFusion", _ui->checkBox_exposureFusion->isChecked());
settings.setValue("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value());
@@ -376,6 +378,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->doubleSpinBox_cameraFilterAngle->setValue(settings.value("mesh_textureCameraFilteringAngle", _ui->doubleSpinBox_cameraFilterAngle->value()).toDouble());
_ui->spinBox_textureBrightnessContrastRatioLow->setValue(settings.value("mesh_textureBrightnessConstrastRatioLow", _ui->spinBox_textureBrightnessContrastRatioLow->value()).toDouble());
_ui->spinBox_textureBrightnessContrastRatioHigh->setValue(settings.value("mesh_textureBrightnessConstrastRatioHigh", _ui->spinBox_textureBrightnessContrastRatioHigh->value()).toDouble());
_ui->checkBox_exposureFusion->setChecked(settings.value("mesh_textureExposureFusion", _ui->checkBox_exposureFusion->isChecked()).toBool());
_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
_ui->checkBox_mesh_quad->setChecked(settings.value("mesh_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
@@ -468,6 +471,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_cameraFilterAngle->setValue(30);
_ui->spinBox_textureBrightnessContrastRatioLow->setValue(0);
_ui->spinBox_textureBrightnessContrastRatioHigh->setValue(0);
_ui->checkBox_exposureFusion->setChecked(false);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
_ui->checkBox_mesh_quad->setChecked(false);
@@ -2777,7 +2781,37 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
}
if(_ui->spinBox_textureBrightnessContrastRatioLow->value() > 0 || _ui->spinBox_textureBrightnessContrastRatioHigh->value() > 0)
{
globalTexture = util2d::brightnessAndContrastAuto(globalTexture, globalTextureMask, (float)_ui->spinBox_textureBrightnessContrastRatioLow->value(), (float)_ui->spinBox_textureBrightnessContrastRatioHigh->value());
if(_ui->checkBox_exposureFusion->isChecked())
{
std::vector<cv::Mat> images;
images.push_back(globalTexture);
if (_ui->spinBox_textureBrightnessContrastRatioLow->value() > 0)
{
images.push_back(util2d::brightnessAndContrastAuto(
globalTexture,
globalTextureMask,
(float)_ui->spinBox_textureBrightnessContrastRatioLow->value(),
0.0f));
}
if (_ui->spinBox_textureBrightnessContrastRatioHigh->value() > 0)
{
images.push_back(util2d::brightnessAndContrastAuto(
globalTexture,
globalTextureMask,
0.0f,
(float)_ui->spinBox_textureBrightnessContrastRatioHigh->value()));
}
globalTexture = util2d::exposureFusion(images);
}
else
{
globalTexture = util2d::brightnessAndContrastAuto(
globalTexture,
globalTextureMask,
(float)_ui->spinBox_textureBrightnessContrastRatioLow->value(),
(float)_ui->spinBox_textureBrightnessContrastRatioHigh->value());
}
}
}
}