i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Allow partial support for AliceVision v2.3.0 (see #564 for remaining issues)

Browse Source
This commit is contained in:
matlabbe
2020-11-20 13:42:56 -05:00
parent fdaaa6ccfa
commit ad44b65a28
3 changed files with 48 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
corelib/src/imufilter/MadgwickFilter.cpp
View File

@@ -310,9 +310,11 @@ void MadgwickFilter::updateImpl(
A[0] = ax;
A[1] = ay;
A[2] = az;
computeOrientation(A,orientation);
reset(orientation.x(), orientation.y(), orientation.z(), orientation.w());
initialized_ = true;
if(computeOrientation(A,orientation))
{
reset(orientation.x(), orientation.y(), orientation.z(), orientation.w());
initialized_ = true;
}
return;
}

48
corelib/src/util3d_surface.cpp
View File

@@ -2252,16 +2252,30 @@ bool multiBandTexturing(
UASSERT(vertexToPixels.size() == cloud2.size());
UINFO("Input mesh: %d points %d polygons", (int)cloud2.size(), (int)polygons.size());
mesh::Texturing texturing;
#if RTABMAP_ALICE_VISION_MAJOR > 2 || (RTABMAP_ALICE_VISION_MAJOR==2 && RTABMAP_ALICE_VISION_MINOR>=3)
texturing.mesh = new mesh::Mesh();
texturing.mesh->pts.resize(cloud2.size());
texturing.mesh->pointsVisibilities.resize(cloud2.size());
#else
texturing.me = new mesh::Mesh();
texturing.me->pts = new StaticVector<Point3d>(cloud2.size());
texturing.pointsVisibilities = new mesh::PointsVisibility();
texturing.pointsVisibilities->reserve(cloud2.size());
#endif
texturing.texParams.textureSide = 8192;
texturing.texParams.downscale = 8192/textureSize;
for(size_t i=0;i<cloud2.size();++i)
{
pcl::PointXYZRGB pt = cloud2.at(i);
#if RTABMAP_ALICE_VISION_MAJOR > 2 || (RTABMAP_ALICE_VISION_MAJOR==2 && RTABMAP_ALICE_VISION_MINOR>=3)
texturing.mesh->pointsVisibilities[i].reserve(vertexToPixels[i].size());
for(std::map<int, pcl::PointXY>::const_iterator iter=vertexToPixels[i].begin(); iter!=vertexToPixels[i].end();++iter)
{
texturing.mesh->pointsVisibilities[i].push_back(iter->first);
}
texturing.mesh->pts[i] = Point3d(pt.x, pt.y, pt.z);
#else
mesh::PointVisibility* pointVisibility = new mesh::PointVisibility();
pointVisibility->reserve(vertexToPixels[i].size());
for(std::map<int, pcl::PointXY>::const_iterator iter=vertexToPixels[i].begin(); iter!=vertexToPixels[i].end();++iter)
@@ -2270,13 +2284,24 @@ bool multiBandTexturing(
}
texturing.pointsVisibilities->push_back(pointVisibility);
(*texturing.me->pts)[i] = Point3d(pt.x, pt.y, pt.z);
#endif
}
#if RTABMAP_ALICE_VISION_MAJOR > 2 || (RTABMAP_ALICE_VISION_MAJOR==2 && RTABMAP_ALICE_VISION_MINOR>=3)
texturing.mesh->tris.resize(polygons.size());
texturing.mesh->trisMtlIds().resize(polygons.size());
#else
texturing.me->tris = new StaticVector<mesh::Mesh::triangle>(polygons.size());
#endif
for(size_t i=0;i<polygons.size();++i)
{
UASSERT(polygons[i].vertices.size() == 3);
#if RTABMAP_ALICE_VISION_MAJOR > 2 || (RTABMAP_ALICE_VISION_MAJOR==2 && RTABMAP_ALICE_VISION_MINOR>=3)
texturing.mesh->trisMtlIds()[i] = -1;
texturing.mesh->tris[i] = mesh::Mesh::triangle(
#else
(*texturing.me->tris)[i] = mesh::Mesh::triangle(
#endif
polygons[i].vertices[0],
polygons[i].vertices[1],
polygons[i].vertices[2]);
@@ -2405,21 +2430,22 @@ bool multiBandTexturing(
sfmData::CameraPose pose(geometry::Pose3(m), true);
sfmData.setAbsolutePose((IndexT)viewId, pose);
std::shared_ptr<camera::IntrinsicBase> camPtr(new camera::Pinhole(imageSize.width, imageSize.height, model.fx(), model.cx(), model.cy()));
std::shared_ptr<camera::IntrinsicBase> camPtr = std::make_shared<camera::Pinhole>(
imageSize.width, imageSize.height, model.fx(), model.cx(), model.cy());
sfmData.intrinsics.insert(std::make_pair((IndexT)viewId, camPtr));
std::string imagePath = tmpImageDirectory+uFormat("/%d.jpg", viewId);
cv::imwrite(imagePath, imageRoi);
sfmData.views.insert(std::make_pair((IndexT)viewId,
new sfmData::View(
imagePath,
(IndexT)viewId,
(IndexT)viewId,
(IndexT)viewId,
imageSize.width,
imageSize.height)));
std::shared_ptr<sfmData::View> viewPtr = std::make_shared<sfmData::View>(
imagePath,
(IndexT)viewId,
(IndexT)viewId,
(IndexT)viewId,
imageSize.width,
imageSize.height);
sfmData.views.insert(std::make_pair((IndexT)viewId, viewPtr));
++viewId;
}
}
@@ -2495,6 +2521,10 @@ bool multiBandTexturing(
fo.close();
UINFO("Rename/convert textures... done. %fs", timer.ticks());
sfmData.clear();
UINFO("dsadas");
return true;
#else
UERROR("Cannot unwrap texture mesh. RTAB-Map is not built with Alice Vision support! Returning false.");