i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango: replaced RTABMapApp::mergeTextures() by util3d::mergeTextures()

Browse Source
This commit is contained in:
matlabbe
2017-06-14 10:33:26 -04:00
parent 811afa1171
commit ba4437edee
5 changed files with 31 additions and 427 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
corelib/src/util3d_surface.cpp
View File

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UDirectory.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UMath.h"
#include "rtabmap/utilite/UTimer.h"
#include <pcl/search/kdtree.h>
#include <pcl/surface/gp3.h>
#include <pcl/features/normal_3d_omp.h>
@@ -1076,7 +1077,8 @@ std::vector<cv::Mat> mergeTextures(
int blendingDecimation,
int brightnessContrastRatioLow,
int brightnessContrastRatioHigh,
bool exposureFusion)
bool exposureFusion,
const ProgressState * state)
{
//get texture size, if disabled use default 1024
UASSERT(textureSize%256 == 0);
@@ -1315,8 +1317,18 @@ std::vector<cv::Mat> mergeTextures(
}
++oi;
}
if(state)
{
if(state->isCanceled())
{
return std::vector<cv::Mat>();
}
state->callback(uFormat("Assembled texture %d/%d.", t+1, (int)textures.size()));
}
}
UTimer timer;
if(vertexToPixels.size())
{
//UWARN("Saving original.png", globalTexture);
@@ -1479,6 +1491,7 @@ std::vector<cv::Mat> mergeTextures(
}
//UWARN("Saving gain.png", globalTexture);
//cv::imwrite("gain.png", globalTexture);
if(state) state->callback(uFormat("Gain compensation %fs", timer.ticks()));
}
if(blending)
@@ -1637,6 +1650,8 @@ std::vector<cv::Mat> mergeTextures(
//UWARN("Saving blending.png", globalTexture);
//cv::imwrite("blending.png", globalTexture);
}
if(state) state->callback(uFormat("Blending (decimation=%d) %fs", decimation, timer.ticks()));
}
}
@@ -1676,6 +1691,7 @@ std::vector<cv::Mat> mergeTextures(
(float)brightnessContrastRatioHigh);
}
}
if(state) state->callback(uFormat("Brightness and contrast auto %fs", timer.ticks()));
}
}
}