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util3d::mergeTextures() added interface with single calibrations for convenience

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matlabbe
2018-04-09 12:26:09 -04:00
parent d9716590b1
commit cd125ae274
2 changed files with 66 additions and 4 deletions
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18
corelib/include/rtabmap/core/util3d_surface.h
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@@ -194,6 +194,24 @@ pcl::PolygonMesh::Ptr RTABMAP_EXP assemblePolygonMesh(
* Merge all textures in the mesh into "textureCount" textures of size "textureSize".
* @return merged textures corresponding to new materials set in TextureMesh (height=textureSize, width=textureSize*materials)
*/
cv::Mat RTABMAP_EXP mergeTextures(
pcl::TextureMesh & mesh,
const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
const std::map<int, CameraModel> & calibrations, // Should match images
const Memory * memory = 0, // Should be set if images are not set
const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
int textureSize = 4096,
int textureCount = 1,
const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), // needed for parameters below
bool gainCompensation = true,
float gainBeta = 10.0f,
bool gainRGB = true, //Do gain compensation on each channel
bool blending = true,
int blendingDecimation = 0, //0=auto depending on projected polygon size and texture size
int brightnessContrastRatioLow = 0, //0=disabled, values between 0 and 100
int brightnessContrastRatioHigh = 0, //0=disabled, values between 0 and 100
bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
const ProgressState * state = 0);
cv::Mat RTABMAP_EXP mergeTextures(
pcl::TextureMesh & mesh,
const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used