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

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This commit is contained in:
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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52
corelib/src/util3d_surface.cpp
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@@ -640,10 +640,10 @@ pcl::texture_mapping::CameraVector createTextureCameras(
cam.depth = cv::Mat(depthIter->second, cv::Range(0, depthIter->second.rows), cv::Range(subWidth*i, subWidth*(i+1)));
}
UWARN("%f", cam.focal_length);
UWARN("%f", cam.height);
UWARN("%f", cam.width);
UWARN("cam.pose=%s", t.prettyPrint().c_str());
UDEBUG("%f", cam.focal_length);
UDEBUG("%f", cam.height);
UDEBUG("%f", cam.width);
UDEBUG("cam.pose=%s", t.prettyPrint().c_str());
cameras.push_back(cam);
}
@@ -1362,6 +1362,50 @@ double sqr(uchar v)
return double(v)*double(v);
}
cv::Mat mergeTextures(
pcl::TextureMesh & mesh,
const std::map<int, cv::Mat> & images,
const std::map<int, CameraModel> & calibrations,
const Memory * memory,
const DBDriver * dbDriver,
int textureSize,
int textureCount,
const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels,
bool gainCompensation,
float gainBeta,
bool gainRGB,
bool blending,
int blendingDecimation,
int brightnessContrastRatioLow,
int brightnessContrastRatioHigh,
bool exposureFusion,
const ProgressState * state)
{
std::map<int, std::vector<CameraModel> > calibVectors;
for(std::map<int, CameraModel>::const_iterator iter=calibrations.begin(); iter!=calibrations.end(); ++iter)
{
std::vector<CameraModel> m;
m.push_back(iter->second);
calibVectors.insert(std::make_pair(iter->first, m));
}
return mergeTextures(mesh,
images,
calibVectors,
memory,
dbDriver,
textureSize,
textureCount,
vertexToPixels,
gainCompensation,
gainBeta,
gainRGB,
blending,
blendingDecimation,
brightnessContrastRatioLow,
brightnessContrastRatioHigh,
exposureFusion,
state);
}
cv::Mat mergeTextures(
pcl::TextureMesh & mesh,
const std::map<int, cv::Mat> & images,