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multiband: add multi-camera support. rtabmap-export: updated options (now supporting creating point cloud from scans).

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matlabbe
2020-11-04 14:02:18 -05:00
parent 92b1dabf1c
commit d04b1a13be
5 changed files with 223 additions and 100 deletions
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9
corelib/include/rtabmap/core/util3d_surface.h
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@@ -148,7 +148,7 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
int minClusterSize = 50, // minimum size of polygons clusters textured
const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
const ProgressState * state = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, // For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.
bool distanceToCamPolicy = false);
pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
@@ -161,7 +161,7 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
int minClusterSize = 50, // minimum size of polygons clusters textured
const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
const ProgressState * state = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, // For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.
bool distanceToCamPolicy = false);
/**
@@ -265,8 +265,9 @@ bool RTABMAP_EXP multiBandTexturing(
int textureSize = 8192,
const std::string & textureFormat = "jpg", // png, jpg
const std::map<int, std::map<int, cv::Vec4d> > & gains = std::map<int, std::map<int, cv::Vec4d> >(), // optional output of util3d::mergeTextures()
const std::map<int, std::map<int, cv::Mat> > & blendingGains = std::map<int, std::map<int, cv::Mat> >(), // optional output of util3d::mergeTextures()
const std::pair<float, float> & contrastValues = std::pair<float, float>(0,0)); // optional output of util3d::mergeTextures()
const std::map<int, std::map<int, cv::Mat> > & blendingGains = std::map<int, std::map<int, cv::Mat> >(), // optional output of util3d::mergeTextures()
const std::pair<float, float> & contrastValues = std::pair<float, float>(0,0), // optional output of util3d::mergeTextures()
bool gainRGB = true);
cv::Mat RTABMAP_EXP computeNormals(
const cv::Mat & laserScan,