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

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This commit is contained in:
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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13
corelib/src/pcl18/surface/impl/texture_mapping.hpp
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@@ -1078,7 +1078,14 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
std::vector<std::map<int, FaceInfo > > visibleFaces(cameras.size());
std::vector<Eigen::Affine3f> invCamTransform(cameras.size());
std::vector<std::list<int> > faceCameras(faces.size());
UINFO("Precompute visible faces per cam (%d faces, %d cams)", (int)faces.size(), (int)cameras.size());
std::string msg = uFormat("Computing visible faces per cam (%d faces, %d cams)", (int)faces.size(), (int)cameras.size());
UINFO(msg.c_str());
if(state && !state->callback(msg))
{
//cancelled!
UWARN("Texturing cancelled!");
return false;
}
for (unsigned int current_cam = 0; current_cam < cameras.size(); ++current_cam)
{
UDEBUG("Texture camera %d...", current_cam);
@@ -1274,7 +1281,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
}
}
std::string msg = uFormat("Processed camera %d/%d: %d occluded and %d spurious polygons out of %d", (int)current_cam+1, (int)cameras.size(), (int)occludedFaces.size(), clusterFaces, (int)visibilityIndices.size());
msg = uFormat("Processed camera %d/%d: %d occluded and %d spurious polygons out of %d", (int)current_cam+1, (int)cameras.size(), (int)occludedFaces.size(), clusterFaces, (int)visibilityIndices.size());
UINFO(msg.c_str());
if(state && !state->callback(msg))
{
@@ -1284,7 +1291,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
}
}
std::string msg = uFormat("Texturing %d polygons...", (int)faces.size());
msg = uFormat("Texturing %d polygons...", (int)faces.size());
UINFO(msg.c_str());
if(state && !state->callback(msg))
{

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corelib/src/pydescriptor/__pycache__/rtabmap_netvlad.cpython-36.pyc
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128
corelib/src/util3d_surface.cpp
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@@ -1509,7 +1509,7 @@ cv::Mat mergeTextures(
cv::Mat globalTextures;
if(mesh.tex_materials.size() > 1)
{
std::vector<std::pair<int, int> > textures(mesh.tex_materials.size(), std::pair<int, int>(-1,-1));
std::vector<std::pair<int, int> > textures(mesh.tex_materials.size(), std::pair<int, int>(-1,0));
cv::Size imageSize;
const int imageType=CV_8UC3;
@@ -2222,7 +2222,8 @@ bool multiBandTexturing(
const std::string & textureFormat,
const std::map<int, std::map<int, cv::Vec4d> > & gains, // optional output of util3d::mergeTextures()
const std::map<int, std::map<int, cv::Mat> > & blendingGains, // optional output of util3d::mergeTextures()
const std::pair<float, float> & contrastValues) // optional output of util3d::mergeTextures()
const std::pair<float, float> & contrastValues, // optional output of util3d::mergeTextures()
bool gainRGB)
{
#ifdef RTABMAP_ALICE_VISION
if(ULogger::level() == ULogger::kDebug)
@@ -2255,7 +2256,6 @@ bool multiBandTexturing(
texturing.texParams.textureSide = 8192;
texturing.texParams.downscale = 8192/textureSize;
std::vector<int> camIndexToId(uKeys(cameraModels));
for(size_t i=0;i<cloud2.size();++i)
{
pcl::PointXYZRGB pt = cloud2.at(i);
@@ -2281,8 +2281,10 @@ bool multiBandTexturing(
UTimer timer;
std::string outputDirectory = UDirectory::getDir(outputOBJPath);
std::string tmpImageDirectory = outputDirectory+"/rtabmap_tmp_textures";
UDirectory::removeDir(tmpImageDirectory);
UDirectory::makeDir(tmpImageDirectory);
UINFO("Temporary saving images in directory \"%s\"...", tmpImageDirectory.c_str());
int viewId = 0;
for(std::map<int, Transform>::const_iterator iter = cameraPoses.lower_bound(1); iter!=cameraPoses.end(); ++iter)
{
int camId = iter->first;
@@ -2338,11 +2340,6 @@ bool multiBandTexturing(
UERROR("No camera models found for camera %d. Aborting multiband texturing...", iter->first);
return false;
}
else if(models.size() != 1)
{
UERROR("Unwrapping not supporting multi-camera yet... ignoring %d. Aborting multiband texturing...", iter->first);
return false;
}
if(image.empty())
{
UERROR("No image found for camera %d. Aborting multiband texturing...", iter->first);
@@ -2358,60 +2355,72 @@ bool multiBandTexturing(
image = image.clone();
}
UASSERT(models.size() == 1);
const CameraModel & model = models[0];
Transform t = iter->second * model.localTransform();
Eigen::Matrix<double, 3, 4> m = (t.inverse()).toEigen3d().matrix().block<3,4>(0, 0);
sfmData::CameraPose pose(geometry::Pose3(m), true);
sfmData.setAbsolutePose((IndexT)camId, pose);
cv::Size imageSize = model.imageSize();
if(imageSize.height == 0)
for(size_t i=0; i<models.size(); ++i)
{
// backward compatibility
imageSize.height = image.rows;
imageSize.width = image.cols;
const CameraModel & model = models.at(i);
cv::Size imageSize = model.imageSize();
if(imageSize.height == 0)
{
// backward compatibility
imageSize.height = image.rows;
imageSize.width = image.cols;
}
UASSERT(image.cols % imageSize.width == 0);
cv::Mat imageRoi = image.colRange(i*imageSize.width, (i+1)*imageSize.width);
if(gains.find(camId) != gains.end() &&
gains.at(camId).find(i) != gains.at(camId).end())
{
const cv::Vec4d & g = gains.at(camId).at(i);
std::vector<cv::Mat> channels;
cv::split(imageRoi, channels);
// assuming BGR
cv::multiply(channels[0], g.val[gainRGB?3:0], channels[0]);
cv::multiply(channels[1], g.val[gainRGB?2:0], channels[1]);
cv::multiply(channels[2], g.val[gainRGB?1:0], channels[2]);
cv::Mat output;
cv::merge(channels, output);
imageRoi = output;
}
if(blendingGains.find(camId) != blendingGains.end() &&
blendingGains.at(camId).find(i) != blendingGains.at(camId).end())
{
cv::Mat g = blendingGains.at(camId).at(i);
cv::Mat dst;
cv::blur(g, dst, cv::Size(3,3));
cv::Mat gResized;
cv::resize(dst, gResized, imageRoi.size(), 0, 0, cv::INTER_LINEAR);
cv::Mat output;
cv::multiply(imageRoi, gResized, output, 1.0, CV_8UC3);
imageRoi = output;
}
Transform t = iter->second * model.localTransform();
Eigen::Matrix<double, 3, 4> m = (t.inverse()).toEigen3d().matrix().block<3,4>(0, 0);
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()));
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)));
++viewId;
}
std::shared_ptr<camera::IntrinsicBase> camPtr(new camera::Pinhole(imageSize.width, imageSize.height, model.fx(), model.cx(), model.cy()));
sfmData.intrinsics.insert(std::make_pair((IndexT)camId, camPtr));
std::string imagePath = tmpImageDirectory+uFormat("/%d.jpg", camId);
if(gains.find(camId) != gains.end())
{
UASSERT(gains.at(camId).size() == 1);
const cv::Vec4d & g = gains.at(camId).begin()->second;
std::vector<cv::Mat> channels;
cv::split(image, channels);
// assuming BGR
cv::multiply(channels[0], g.val[3], channels[0]);
cv::multiply(channels[1], g.val[2], channels[1]);
cv::multiply(channels[2], g.val[1], channels[2]);
cv::merge(channels, image);
}
if(blendingGains.find(camId) != blendingGains.end())
{
UASSERT(blendingGains.at(camId).size() == 1);
cv::Mat g = blendingGains.at(camId).begin()->second;
cv::Mat dst;
cv::blur(g, dst, cv::Size(3,3));
cv::Mat gResized;
cv::resize(dst, gResized, image.size(), 0, 0, cv::INTER_LINEAR);
cv::multiply(image, gResized, image, 1.0, CV_8UC3);
}
cv::imwrite(imagePath, image);
sfmData.views.insert(std::make_pair((IndexT)camId,
new sfmData::View(
imagePath,
(IndexT)camId,
(IndexT)camId,
(IndexT)camId,
imageSize.width,
imageSize.height)));
}
UINFO("Temporary saving images in directory \"%s\"... done. %fs", tmpImageDirectory.c_str(), timer.ticks());
UINFO("Temporary saving images in directory \"%s\"... done (%d images). %fs", tmpImageDirectory.c_str(), viewId, (int)cameraPoses.size(), timer.ticks());
mvsUtils::MultiViewParams mp(sfmData);
@@ -2458,6 +2467,7 @@ bool multiBandTexturing(
{
UASSERT(img.channels() == 3);
// Re-use same contrast values with all images
UINFO("Apply contrast values %f %f", contrastValues.first, contrastValues.second);
img.convertTo(img, -1, contrastValues.first, contrastValues.second);
}
std::string newName = *iter;