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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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corelib/src/pcl18/surface/impl/texture_mapping.hpp
+10 -3
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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))
{