i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

173
tools/Export/main.cpp
View File

@@ -55,17 +55,22 @@ void showUsage()
" --texture_size # Texture size (default 4096).\n"
" --texture_count # Maximum textures generated (default 1).\n"
" --texture_range # Maximum camera range for texturing a polygon (default 0 meters: no limit).\n"
" --texture_d2c Distance to camera policy.\n"
" --ba Do global bundle adjustment before assembling the clouds.\n"
" --no_gain Disable gain compensation when texturing.\n"
" --gain # Gain compensation value (default 1, set 0 to disable).\n"
" --gain_gray Do gain estimation compensation on gray channel only (default RGB channels).\n"
" --no_blending Disable blending when texturing.\n"
" --no_clean Disable cleaning colorless polygons.\n"
" --low_gain # Low brightness gain 0-100 (default 0).\n"
" --high_gain # High brightness gain 0-100 (default 10).\n"
" --multiband Enable multiband texturing (AliceVision dependency required).\n"
" --poisson_depth # Set Poisson depth for mesh reconstruction.\n"
" --max_polygons # Maximum polygons when creating a mesh (default 500000, set 0 for no limit).\n"
" --max_range # Maximum range of the created clouds (default 4 m).\n"
" --decimation # Depth image decimation before creating the clouds (default 4).\n"
" --voxel # Voxel size of the created clouds (default 0.01 m).\n"
" --color_radius # Radius used to colorize polygons (default 0.05 m, set 0 for nearest color).\n"
" --max_range # Maximum range of the created clouds (default 4 m, 0 m with --scan).\n"
" --decimation # Depth image decimation before creating the clouds (default 4, 1 with --scan).\n"
" --voxel # Voxel size of the created clouds (default 0.01 m, 0 m with --scan).\n"
" --color_radius # Radius used to colorize polygons (default 0.05 m, 0 m with --scan). Set 0 for nearest color.\n"
" --scan Use laser scan for the point cloud.\n"
" --save_in_db Save resulting assembled point cloud or mesh in the database.\n"
"\n%s", Parameters::showUsage());
;
@@ -85,21 +90,26 @@ int main(int argc, char * argv[])
bool mesh = false;
bool texture = false;
bool ba = false;
bool doGainCompensation = true;
bool doGainCompensationRGB = true;
float gainValue = 1;
bool doBlending = true;
bool doClean = true;
int poissonDepth = 0;
int maxPolygons = 500000;
int decimation = 4;
float maxRange = 4.0f;
float voxelSize = 0.01f;
int decimation = -1;
float maxRange = -1.0f;
float voxelSize = -1.0f;
int textureSize = 4096;
int textureCount = 1;
int textureRange = 0;
bool distanceToCamPolicy = false;
bool multiband = false;
float colorRadius = 0.05;
float colorRadius = -1.0f;
bool cloudFromScan = false;
bool saveInDb = false;
for(int i=1; i<argc-1; ++i)
int lowBrightnessGain = 0;
int highBrightnessGain = 10;
for(int i=1; i<argc; ++i)
{
if(std::strcmp(argv[i], "--help") == 0)
{
@@ -150,13 +160,30 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(std::strcmp(argv[i], "--texture_d2c") == 0)
{
distanceToCamPolicy = true;
}
else if(std::strcmp(argv[i], "--ba") == 0)
{
ba = true;
}
else if(std::strcmp(argv[i], "--no_gain") == 0)
else if(std::strcmp(argv[i], "--gain_gray") == 0)
{
doGainCompensation = false;
doGainCompensationRGB = false;
}
else if(std::strcmp(argv[i], "--gain") == 0)
{
++i;
if(i<argc-1)
{
gainValue = uStr2Float(argv[i]);
UASSERT(gainValue>0.0f);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--no_blending") == 0)
{
@@ -246,10 +273,55 @@ int main(int argc, char * argv[])
showUsage();
}
}
else if(std::strcmp(argv[i], "--scan") == 0)
{
cloudFromScan = true;
}
else if(std::strcmp(argv[i], "--save_in_db") == 0)
{
saveInDb = true;
}
else if(std::strcmp(argv[i], "--low_gain") == 0)
{
++i;
if(i<argc-1)
{
lowBrightnessGain = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--high_gain") == 0)
{
++i;
if(i<argc-1)
{
highBrightnessGain = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
}
if(decimation < 1)
{
decimation = cloudFromScan?1:4;
}
if(maxRange < 0)
{
maxRange = cloudFromScan?0:4;
}
if(voxelSize < 0.0f)
{
voxelSize = cloudFromScan?0:0.01f;
}
if(colorRadius < 0.0f)
{
colorRadius = cloudFromScan?0:0.05f;
}
if(saveInDb)
@@ -307,6 +379,12 @@ int main(int argc, char * argv[])
rtabmap.getGraph(optimizedPoses, links, true, true, &nodes, true, true, true, true);
printf("Optimizing the map... done (%fs, poses=%d).\n", timer.ticks(), (int)optimizedPoses.size());
if(optimizedPoses.empty())
{
printf("The optimized graph is empty!? Aborting...\n");
return -1;
}
std::string outputDirectory = UDirectory::getDir(dbPath);
std::string baseName = uSplit(UFile::getName(dbPath), '.').front();
@@ -340,27 +418,49 @@ int main(int argc, char * argv[])
Signature node = nodes.find(iter->first)->second;
// uncompress data
node.sensorData().uncompressData();
std::vector<CameraModel> models = node.sensorData().cameraModels();
cv::Mat depth = node.sensorData().depthRaw();
cv::Mat depth;
pcl::IndicesPtr indices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = util3d::cloudRGBFromSensorData(
node.sensorData(),
decimation, // image decimation before creating the clouds
maxRange, // maximum depth of the cloud
0.0f,
indices.get());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(cloudFromScan)
{
cv::Mat tmpDepth;
LaserScan scan;
node.sensorData().uncompressData(0, texture&&!node.sensorData().depthOrRightCompressed().empty()?&tmpDepth:0, &scan);
if(decimation>1 || maxRange)
{
scan = util3d::commonFiltering(scan, decimation, 0, maxRange);
}
cloud = util3d::laserScanToPointCloudRGB(scan, scan.localTransform());
}
else
{
cv::Mat tmpRGB;
node.sensorData().uncompressData(&tmpRGB, &depth);
cloud = util3d::cloudRGBFromSensorData(
node.sensorData(),
decimation, // image decimation before creating the clouds
maxRange, // maximum depth of the cloud
0.0f,
indices.get());
}
if(voxelSize>0.0f)
{
cloud = rtabmap::util3d::voxelize(cloud, indices, voxelSize);
}
cloud = rtabmap::util3d::transformPointCloud(cloud, iter->second);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
transformedCloud = rtabmap::util3d::voxelize(cloud, indices, voxelSize);
transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
Eigen::Vector3f viewpoint( iter->second.x(), iter->second.y(), iter->second.z());
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(transformedCloud, 10, 0.0f, viewpoint);
Eigen::Vector3f viewpoint(iter->second.x(), iter->second.y(), iter->second.z());
if(cloudFromScan)
{
Transform lidarViewpoint = iter->second * node.sensorData().laserScanRaw().localTransform();
viewpoint = Eigen::Vector3f(iter->second.x(), iter->second.y(), iter->second.z());
}
pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(cloud, 20, 0.0f, viewpoint);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::concatenateFields(*transformedCloud, *normals, *cloudWithNormals);
pcl::concatenateFields(*cloud, *normals, *cloudWithNormals);
if(mergedClouds->size() == 0)
{
@@ -398,8 +498,11 @@ int main(int argc, char * argv[])
if(!(mesh || texture))
{
printf("Voxel grid filtering of the assembled cloud (voxel=%f, %d points)\n", 0.01f, (int)mergedClouds->size());
mergedClouds = util3d::voxelize(mergedClouds, voxelSize);
if(voxelSize>0.0f)
{
printf("Voxel grid filtering of the assembled cloud (voxel=%f, %d points)\n", voxelSize, (int)mergedClouds->size());
mergedClouds = util3d::voxelize(mergedClouds, voxelSize);
}
if(saveInDb)
{
@@ -490,7 +593,8 @@ int main(int argc, char * argv[])
multiband?0:50, // Min polygons in camera view to be textured by this camera
std::vector<float>(),
0,
&vertexToPixels);
&vertexToPixels,
distanceToCamPolicy);
printf("Texturing... done (%fs).\n", timer.ticks());
// Remove occluded polygons (polygons with no texture)
@@ -523,9 +627,9 @@ int main(int argc, char * argv[])
textureSize,
multiband?1:textureCount, // to get contrast values based on all images in multiband mode
vertexToPixels,
doGainCompensation, 1.0f, true,
gainValue>0.0f, gainValue, doGainCompensationRGB,
doBlending, 0,
0, 10, // low-high brightness/contrast balance
lowBrightnessGain, highBrightnessGain, // low-high brightness/contrast balance
false, // exposure fusion
0, // state
0, // blank value (0=black)
@@ -600,7 +704,8 @@ int main(int argc, char * argv[])
"jpg",
gains,
blendingGains,
contrastValues))
contrastValues,
doGainCompensationRGB))
{
printf("MultiBand texturing...done (%fs).\n", timer.ticks());
}