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Export: added rgb/gray gain compensation option, added maximum outout textures option (can be useful for #189).

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This commit is contained in:
matlabbe
2017-06-03 18:24:56 -04:00
parent 657f0314e4
commit de797b644e
7 changed files with 382 additions and 260 deletions
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29
corelib/src/GainCompensator.cpp
View File

@@ -394,11 +394,12 @@ void applyImpl(
int index,
typename pcl::PointCloud<PointT>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const cv::Mat_<double> & gains)
const cv::Mat_<double> & gains,
bool rgb)
{
double gainR = gains(index, 1);
double gainG = gains(index, 2);
double gainB = gains(index, 3);
double gainR = gains(index, rgb?1:0);
double gainG = gains(index, rgb?2:0);
double gainB = gains(index, rgb?3:0);
UDEBUG("index=%d gain=%f (%f,%f,%f)", index, gains(index, 0), gainR, gainG, gainB);
if(indices->size())
{
@@ -424,34 +425,38 @@ void applyImpl(
void GainCompensator::apply(
int id,
pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud) const
pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
bool rgb) const
{
pcl::IndicesPtr indices(new std::vector<int>);
apply(id, cloud, indices);
apply(id, cloud, indices, rgb);
}
void GainCompensator::apply(
int id,
pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices) const
const pcl::IndicesPtr & indices,
bool rgb) const
{
UASSERT_MSG(uContains(idToIndex_, id), uFormat("id=%d idToIndex_.size()=%d", id, (int)idToIndex_.size()).c_str());
applyImpl<pcl::PointXYZRGB>(idToIndex_.at(id), cloud, indices, gains_);
applyImpl<pcl::PointXYZRGB>(idToIndex_.at(id), cloud, indices, gains_, rgb);
}
void GainCompensator::apply(
int id,
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices) const
const pcl::IndicesPtr & indices,
bool rgb) const
{
UASSERT_MSG(uContains(idToIndex_, id), uFormat("id=%d idToIndex_.size()=%d", id, (int)idToIndex_.size()).c_str());
applyImpl<pcl::PointXYZRGBNormal>(idToIndex_.at(id), cloud, indices, gains_);
applyImpl<pcl::PointXYZRGBNormal>(idToIndex_.at(id), cloud, indices, gains_, rgb);
}
void GainCompensator::apply(
int id,
cv::Mat & image) const
cv::Mat & image,
bool rgb) const
{
UASSERT_MSG(uContains(idToIndex_, id), uFormat("id=%d idToIndex_.size()=%d", id, (int)idToIndex_.size()).c_str());
if(image.channels() == 1)
if(image.channels() == 1 || !rgb)
{
cv::multiply(image, gains_(idToIndex_.at(id), 0), image);
}

81
corelib/src/util3d.cpp
View File

@@ -1988,9 +1988,13 @@ int gcd(int a, int b) {
return b == 0 ? a : gcd(b, a % b);
}
void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, float & scale, std::vector<bool> * materialsKept)
void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept)
{
UASSERT(textureSize>0 && imageSize.width>0 && imageSize.height>0);
if(maxTextures < 1)
{
maxTextures = 1;
}
int materials = 0;
for(unsigned int i=0; i<mesh.tex_materials.size(); ++i)
{
@@ -2012,7 +2016,7 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
float factor = 0.1f;
float epsilon = 0.001f;
scale = 1.0f;
while(colCount*rowCount < materials || (factor == 0.1f || scale > 1.0f))
while((colCount*rowCount)*maxTextures < materials || (factor == 0.1f || scale > 1.0f))
{
// first run try scale = 1 (no scaling)
if(factor!=0.1f)
@@ -2023,28 +2027,30 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
rowCount = float(textureSize)/(scale*float(h));
factor+=epsilon; // search the maximum perfect fit
}
UDEBUG("materials=%d col=%d row=%d factor=%f scale=%f", materials, colCount, rowCount, factor-epsilon, scale);
int outputTextures = (materials / (colCount*rowCount))+1;
UDEBUG("materials=%d col=%d row=%d output textures=%d factor=%f scale=%f", materials, colCount, rowCount, outputTextures, factor-epsilon, scale);
UASSERT(mesh.tex_coordinates.size() == mesh.tex_materials.size() && mesh.tex_polygons.size() == mesh.tex_materials.size());
// prepare size
int totalPolygons = 0;
int totalCoordinates = 0;
std::vector<int> totalPolygons(outputTextures, 0);
std::vector<int> totalCoordinates(outputTextures, 0);
int count = 0;
for(unsigned int i=0; i<mesh.tex_materials.size(); ++i)
{
if(mesh.tex_polygons[i].size())
{
totalPolygons+=mesh.tex_polygons[i].size();
totalCoordinates+=mesh.tex_coordinates[i].size();
int indexMaterial = count / (colCount*rowCount);
UASSERT(indexMaterial < outputTextures);
totalPolygons[indexMaterial]+=mesh.tex_polygons[i].size();
totalCoordinates[indexMaterial]+=mesh.tex_coordinates[i].size();
++count;
}
}
std::vector<pcl::Vertices> newPolygons(totalPolygons);
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > newCoordinates(totalCoordinates); // UV coordinates
#else
std::vector<Eigen::Vector2f> newCoordinates(totalCoordinates); // UV coordinates
#endif
pcl::TextureMesh outputMesh;
int pi = 0;
int ci = 0;
@@ -2061,7 +2067,24 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
{
if(mesh.tex_polygons[t].size())
{
int row = ti/colCount;
int indexMaterial = ti / (colCount*rowCount);
UASSERT(indexMaterial < outputTextures);
if(outputMesh.tex_polygons.size() <= indexMaterial)
{
std::vector<pcl::Vertices> newPolygons(totalPolygons[indexMaterial]);
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > newCoordinates(totalCoordinates[indexMaterial]); // UV coordinates
#else
std::vector<Eigen::Vector2f> newCoordinates(totalCoordinates[indexMaterial]); // UV coordinates
#endif
outputMesh.tex_polygons.push_back(newPolygons);
outputMesh.tex_coordinates.push_back(newCoordinates);
pi=0;
ci=0;
}
int row = (ti/colCount) % rowCount;
int col = ti%colCount;
float offsetU = scaledWidth * float(col);
float offsetV = scaledHeight * float((rowCount - 1) - row) + lowerBorderSize;
@@ -2069,7 +2092,8 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
for(unsigned int i=0; i<mesh.tex_polygons[t].size(); ++i)
{
newPolygons[pi++] = mesh.tex_polygons[t].at(i);
UASSERT(pi < (int)outputMesh.tex_polygons[indexMaterial].size());
outputMesh.tex_polygons[indexMaterial][pi++] = mesh.tex_polygons[t].at(i);
}
for(unsigned int i=0; i<mesh.tex_coordinates[t].size(); ++i)
@@ -2077,12 +2101,12 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
const Eigen::Vector2f & v = mesh.tex_coordinates[t].at(i);
if(v[0] >= 0 && v[1] >=0)
{
newCoordinates[ci][0] = v[0]*scaledWidth + offsetU;
newCoordinates[ci][1] = v[1]*scaledHeight + offsetV;
outputMesh.tex_coordinates[indexMaterial][ci][0] = v[0]*scaledWidth + offsetU;
outputMesh.tex_coordinates[indexMaterial][ci][1] = v[1]*scaledHeight + offsetV;
}
else
{
newCoordinates[ci] = v;
outputMesh.tex_coordinates[indexMaterial][ci] = v;
}
++ci;
}
@@ -2095,13 +2119,20 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
}
pcl::TexMaterial m = mesh.tex_materials.front();
mesh.tex_materials.clear();
m.tex_file = "texture";
m.tex_name = "material";
mesh.tex_materials.push_back(m);
mesh.tex_coordinates.clear();
mesh.tex_coordinates.push_back(newCoordinates);
mesh.tex_polygons.clear();
mesh.tex_polygons.push_back(newPolygons);
for(int i=0; i<outputTextures; ++i)
{
m.tex_file = "texture";
m.tex_name = "material";
if(outputTextures > 1)
{
m.tex_file += uNumber2Str(i);
m.tex_name += uNumber2Str(i);
}
mesh.tex_materials.push_back(m);
}
mesh.tex_coordinates = outputMesh.tex_coordinates;
mesh.tex_polygons = outputMesh.tex_polygons;
}
}