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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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corelib/src/GainCompensator.cpp
+17 -12
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@@ -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);
}