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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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231
guilib/src/ExportCloudsDialog.cpp
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@@ -144,6 +144,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->doubleSpinBox_gainRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_gainOverlap, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_gainBeta, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_gainRGB, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_gainFull, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_textureBrightnessContrastRatioLow, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_textureBrightnessContrastRatioHigh, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
@@ -167,6 +168,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->comboBox_meshingTextureFormat, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_meshingTextureSize, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_mesh_maxTextures, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_meshingTextureMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_mesh_minTextureClusterSize, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->lineEdit_meshingTextureRoiRatios, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
@@ -289,6 +291,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("gain_radius", _ui->doubleSpinBox_gainRadius->value());
settings.setValue("gain_overlap", _ui->doubleSpinBox_gainOverlap->value());
settings.setValue("gain_beta", _ui->doubleSpinBox_gainBeta->value());
settings.setValue("gain_rgb", _ui->checkBox_gainRGB->isChecked());
settings.setValue("gain_full", _ui->checkBox_gainFull->isChecked());
settings.setValue("mesh", _ui->checkBox_meshing->isChecked());
@@ -305,6 +308,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mesh_texture", _ui->checkBox_textureMapping->isChecked());
settings.setValue("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex());
settings.setValue("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex());
settings.setValue("mesh_textureMaxCount", _ui->spinBox_mesh_maxTextures->value());
settings.setValue("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value());
settings.setValue("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value());
settings.setValue("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text());
@@ -398,6 +402,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->doubleSpinBox_gainRadius->setValue(settings.value("gain_radius", _ui->doubleSpinBox_gainRadius->value()).toDouble());
_ui->doubleSpinBox_gainOverlap->setValue(settings.value("gain_overlap", _ui->doubleSpinBox_gainOverlap->value()).toDouble());
_ui->doubleSpinBox_gainBeta->setValue(settings.value("gain_beta", _ui->doubleSpinBox_gainBeta->value()).toDouble());
_ui->checkBox_gainRGB->setChecked(settings.value("gain_rgb", _ui->checkBox_gainRGB->isChecked()).toBool());
_ui->checkBox_gainFull->setChecked(settings.value("gain_full", _ui->checkBox_gainFull->isChecked()).toBool());
_ui->checkBox_meshing->setChecked(settings.value("mesh", _ui->checkBox_meshing->isChecked()).toBool());
@@ -414,6 +419,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", _ui->checkBox_textureMapping->isChecked()).toBool());
_ui->comboBox_meshingTextureFormat->setCurrentIndex(settings.value("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex()).toInt());
_ui->comboBox_meshingTextureSize->setCurrentIndex(settings.value("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex()).toInt());
_ui->spinBox_mesh_maxTextures->setValue(settings.value("mesh_textureMaxCount", _ui->spinBox_mesh_maxTextures->value()).toInt());
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(settings.value("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value()).toDouble());
_ui->spinBox_mesh_minTextureClusterSize->setValue(settings.value("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value()).toDouble());
_ui->lineEdit_meshingTextureRoiRatios->setText(settings.value("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text()).toString());
@@ -507,6 +513,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_gainRadius->setValue(0.02);
_ui->doubleSpinBox_gainOverlap->setValue(0.0);
_ui->doubleSpinBox_gainBeta->setValue(10);
_ui->checkBox_gainRGB->setChecked(true);
_ui->checkBox_gainFull->setChecked(false);
_ui->checkBox_meshing->setChecked(false);
@@ -523,6 +530,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->checkBox_textureMapping->setChecked(false);
_ui->comboBox_meshingTextureFormat->setCurrentIndex(0);
_ui->comboBox_meshingTextureSize->setCurrentIndex(5); // 4096
_ui->spinBox_mesh_maxTextures->setValue(1);
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(3.0);
_ui->spinBox_mesh_minTextureClusterSize->setValue(50);
_ui->lineEdit_meshingTextureRoiRatios->setText("0.0 0.0 0.0 0.0");
@@ -834,7 +842,12 @@ void ExportCloudsDialog::viewClouds(
cv::Mat globalTexture;
if (mesh->tex_materials.size() > 1)
{
globalTexture = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels);
std::vector<cv::Mat> globalTextures;
globalTextures = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels, 1);
if(globalTextures.size() == 1)
{
globalTexture = globalTextures[0];
}
}
_progressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)...").arg(iter->first).arg(mesh->tex_polygons.size()?mesh->tex_polygons[0].size():0));
@@ -902,7 +915,7 @@ void ExportCloudsDialog::viewClouds(
UASSERT(!globalTexture.empty());
if (_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
{
_compensator->apply(textureId, globalTexture);
_compensator->apply(textureId, globalTexture, _ui->checkBox_gainRGB->isChecked());
}
}
else
@@ -1155,7 +1168,7 @@ bool ExportCloudsDialog::getExportedClouds(
if(jter!=clouds.end())
{
double gain = _compensator->getGain(jter->first);;
_compensator->apply(jter->first, jter->second.first, jter->second.second);
_compensator->apply(jter->first, jter->second.first, jter->second.second, _ui->checkBox_gainRGB->isChecked());
_progressDialog->appendText(tr("Cloud %1 has gain %2").arg(jter->first).arg(gain));
_progressDialog->incrementStep();
@@ -2988,10 +3001,11 @@ double sqr(uchar v)
return double(v)*double(v);
}
cv::Mat ExportCloudsDialog::mergeTextures(
std::vector<cv::Mat> ExportCloudsDialog::mergeTextures(
pcl::TextureMesh & mesh,
const QMap<int, Signature> & cachedSignatures,
const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels) const
const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels,
int maxTextures) const
{
//get texture size, if disabled use default 1024
int textureSize = 1024;
@@ -3000,7 +3014,7 @@ cv::Mat ExportCloudsDialog::mergeTextures(
textureSize = 128 << _ui->comboBox_meshingTextureSize->currentIndex(); // start at 256
}
UDEBUG("textureSize = %d", textureSize);
cv::Mat globalTexture;
std::vector<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));
@@ -3094,13 +3108,20 @@ cv::Mat ExportCloudsDialog::mergeTextures(
float scale = 0.0f;
UDEBUG("");
std::vector<bool> materialsKept;
util3d::concatenateTextureMaterials(mesh, imageSize, textureSize, scale, &materialsKept);
if(scale && mesh.tex_materials.size()==1)
util3d::concatenateTextureMaterials(mesh, imageSize, textureSize, maxTextures, scale, &materialsKept);
if(scale && mesh.tex_materials.size())
{
int materials = (int)mesh.tex_materials.size();
int cols = float(textureSize)/(scale*imageSize.width);
int rows = float(textureSize)/(scale*imageSize.height);
globalTexture = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
cv::Mat globalTextureMask = cv::Mat(textureSize, textureSize, CV_8UC1, cv::Scalar::all(0));
std::vector<cv::Mat> globalTextureMasks(materials);
globalTextures.resize(materials);
for(int i=0; i<materials; ++i)
{
globalTextures[i] = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
globalTextureMasks[i] = cv::Mat(textureSize, textureSize, CV_8UC1, cv::Scalar::all(0));
}
// used for multi camera texturing, to avoid reloading same texture for sub cameras
cv::Mat previousImage;
@@ -3117,9 +3138,12 @@ cv::Mat ExportCloudsDialog::mergeTextures(
{
if(materialsKept.at(t))
{
int indexMaterial = oi / (cols*rows);
UASSERT(indexMaterial < materials);
newCamIndex[t] = oi;
int u = oi%cols * emptyImage.cols;
int v = oi/cols * emptyImage.rows;
int v = ((oi/cols) % rows ) * emptyImage.rows;
UASSERT(u < textureSize-emptyImage.cols);
UASSERT(v < textureSize-emptyImage.rows);
imageOrigin[t].x = u;
@@ -3176,15 +3200,15 @@ cv::Mat ExportCloudsDialog::mergeTextures(
}
if(_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textures[t].first) >= 0)
{
_compensator->apply(textures[t].first, resizedImage);
_compensator->apply(textures[t].first, resizedImage, _ui->checkBox_gainRGB->isChecked());
}
UASSERT(resizedImage.type() == globalTexture.type());
resizedImage.copyTo(globalTexture(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
emptyImageMask.copyTo(globalTextureMask(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
UASSERT(resizedImage.type() == globalTextures[indexMaterial].type());
resizedImage.copyTo(globalTextures[indexMaterial](cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
emptyImageMask.copyTo(globalTextureMasks[indexMaterial](cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
}
else
{
emptyImage.copyTo(globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
emptyImage.copyTo(globalTextures[indexMaterial](cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
}
++oi;
}
@@ -3227,13 +3251,15 @@ cv::Mat ExportCloudsDialog::mergeTextures(
N(i, j) += 1;
N(j, i) += 1;
int indexMaterial = i / (cols*rows);
// uv in globalTexture
int ui = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
int vi = (1.0-iter->second.y)*emptyImage.rows + imageOrigin[iter->first].y;
int uj = jter->second.x*emptyImage.cols + imageOrigin[jter->first].x;
int vj = (1.0-jter->second.y)*emptyImage.rows + imageOrigin[jter->first].y;
cv::Vec3b * pt1 = globalTexture.ptr<cv::Vec3b>(vi,ui);
cv::Vec3b * pt2 = globalTexture.ptr<cv::Vec3b>(vj,uj);
cv::Vec3b * pt1 = globalTextures[indexMaterial].ptr<cv::Vec3b>(vi,ui);
cv::Vec3b * pt2 = globalTextures[indexMaterial].ptr<cv::Vec3b>(vj,uj);
I(i, j) += std::sqrt(static_cast<double>(sqr(pt1->val[0]) + sqr(pt1->val[1]) + sqr(pt1->val[2])));
I(j, i) += std::sqrt(static_cast<double>(sqr(pt2->val[0]) + sqr(pt2->val[1]) + sqr(pt2->val[2])));
@@ -3323,14 +3349,17 @@ cv::Mat ExportCloudsDialog::mergeTextures(
UDEBUG("Gain cam%d = %f", newCamIndex[t], gainsGray(newCamIndex[t], 0));
cv::Mat roi = globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows));
int indexMaterial = newCamIndex[t] / (cols*rows);
cv::Mat roi = globalTextures[indexMaterial](cv::Rect(u, v, emptyImage.cols, emptyImage.rows));
std::vector<cv::Mat> channels;
cv::split(roi, channels);
// assuming BGR
cv::multiply(channels[0], gains(newCamIndex[t], 3), channels[0]);
cv::multiply(channels[1], gains(newCamIndex[t], 2), channels[1]);
cv::multiply(channels[2], gains(newCamIndex[t], 1), channels[2]);
cv::multiply(channels[0], gains(newCamIndex[t], _ui->checkBox_gainRGB->isChecked()?3:0), channels[0]);
cv::multiply(channels[1], gains(newCamIndex[t], _ui->checkBox_gainRGB->isChecked()?2:0), channels[1]);
cv::multiply(channels[2], gains(newCamIndex[t], _ui->checkBox_gainRGB->isChecked()?1:0), channels[2]);
cv::merge(channels, roi);
}
}
@@ -3352,15 +3381,18 @@ cv::Mat ExportCloudsDialog::mergeTextures(
int polygonSize = mesh.tex_polygons[0][0].vertices.size();
UDEBUG("polygon size=%d", polygonSize);
for(unsigned int i=0; i<mesh.tex_coordinates[0].size(); i+=polygonSize)
for(unsigned int k=0; k<mesh.tex_coordinates.size(); ++k)
{
for(int j=0; j<polygonSize; ++j)
for(unsigned int i=0; i<mesh.tex_coordinates[k].size(); i+=polygonSize)
{
const Eigen::Vector2f & uc1 = mesh.tex_coordinates[0][i + j];
const Eigen::Vector2f & uc2 = mesh.tex_coordinates[0][i + (j+1)%polygonSize];
Eigen::Vector2f edge = (uc1-uc2)*textureSize;
edgeLengths.push_back(fabs(edge[0]));
edgeLengths.push_back(fabs(edge[1]));
for(int j=0; j<polygonSize; ++j)
{
const Eigen::Vector2f & uc1 = mesh.tex_coordinates[k][i + j];
const Eigen::Vector2f & uc2 = mesh.tex_coordinates[k][i + (j+1)%polygonSize];
Eigen::Vector2f edge = (uc1-uc2)*textureSize;
edgeLengths.push_back(fabs(edge[0]));
edgeLengths.push_back(fabs(edge[1]));
}
}
}
float edgeLength = 0.0f;
@@ -3390,7 +3422,12 @@ cv::Mat ExportCloudsDialog::mergeTextures(
UDEBUG("decimation=%d", decimation);
}
cv::Mat blendGains(globalTexture.rows/decimation, globalTexture.cols/decimation, CV_32FC3, cv::Scalar::all(1.0f));
std::vector<cv::Mat> blendGains(materials);
for(int i=0; i<materials;++i)
{
blendGains[i] = cv::Mat(globalTextures[i].rows/decimation, globalTextures[i].cols/decimation, CV_32FC3, cv::Scalar::all(1.0f));
}
for(unsigned int p=0; p<textureVertexToPixels.size(); ++p)
{
if(textureVertexToPixels[p].size() > 1)
@@ -3413,7 +3450,8 @@ cv::Mat ExportCloudsDialog::mergeTextures(
{
weight = 0.0f;
}
cv::Vec3b * pt = globalTexture.ptr<cv::Vec3b>(v,u);
int indexMaterial = newCamIndex[iter->first] / (cols*rows);
cv::Vec3b * pt = globalTextures[indexMaterial].ptr<cv::Vec3b>(v,u);
gainsB[k] = static_cast<double>(pt->val[0]) * weight;
gainsG[k] = static_cast<double>(pt->val[1]) * weight;
gainsR[k] = static_cast<double>(pt->val[2]) * weight;
@@ -3437,11 +3475,12 @@ cv::Mat ExportCloudsDialog::mergeTextures(
{
int u = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
int v = (1.0-iter->second.y)*emptyImage.rows + imageOrigin[iter->first].y;
cv::Vec3b * pt = globalTexture.ptr<cv::Vec3b>(v,u);
int indexMaterial = newCamIndex[iter->first] / (cols*rows);
cv::Vec3b * pt = globalTextures[indexMaterial].ptr<cv::Vec3b>(v,u);
float gB = targetColor[0]/(pt->val[0]==0?1.0f:pt->val[0]);
float gG = targetColor[1]/(pt->val[1]==0?1.0f:pt->val[1]);
float gR = targetColor[2]/(pt->val[2]==0?1.0f:pt->val[2]);
cv::Vec3f * ptr = blendGains.ptr<cv::Vec3f>(v/decimation, u/decimation);
cv::Vec3f * ptr = blendGains[indexMaterial].ptr<cv::Vec3f>(v/decimation, u/decimation);
ptr->val[0] = (gB>1.3f)?1.3f:(gB<0.7f)?0.7f:gB;
ptr->val[1] = (gG>1.3f)?1.3f:(gG<0.7f)?0.7f:gG;
ptr->val[2] = (gR>1.3f)?1.3f:(gR<0.7f)?0.7f:gR;
@@ -3451,73 +3490,79 @@ cv::Mat ExportCloudsDialog::mergeTextures(
}
}
/*std::vector<cv::Mat> channels;
cv::split(blendGains, channels);
cv::Mat img;
channels[0].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendSmallB.png", img);
channels[1].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendSmallG.png", img);
channels[2].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendSmallR.png", img);*/
for(int i=0; i<materials; ++i)
{
/*std::vector<cv::Mat> channels;
cv::split(blendGains, channels);
cv::Mat img;
channels[0].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendSmallB.png", img);
channels[1].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendSmallG.png", img);
channels[2].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendSmallR.png", img);*/
cv::Mat dst;
cv::blur(blendGains, dst, cv::Size(3,3));
cv::resize(dst, blendGains, globalTexture.size(), 0, 0, cv::INTER_LINEAR);
cv::Mat dst;
cv::blur(blendGains[i], dst, cv::Size(3,3));
cv::resize(dst, blendGains[i], globalTextures[i].size(), 0, 0, cv::INTER_LINEAR);
/*cv::split(blendGains, channels);
channels[0].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendFullB.png", img);
channels[1].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendFullG.png", img);
channels[2].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendFullR.png", img);*/
/*cv::split(blendGains, channels);
channels[0].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendFullB.png", img);
channels[1].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendFullG.png", img);
channels[2].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendFullR.png", img);*/
cv::multiply(globalTexture, blendGains, globalTexture, 1.0, CV_8UC3);
cv::multiply(globalTextures[i], blendGains[i], globalTextures[i], 1.0, CV_8UC3);
//UWARN("Saving blending.png", globalTexture);
//cv::imwrite("blending.png", globalTexture);
//UWARN("Saving blending.png", globalTexture);
//cv::imwrite("blending.png", globalTexture);
}
}
}
if(_ui->spinBox_textureBrightnessContrastRatioLow->value() > 0 || _ui->spinBox_textureBrightnessContrastRatioHigh->value() > 0)
{
if(_ui->checkBox_exposureFusion->isEnabled() && _ui->checkBox_exposureFusion->isChecked())
for(int i=0; i<materials; ++i)
{
std::vector<cv::Mat> images;
images.push_back(globalTexture);
if (_ui->spinBox_textureBrightnessContrastRatioLow->value() > 0)
if(_ui->checkBox_exposureFusion->isEnabled() && _ui->checkBox_exposureFusion->isChecked())
{
images.push_back(util2d::brightnessAndContrastAuto(
globalTexture,
globalTextureMask,
(float)_ui->spinBox_textureBrightnessContrastRatioLow->value(),
0.0f));
}
if (_ui->spinBox_textureBrightnessContrastRatioHigh->value() > 0)
{
images.push_back(util2d::brightnessAndContrastAuto(
globalTexture,
globalTextureMask,
0.0f,
(float)_ui->spinBox_textureBrightnessContrastRatioHigh->value()));
}
std::vector<cv::Mat> images;
images.push_back(globalTextures[i]);
if (_ui->spinBox_textureBrightnessContrastRatioLow->value() > 0)
{
images.push_back(util2d::brightnessAndContrastAuto(
globalTextures[i],
globalTextureMasks[i],
(float)_ui->spinBox_textureBrightnessContrastRatioLow->value(),
0.0f));
}
if (_ui->spinBox_textureBrightnessContrastRatioHigh->value() > 0)
{
images.push_back(util2d::brightnessAndContrastAuto(
globalTextures[i],
globalTextureMasks[i],
0.0f,
(float)_ui->spinBox_textureBrightnessContrastRatioHigh->value()));
}
globalTexture = util2d::exposureFusion(images);
}
else
{
globalTexture = util2d::brightnessAndContrastAuto(
globalTexture,
globalTextureMask,
(float)_ui->spinBox_textureBrightnessContrastRatioLow->value(),
(float)_ui->spinBox_textureBrightnessContrastRatioHigh->value());
globalTextures[i] = util2d::exposureFusion(images);
}
else
{
globalTextures[i] = util2d::brightnessAndContrastAuto(
globalTextures[i],
globalTextureMasks[i],
(float)_ui->spinBox_textureBrightnessContrastRatioLow->value(),
(float)_ui->spinBox_textureBrightnessContrastRatioHigh->value());
}
}
}
}
}
}
return globalTexture;
return globalTextures;
}
void ExportCloudsDialog::saveTextureMeshes(
@@ -3547,11 +3592,11 @@ void ExportCloudsDialog::saveTextureMeshes(
pcl::TextureMesh::Ptr mesh = meshes.begin()->second;
cv::Mat globalTexture;
std::vector<cv::Mat> globalTextures;
bool texturesMerged = _ui->comboBox_meshingTextureSize->isEnabled() && _ui->comboBox_meshingTextureSize->currentIndex() > 0;
if(texturesMerged && mesh->tex_materials.size()>1)
{
globalTexture = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels);
globalTextures = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels, _ui->spinBox_mesh_maxTextures->value());
}
bool singleTexture = mesh->tex_materials.size() == 1;
if(!singleTexture)
@@ -3631,7 +3676,7 @@ void ExportCloudsDialog::saveTextureMeshes(
}
if(_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
{
_compensator->apply(textureId, image);
_compensator->apply(textureId, image, _ui->checkBox_gainRGB->isChecked());
}
if(!cv::imwrite(fullPath.toStdString(), image))
@@ -3647,9 +3692,9 @@ void ExportCloudsDialog::saveTextureMeshes(
cv::Mat image = cv::Mat::ones(imageSize, CV_8UC1)*255;
cv::imwrite(fullPath.toStdString(), image);
}
else if(!globalTexture.empty())
else if(!globalTextures[i].empty())
{
if(!cv::imwrite(fullPath.toStdString(), globalTexture))
if(!cv::imwrite(fullPath.toStdString(), globalTextures[i]))
{
_progressDialog->appendText(tr("Failed saving texture \"%1\" to \"%2\".")
.arg(mesh->tex_materials[i].tex_file.c_str()).arg(fullPath), Qt::darkRed);
@@ -3713,11 +3758,11 @@ void ExportCloudsDialog::saveTextureMeshes(
if(iter->second->tex_materials.size())
{
pcl::TextureMesh::Ptr mesh = iter->second;
cv::Mat globalTexture;
std::vector<cv::Mat> globalTextures;
bool texturesMerged = _ui->comboBox_meshingTextureSize->isEnabled() && _ui->comboBox_meshingTextureSize->currentIndex() > 0;
if(texturesMerged && mesh->tex_materials.size()>1)
{
globalTexture = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels);
globalTextures = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels, _ui->spinBox_mesh_maxTextures->value());
}
bool singleTexture = mesh->tex_materials.size() == 1;
if(!singleTexture)
@@ -3802,7 +3847,7 @@ void ExportCloudsDialog::saveTextureMeshes(
}
if(_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
{
_compensator->apply(textureId, image);
_compensator->apply(textureId, image, _ui->checkBox_gainRGB->isChecked());
}
if(!cv::imwrite(fullPath.toStdString(), image))
@@ -3818,9 +3863,9 @@ void ExportCloudsDialog::saveTextureMeshes(
cv::Mat image = cv::Mat::ones(imageSize, CV_8UC1)*255;
cv::imwrite(fullPath.toStdString(), image);
}
else if(!globalTexture.empty())
else if(!globalTextures[i].empty())
{
if(!cv::imwrite(fullPath.toStdString(), globalTexture))
if(!cv::imwrite(fullPath.toStdString(), globalTextures[i]))
{
_progressDialog->appendText(tr("Failed saving texture \"%1\" to \"%2\".")
.arg(mesh->tex_materials[i].tex_file.c_str()).arg(fullPath), Qt::darkRed);

2
guilib/src/ExportCloudsDialog.h
View File

@@ -121,7 +121,7 @@ private:
void saveClouds(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
void saveMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
void saveTextureMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, std::map<int, pcl::TextureMesh::Ptr> & textureMeshes, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
cv::Mat mergeTextures(pcl::TextureMesh & mesh, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels) const;
std::vector<cv::Mat> mergeTextures(pcl::TextureMesh & mesh, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels, int maxTextures) const;
void setSaveButton();
void setOkButton();

285
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-1412</y>
<width>773</width>
<height>3895</height>
<height>3953</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1151,6 +1151,38 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainBeta">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>100.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_binaryFile_7">
<property name="text">
<string>Do full compensation between all locations (longer to do but quality is better). Otherwise, compensation is done only between linked locations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainOverlap">
<property name="suffix">
@@ -1173,35 +1205,13 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_gainFull">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainBeta">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>100.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_binaryFile_3">
<property name="text">
@@ -1255,15 +1265,22 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_binaryFile_7">
<widget class="QLabel" name="label_binaryFile_8">
<property name="text">
<string>Do full compensation between all locations (longer to do but quality is better). Otherwise, compensation is done only between linked locations.</string>
<string>Gain on each RGB channel separatly.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_gainRGB">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@@ -1469,51 +1486,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
<item row="7" column="0">
<widget class="QComboBox" name="comboBox_blendingDecimation">
<item>
<property name="text">
<string>Auto</string>
</property>
</item>
<item>
<property name="text">
<string>1</string>
</property>
</item>
<item>
<property name="text">
<string>2</string>
</property>
</item>
<item>
<property name="text">
<string>4</string>
</property>
</item>
<item>
<property name="text">
<string>8</string>
</property>
</item>
<item>
<property name="text">
<string>16</string>
</property>
</item>
<item>
<property name="text">
<string>32</string>
</property>
</item>
<item>
<property name="text">
<string>64</string>
</property>
</item>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_exposureFusion_2">
<property name="text">
<string>Blending. Only used with dense reconstruction flavor and if clouds are assembled.</string>
@@ -1523,7 +1496,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" column="1">
<widget class="QLabel" name="label_meshingTextureSize_2">
<property name="text">
<string>Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor.</string>
@@ -1533,7 +1506,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
<property name="suffix">
<string> m</string>
@@ -1555,7 +1528,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_meshingTextureSize_5">
<property name="text">
<string>Brightness and contrast balance low ratio. Only used when textures are merged.</string>
@@ -1589,17 +1562,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_meshingTextureSize">
<property name="text">
<string>Output texture size. If not set or when clouds are not assembled, all textures are saved separately. Warning: values higher than 2048 may not be compatible with all GPUs.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<item row="10" column="0">
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
<property name="suffix">
<string> %</string>
@@ -1612,21 +1575,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_blending">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_cameraFilter">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_meshingTextureSize_6">
<property name="text">
<string>Brightness and contrast balance high ratio. Only used when textures are merged.</string>
@@ -1685,7 +1634,95 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="checkBox_exposureFusion">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_meshingTextureSize_4">
<property name="text">
<string>Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLineEdit" name="lineEdit_meshingTextureRoiRatios"/>
</item>
<item row="8" column="0">
<widget class="QComboBox" name="comboBox_blendingDecimation">
<item>
<property name="text">
<string>Auto</string>
</property>
</item>
<item>
<property name="text">
<string>1</string>
</property>
</item>
<item>
<property name="text">
<string>2</string>
</property>
</item>
<item>
<property name="text">
<string>4</string>
</property>
</item>
<item>
<property name="text">
<string>8</string>
</property>
</item>
<item>
<property name="text">
<string>16</string>
</property>
</item>
<item>
<property name="text">
<string>32</string>
</property>
</item>
<item>
<property name="text">
<string>64</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_meshingTextureSize">
<property name="text">
<string>Output texture size. If not set or when clouds are not assembled, all textures are saved separately. Warning: values higher than 2048 may not be compatible with all GPUs.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_blending">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_cameraFilter">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioLow">
<property name="suffix">
<string> %</string>
@@ -1698,14 +1735,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="checkBox_exposureFusion">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
<property name="minimum">
<number>0</number>
@@ -1715,7 +1745,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_exposureFusion_3">
<property name="text">
<string>Blending decimation. </string>
@@ -1725,17 +1755,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_meshingTextureSize_4">
<property name="text">
<string>Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="QLabel" name="label_meshingTextureSize_3">
<property name="text">
<string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
@@ -1745,7 +1765,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="11" column="1">
<item row="12" column="1">
<widget class="QLabel" name="label_exposureFusion">
<property name="text">
<string>Exposure fusion. Only used when textures are merged and brightness/contrast balance ratios are used (merging original texture + 1 for each ratios).</string>
@@ -1755,7 +1775,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_meshingTextureSize_7">
<property name="text">
<string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
@@ -1766,7 +1786,24 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</widget>
</item>
<item row="2" column="0">
<widget class="QLineEdit" name="lineEdit_meshingTextureRoiRatios"/>
<widget class="QSpinBox" name="spinBox_mesh_maxTextures">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_meshingTextureSize_8">
<property name="text">
<string>Maximum output textures.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>