mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Export: added rgb/gray gain compensation option, added maximum outout textures option (can be useful for #189).
This commit is contained in:
matlabbe
@@ -144,6 +144,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
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connect(_ui->doubleSpinBox_gainRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_gainOverlap, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_gainBeta, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->checkBox_gainRGB, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->checkBox_gainFull, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_textureBrightnessContrastRatioLow, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_textureBrightnessContrastRatioHigh, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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@@ -167,6 +168,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
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connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
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connect(_ui->comboBox_meshingTextureFormat, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->comboBox_meshingTextureSize, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_mesh_maxTextures, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_meshingTextureMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_mesh_minTextureClusterSize, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->lineEdit_meshingTextureRoiRatios, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
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@@ -289,6 +291,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
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settings.setValue("gain_radius", _ui->doubleSpinBox_gainRadius->value());
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settings.setValue("gain_overlap", _ui->doubleSpinBox_gainOverlap->value());
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settings.setValue("gain_beta", _ui->doubleSpinBox_gainBeta->value());
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settings.setValue("gain_rgb", _ui->checkBox_gainRGB->isChecked());
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settings.setValue("gain_full", _ui->checkBox_gainFull->isChecked());
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settings.setValue("mesh", _ui->checkBox_meshing->isChecked());
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@@ -305,6 +308,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
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settings.setValue("mesh_texture", _ui->checkBox_textureMapping->isChecked());
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settings.setValue("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex());
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settings.setValue("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex());
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settings.setValue("mesh_textureMaxCount", _ui->spinBox_mesh_maxTextures->value());
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settings.setValue("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value());
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settings.setValue("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value());
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settings.setValue("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text());
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@@ -398,6 +402,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
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_ui->doubleSpinBox_gainRadius->setValue(settings.value("gain_radius", _ui->doubleSpinBox_gainRadius->value()).toDouble());
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_ui->doubleSpinBox_gainOverlap->setValue(settings.value("gain_overlap", _ui->doubleSpinBox_gainOverlap->value()).toDouble());
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_ui->doubleSpinBox_gainBeta->setValue(settings.value("gain_beta", _ui->doubleSpinBox_gainBeta->value()).toDouble());
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_ui->checkBox_gainRGB->setChecked(settings.value("gain_rgb", _ui->checkBox_gainRGB->isChecked()).toBool());
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_ui->checkBox_gainFull->setChecked(settings.value("gain_full", _ui->checkBox_gainFull->isChecked()).toBool());
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_ui->checkBox_meshing->setChecked(settings.value("mesh", _ui->checkBox_meshing->isChecked()).toBool());
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@@ -414,6 +419,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
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_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", _ui->checkBox_textureMapping->isChecked()).toBool());
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_ui->comboBox_meshingTextureFormat->setCurrentIndex(settings.value("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex()).toInt());
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_ui->comboBox_meshingTextureSize->setCurrentIndex(settings.value("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex()).toInt());
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_ui->spinBox_mesh_maxTextures->setValue(settings.value("mesh_textureMaxCount", _ui->spinBox_mesh_maxTextures->value()).toInt());
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_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(settings.value("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value()).toDouble());
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_ui->spinBox_mesh_minTextureClusterSize->setValue(settings.value("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value()).toDouble());
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_ui->lineEdit_meshingTextureRoiRatios->setText(settings.value("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text()).toString());
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@@ -507,6 +513,7 @@ void ExportCloudsDialog::restoreDefaults()
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_ui->doubleSpinBox_gainRadius->setValue(0.02);
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_ui->doubleSpinBox_gainOverlap->setValue(0.0);
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_ui->doubleSpinBox_gainBeta->setValue(10);
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_ui->checkBox_gainRGB->setChecked(true);
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_ui->checkBox_gainFull->setChecked(false);
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_ui->checkBox_meshing->setChecked(false);
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@@ -523,6 +530,7 @@ void ExportCloudsDialog::restoreDefaults()
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_ui->checkBox_textureMapping->setChecked(false);
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_ui->comboBox_meshingTextureFormat->setCurrentIndex(0);
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_ui->comboBox_meshingTextureSize->setCurrentIndex(5); // 4096
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_ui->spinBox_mesh_maxTextures->setValue(1);
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_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(3.0);
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_ui->spinBox_mesh_minTextureClusterSize->setValue(50);
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_ui->lineEdit_meshingTextureRoiRatios->setText("0.0 0.0 0.0 0.0");
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@@ -834,7 +842,12 @@ void ExportCloudsDialog::viewClouds(
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cv::Mat globalTexture;
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if (mesh->tex_materials.size() > 1)
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{
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globalTexture = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels);
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std::vector<cv::Mat> globalTextures;
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globalTextures = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels, 1);
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if(globalTextures.size() == 1)
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{
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globalTexture = globalTextures[0];
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}
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}
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_progressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)...").arg(iter->first).arg(mesh->tex_polygons.size()?mesh->tex_polygons[0].size():0));
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@@ -902,7 +915,7 @@ void ExportCloudsDialog::viewClouds(
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UASSERT(!globalTexture.empty());
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if (_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
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{
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_compensator->apply(textureId, globalTexture);
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_compensator->apply(textureId, globalTexture, _ui->checkBox_gainRGB->isChecked());
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}
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}
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else
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@@ -1155,7 +1168,7 @@ bool ExportCloudsDialog::getExportedClouds(
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if(jter!=clouds.end())
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{
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double gain = _compensator->getGain(jter->first);;
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_compensator->apply(jter->first, jter->second.first, jter->second.second);
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_compensator->apply(jter->first, jter->second.first, jter->second.second, _ui->checkBox_gainRGB->isChecked());
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_progressDialog->appendText(tr("Cloud %1 has gain %2").arg(jter->first).arg(gain));
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_progressDialog->incrementStep();
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@@ -2988,10 +3001,11 @@ double sqr(uchar v)
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return double(v)*double(v);
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}
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cv::Mat ExportCloudsDialog::mergeTextures(
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std::vector<cv::Mat> ExportCloudsDialog::mergeTextures(
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pcl::TextureMesh & mesh,
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const QMap<int, Signature> & cachedSignatures,
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const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels) const
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const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels,
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int maxTextures) const
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{
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//get texture size, if disabled use default 1024
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int textureSize = 1024;
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@@ -3000,7 +3014,7 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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textureSize = 128 << _ui->comboBox_meshingTextureSize->currentIndex(); // start at 256
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}
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UDEBUG("textureSize = %d", textureSize);
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cv::Mat globalTexture;
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std::vector<cv::Mat> globalTextures;
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if(mesh.tex_materials.size() > 1)
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{
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std::vector<std::pair<int, int> > textures(mesh.tex_materials.size(), std::pair<int, int>(-1,-1));
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@@ -3094,13 +3108,20 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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float scale = 0.0f;
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UDEBUG("");
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std::vector<bool> materialsKept;
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util3d::concatenateTextureMaterials(mesh, imageSize, textureSize, scale, &materialsKept);
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if(scale && mesh.tex_materials.size()==1)
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util3d::concatenateTextureMaterials(mesh, imageSize, textureSize, maxTextures, scale, &materialsKept);
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if(scale && mesh.tex_materials.size())
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{
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int materials = (int)mesh.tex_materials.size();
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int cols = float(textureSize)/(scale*imageSize.width);
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int rows = float(textureSize)/(scale*imageSize.height);
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globalTexture = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
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cv::Mat globalTextureMask = cv::Mat(textureSize, textureSize, CV_8UC1, cv::Scalar::all(0));
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std::vector<cv::Mat> globalTextureMasks(materials);
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globalTextures.resize(materials);
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for(int i=0; i<materials; ++i)
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{
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globalTextures[i] = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
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globalTextureMasks[i] = cv::Mat(textureSize, textureSize, CV_8UC1, cv::Scalar::all(0));
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}
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// used for multi camera texturing, to avoid reloading same texture for sub cameras
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cv::Mat previousImage;
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@@ -3117,9 +3138,12 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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{
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if(materialsKept.at(t))
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{
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int indexMaterial = oi / (cols*rows);
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UASSERT(indexMaterial < materials);
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newCamIndex[t] = oi;
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int u = oi%cols * emptyImage.cols;
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int v = oi/cols * emptyImage.rows;
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int v = ((oi/cols) % rows ) * emptyImage.rows;
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UASSERT(u < textureSize-emptyImage.cols);
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UASSERT(v < textureSize-emptyImage.rows);
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imageOrigin[t].x = u;
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@@ -3176,15 +3200,15 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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}
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if(_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textures[t].first) >= 0)
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{
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_compensator->apply(textures[t].first, resizedImage);
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_compensator->apply(textures[t].first, resizedImage, _ui->checkBox_gainRGB->isChecked());
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}
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UASSERT(resizedImage.type() == globalTexture.type());
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resizedImage.copyTo(globalTexture(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
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emptyImageMask.copyTo(globalTextureMask(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
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UASSERT(resizedImage.type() == globalTextures[indexMaterial].type());
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resizedImage.copyTo(globalTextures[indexMaterial](cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
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emptyImageMask.copyTo(globalTextureMasks[indexMaterial](cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
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}
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else
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{
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emptyImage.copyTo(globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
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emptyImage.copyTo(globalTextures[indexMaterial](cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
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}
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++oi;
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}
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@@ -3227,13 +3251,15 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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N(i, j) += 1;
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N(j, i) += 1;
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int indexMaterial = i / (cols*rows);
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// uv in globalTexture
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int ui = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
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int vi = (1.0-iter->second.y)*emptyImage.rows + imageOrigin[iter->first].y;
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int uj = jter->second.x*emptyImage.cols + imageOrigin[jter->first].x;
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int vj = (1.0-jter->second.y)*emptyImage.rows + imageOrigin[jter->first].y;
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cv::Vec3b * pt1 = globalTexture.ptr<cv::Vec3b>(vi,ui);
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cv::Vec3b * pt2 = globalTexture.ptr<cv::Vec3b>(vj,uj);
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cv::Vec3b * pt1 = globalTextures[indexMaterial].ptr<cv::Vec3b>(vi,ui);
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cv::Vec3b * pt2 = globalTextures[indexMaterial].ptr<cv::Vec3b>(vj,uj);
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I(i, j) += std::sqrt(static_cast<double>(sqr(pt1->val[0]) + sqr(pt1->val[1]) + sqr(pt1->val[2])));
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I(j, i) += std::sqrt(static_cast<double>(sqr(pt2->val[0]) + sqr(pt2->val[1]) + sqr(pt2->val[2])));
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@@ -3323,14 +3349,17 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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UDEBUG("Gain cam%d = %f", newCamIndex[t], gainsGray(newCamIndex[t], 0));
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cv::Mat roi = globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows));
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int indexMaterial = newCamIndex[t] / (cols*rows);
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cv::Mat roi = globalTextures[indexMaterial](cv::Rect(u, v, emptyImage.cols, emptyImage.rows));
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std::vector<cv::Mat> channels;
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cv::split(roi, channels);
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// assuming BGR
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cv::multiply(channels[0], gains(newCamIndex[t], 3), channels[0]);
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cv::multiply(channels[1], gains(newCamIndex[t], 2), channels[1]);
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cv::multiply(channels[2], gains(newCamIndex[t], 1), channels[2]);
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cv::multiply(channels[0], gains(newCamIndex[t], _ui->checkBox_gainRGB->isChecked()?3:0), channels[0]);
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cv::multiply(channels[1], gains(newCamIndex[t], _ui->checkBox_gainRGB->isChecked()?2:0), channels[1]);
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cv::multiply(channels[2], gains(newCamIndex[t], _ui->checkBox_gainRGB->isChecked()?1:0), channels[2]);
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cv::merge(channels, roi);
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}
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}
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@@ -3352,15 +3381,18 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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int polygonSize = mesh.tex_polygons[0][0].vertices.size();
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UDEBUG("polygon size=%d", polygonSize);
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for(unsigned int i=0; i<mesh.tex_coordinates[0].size(); i+=polygonSize)
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for(unsigned int k=0; k<mesh.tex_coordinates.size(); ++k)
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{
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for(int j=0; j<polygonSize; ++j)
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for(unsigned int i=0; i<mesh.tex_coordinates[k].size(); i+=polygonSize)
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{
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const Eigen::Vector2f & uc1 = mesh.tex_coordinates[0][i + j];
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const Eigen::Vector2f & uc2 = mesh.tex_coordinates[0][i + (j+1)%polygonSize];
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Eigen::Vector2f edge = (uc1-uc2)*textureSize;
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edgeLengths.push_back(fabs(edge[0]));
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edgeLengths.push_back(fabs(edge[1]));
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for(int j=0; j<polygonSize; ++j)
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{
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const Eigen::Vector2f & uc1 = mesh.tex_coordinates[k][i + j];
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const Eigen::Vector2f & uc2 = mesh.tex_coordinates[k][i + (j+1)%polygonSize];
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Eigen::Vector2f edge = (uc1-uc2)*textureSize;
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edgeLengths.push_back(fabs(edge[0]));
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edgeLengths.push_back(fabs(edge[1]));
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}
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}
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}
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float edgeLength = 0.0f;
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@@ -3390,7 +3422,12 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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UDEBUG("decimation=%d", decimation);
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}
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cv::Mat blendGains(globalTexture.rows/decimation, globalTexture.cols/decimation, CV_32FC3, cv::Scalar::all(1.0f));
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std::vector<cv::Mat> blendGains(materials);
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for(int i=0; i<materials;++i)
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{
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blendGains[i] = cv::Mat(globalTextures[i].rows/decimation, globalTextures[i].cols/decimation, CV_32FC3, cv::Scalar::all(1.0f));
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}
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for(unsigned int p=0; p<textureVertexToPixels.size(); ++p)
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{
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if(textureVertexToPixels[p].size() > 1)
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@@ -3413,7 +3450,8 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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{
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weight = 0.0f;
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}
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cv::Vec3b * pt = globalTexture.ptr<cv::Vec3b>(v,u);
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int indexMaterial = newCamIndex[iter->first] / (cols*rows);
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cv::Vec3b * pt = globalTextures[indexMaterial].ptr<cv::Vec3b>(v,u);
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gainsB[k] = static_cast<double>(pt->val[0]) * weight;
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gainsG[k] = static_cast<double>(pt->val[1]) * weight;
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gainsR[k] = static_cast<double>(pt->val[2]) * weight;
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@@ -3437,11 +3475,12 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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{
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int u = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
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int v = (1.0-iter->second.y)*emptyImage.rows + imageOrigin[iter->first].y;
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cv::Vec3b * pt = globalTexture.ptr<cv::Vec3b>(v,u);
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int indexMaterial = newCamIndex[iter->first] / (cols*rows);
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cv::Vec3b * pt = globalTextures[indexMaterial].ptr<cv::Vec3b>(v,u);
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float gB = targetColor[0]/(pt->val[0]==0?1.0f:pt->val[0]);
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float gG = targetColor[1]/(pt->val[1]==0?1.0f:pt->val[1]);
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float gR = targetColor[2]/(pt->val[2]==0?1.0f:pt->val[2]);
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cv::Vec3f * ptr = blendGains.ptr<cv::Vec3f>(v/decimation, u/decimation);
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cv::Vec3f * ptr = blendGains[indexMaterial].ptr<cv::Vec3f>(v/decimation, u/decimation);
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ptr->val[0] = (gB>1.3f)?1.3f:(gB<0.7f)?0.7f:gB;
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ptr->val[1] = (gG>1.3f)?1.3f:(gG<0.7f)?0.7f:gG;
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ptr->val[2] = (gR>1.3f)?1.3f:(gR<0.7f)?0.7f:gR;
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@@ -3451,73 +3490,79 @@ cv::Mat ExportCloudsDialog::mergeTextures(
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}
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}
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/*std::vector<cv::Mat> channels;
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cv::split(blendGains, channels);
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cv::Mat img;
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channels[0].convertTo(img,CV_8U,128.0,0);
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cv::imwrite("blendSmallB.png", img);
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channels[1].convertTo(img,CV_8U,128.0,0);
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cv::imwrite("blendSmallG.png", img);
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channels[2].convertTo(img,CV_8U,128.0,0);
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cv::imwrite("blendSmallR.png", img);*/
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for(int i=0; i<materials; ++i)
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{
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/*std::vector<cv::Mat> channels;
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cv::split(blendGains, channels);
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cv::Mat img;
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channels[0].convertTo(img,CV_8U,128.0,0);
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cv::imwrite("blendSmallB.png", img);
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channels[1].convertTo(img,CV_8U,128.0,0);
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cv::imwrite("blendSmallG.png", img);
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channels[2].convertTo(img,CV_8U,128.0,0);
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cv::imwrite("blendSmallR.png", img);*/
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|
||||
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);
|
||||
|
||||
Reference in New Issue
Block a user