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Added more options for multiband texturing

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This commit is contained in:
matlabbe
2021-08-16 13:14:02 -04:00
parent 6fb553a5e7
commit ed68fe777b
5 changed files with 436 additions and 21 deletions
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56
corelib/src/util3d_surface.cpp
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@@ -2231,6 +2231,50 @@ bool multiBandTexturing(
const std::pair<float, float> & contrastValues, // optional output of util3d::mergeTextures()
bool gainRGB)
{
return multiBandTexturing(
outputOBJPath,
cloud,
polygons,
cameraPoses,
vertexToPixels,
images,
cameraModels,
memory,
dbDriver,
textureSize,
2,
textureFormat,
gains,
blendingGains,
contrastValues,
gainRGB);
}
bool multiBandTexturing(
const std::string & outputOBJPath,
const pcl::PCLPointCloud2 & cloud,
const std::vector<pcl::Vertices> & polygons,
const std::map<int, Transform> & cameraPoses,
const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels,
const std::map<int, cv::Mat> & images,
const std::map<int, std::vector<CameraModel> > & cameraModels,
const Memory * memory,
const DBDriver * dbDriver,
unsigned int textureSize,
unsigned int textureDownScale,
const std::string & textureFormat,
const std::map<int, std::map<int, cv::Vec4d> > & gains,
const std::map<int, std::map<int, cv::Mat> > & blendingGains,
const std::pair<float, float> & contrastValues,
bool gainRGB,
unsigned int unwrapMethod,
bool fillHoles,
unsigned int padding,
double bestScoreThreshold,
double angleHardThreshold,
bool forceVisibleByAllVertices)
{
#ifdef RTABMAP_ALICE_VISION
if(ULogger::level() == ULogger::kDebug)
{
@@ -2265,8 +2309,14 @@ bool multiBandTexturing(
texturing.pointsVisibilities = new mesh::PointsVisibility();
texturing.pointsVisibilities->reserve(cloud2.size());
#endif
texturing.texParams.textureSide = 8192;
texturing.texParams.downscale = 8192/textureSize;
texturing.texParams.textureSide = textureSize;
texturing.texParams.downscale = textureDownScale;
texturing.texParams.padding = padding;
texturing.texParams.fillHoles = fillHoles;
texturing.texParams.bestScoreThreshold = bestScoreThreshold;
texturing.texParams.angleHardThreshold = angleHardThreshold;
texturing.texParams.forceVisibleByAllVertices = forceVisibleByAllVertices;
for(size_t i=0;i<cloud2.size();++i)
{
@@ -2457,7 +2507,7 @@ bool multiBandTexturing(
mvsUtils::MultiViewParams mp(sfmData);
UINFO("Unwrapping...");
texturing.unwrap(mp, mesh::EUnwrapMethod::Basic);
texturing.unwrap(mp, (mesh::EUnwrapMethod)unwrapMethod);
UINFO("Unwrapping done. %fs", timer.ticks());
// save final obj file