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Added more options for multiband texturing

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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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117
tools/Export/main.cpp
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@@ -62,7 +62,7 @@ void showUsage()
" --las Export cloud in LAS instead of PLY (PDAL dependency required).\n"
" --mesh Create a mesh.\n"
" --texture Create a mesh with texture.\n"
" --texture_size # Texture size (default 4096).\n"
" --texture_size # Texture size 1024, 2048, 4096, 8192, 16384 (default 8192).\n"
" --texture_count # Maximum textures generated (default 1).\n"
" --texture_range # Maximum camera range for texturing a polygon (default 0 meters: no limit).\n"
" --texture_depth_error # Maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used, default=0).\n"
@@ -89,10 +89,17 @@ void showUsage()
" --no_clean Disable cleaning colorless polygons.\n"
" --low_gain # Low brightness gain 0-100 (default 0).\n"
" --high_gain # High brightness gain 0-100 (default 10).\n"
" --multiband Enable multiband texturing (AliceVision dependency required).\n"
" --multiband Enable multiband texturing (AliceVision dependency required).\n"
" --multiband_downscale # Downscaling reduce the texture quality but speed up the computation time (default 2).\n"
" --multiband_unwrap # Method to unwrap input mesh: 0=basic (default, >600k faces, fast), 1=LSCM (<=600k faces, optimize space), 2=ABF (<=300k faces, generate 1 atlas).\n"
" --multiband_fillholes Fill Texture holes with plausible values.\n"
" --multiband_padding # Texture edge padding size in pixel (0-100) (default 5).\n"
" --multiband_scorethr # 0 to disable filtering based on threshold to relative best score (0.0-1.0). (default 0.1).\n"
" --multiband_anglethr # 0 to disable angle hard threshold filtering (0.0, 180.0) (default 90.0).\n"
" --multiband_forcevisible Triangle visibility is based on the union of vertices visibility.\n"
" --poisson_depth # Set Poisson depth for mesh reconstruction.\n"
" --poisson_size # Set target polygon size when computing Poisson's depth for mesh reconstruction (default 0.03 m).\n"
" --max_polygons # Maximum polygons when creating a mesh (default 500000, set 0 for no limit).\n"
" --max_polygons # Maximum polygons when creating a mesh (default 300000, set 0 for no limit).\n"
" --max_range # Maximum range of the created clouds (default 4 m, 0 m with --scan).\n"
" --decimation # Depth image decimation before creating the clouds (default 4, 1 with --scan).\n"
" --voxel # Voxel size of the created clouds (default 0.01 m, 0 m with --scan).\n"
@@ -133,18 +140,25 @@ int main(int argc, char * argv[])
bool doClean = true;
int poissonDepth = 0;
float poissonSize = 0.03;
int maxPolygons = 500000;
int maxPolygons = 300000;
int decimation = -1;
float maxRange = -1.0f;
float voxelSize = -1.0f;
float noiseRadius = 0.0f;
int noiseMinNeighbors = 5;
int textureSize = 4096;
int textureSize = 8192;
int textureCount = 1;
int textureRange = 0;
float textureDepthError = 0;
bool distanceToCamPolicy = false;
bool multiband = false;
int multibandDownScale = 2;
int multibandUnwrap = 0;
bool multibandFillHoles = false;
int multibandPadding = 5;
double multibandBestScoreThr = 0.1;
double multibandAngleHardthr = 90;
bool multibandForceVisible = false;
float colorRadius = -1.0f;
bool cloudFromScan = false;
bool saveInDb = false;
@@ -343,6 +357,74 @@ int main(int argc, char * argv[])
printf("\"--multiband\" option cannot be used because RTAB-Map is not built with AliceVision support. Ignoring multiband...\n");
#endif
}
else if(std::strcmp(argv[i], "--multiband_fillholes") == 0)
{
multibandFillHoles = true;
}
else if(std::strcmp(argv[i], "--multiband_downscale") == 0)
{
++i;
if(i<argc-1)
{
multibandDownScale = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--multiband_unwrap") == 0)
{
++i;
if(i<argc-1)
{
multibandUnwrap = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--multiband_padding") == 0)
{
++i;
if(i<argc-1)
{
multibandPadding = uStr2Int(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--multiband_forcevisible") == 0)
{
multibandForceVisible = true;
}
else if(std::strcmp(argv[i], "--multiband_scorethr") == 0)
{
++i;
if(i<argc-1)
{
multibandBestScoreThr = uStr2Float(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--multiband_anglethr") == 0)
{
++i;
if(i<argc-1)
{
multibandAngleHardthr = uStr2Float(argv[i]);
}
else
{
showUsage();
}
}
else if(std::strcmp(argv[i], "--poisson_depth") == 0)
{
++i;
@@ -1166,7 +1248,10 @@ int main(int argc, char * argv[])
if(mesh->polygons.size())
{
printf("Mesh color transfer...\n");
printf("Mesh color transfer (max polygons=%d, color radius=%f, clean=%s)...\n",
maxPolygons,
colorRadius,
doClean?"true":"false");
rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGBNormal>(
mesh,
0.0f,
@@ -1313,7 +1398,16 @@ int main(int argc, char * argv[])
{
timer.restart();
std::string outputPath=outputDirectory+"/"+baseName+"_mesh_multiband.obj";
printf("MultiBand texturing... \"%s\"\n", outputPath.c_str());
printf("MultiBand texturing (size=%d, downscale=%d, unwrap method=%s, fill holes=%s, padding=%d, best score thr=%f, angle thr=%f, force visible=%s)... \"%s\"\n",
textureSize,
multibandDownScale,
multibandUnwrap==2?"ABF":multibandUnwrap==1?"LSCM":"Basic",
multibandFillHoles?"true":"false",
multibandPadding,
multibandBestScoreThr,
multibandAngleHardthr,
multibandForceVisible?"false":"true",
outputPath.c_str());
if(util3d::multiBandTexturing(outputPath,
textureMesh->cloud,
textureMesh->tex_polygons[0],
@@ -1324,11 +1418,18 @@ int main(int argc, char * argv[])
rtabmap.getMemory(),
0,
textureSize,
multibandDownScale,
"jpg",
gains,
blendingGains,
contrastValues,
doGainCompensationRGB))
doGainCompensationRGB,
multibandUnwrap,
multibandFillHoles,
multibandPadding,
multibandBestScoreThr,
multibandAngleHardthr,
multibandForceVisible))
{
printf("MultiBand texturing...done (%fs).\n", timer.ticks());
}