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Database: added "opt_****" fields in Admin table. Tango: optimized mesh saved in database for quick open, open menu shows preview images. util3d::mergeTextures() return all textures in same cv::Mat.

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This commit is contained in:
matlabbe
2017-06-20 17:29:06 -04:00
parent 539d500528
commit ee8d48a915
25 changed files with 1376 additions and 100 deletions
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corelib/src/util3d_surface.cpp
+32 -33
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@@ -1194,7 +1194,8 @@ double sqr(uchar v)
{
return double(v)*double(v);
}
std::vector<cv::Mat> mergeTextures(
cv::Mat mergeTextures(
pcl::TextureMesh & mesh,
const std::map<int, cv::Mat> & images,
const std::map<int, std::vector<CameraModel> > & calibrations,
@@ -1216,7 +1217,7 @@ std::vector<cv::Mat> mergeTextures(
//get texture size, if disabled use default 1024
UASSERT(textureSize%256 == 0);
UDEBUG("textureSize = %d", textureSize);
std::vector<cv::Mat> globalTextures;
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));
@@ -1346,13 +1347,8 @@ std::vector<cv::Mat> mergeTextures(
int cols = float(textureSize)/(scale*imageSize.width);
int rows = float(textureSize)/(scale*imageSize.height);
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));
}
globalTextures = cv::Mat(textureSize, materials*textureSize, imageType, cv::Scalar::all(255));
cv::Mat globalTextureMasks = cv::Mat(textureSize, materials*textureSize, CV_8UC1, cv::Scalar::all(0));
// used for multi camera texturing, to avoid reloading same texture for sub cameras
cv::Mat previousImage;
@@ -1440,13 +1436,13 @@ std::vector<cv::Mat> mergeTextures(
cv::cvtColor(resizedImage, resizedImageColor, CV_GRAY2BGR);
resizedImage = resizedImageColor;
}
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)));
UASSERT(resizedImage.type() == globalTextures.type());
resizedImage.copyTo(globalTextures(cv::Rect(u+indexMaterial*globalTextures.rows, v, resizedImage.cols, resizedImage.rows)));
emptyImageMask.copyTo(globalTextureMasks(cv::Rect(u+indexMaterial*globalTextureMasks.rows, v, resizedImage.cols, resizedImage.rows)));
}
else
{
emptyImage.copyTo(globalTextures[indexMaterial](cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
emptyImage.copyTo(globalTextures(cv::Rect(u+indexMaterial*globalTextures.rows, v, emptyImage.cols, emptyImage.rows)));
}
++oi;
}
@@ -1455,7 +1451,7 @@ std::vector<cv::Mat> mergeTextures(
{
if(state->isCanceled())
{
return std::vector<cv::Mat>();
return cv::Mat();
}
state->callback(uFormat("Assembled texture %d/%d.", t+1, (int)textures.size()));
}
@@ -1510,8 +1506,8 @@ std::vector<cv::Mat> mergeTextures(
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 = globalTextures[indexMaterial].ptr<cv::Vec3b>(vi,ui);
cv::Vec3b * pt2 = globalTextures[indexMaterial].ptr<cv::Vec3b>(vj,uj);
cv::Vec3b * pt1 = globalTextures.ptr<cv::Vec3b>(vi,ui+indexMaterial*globalTextures.rows);
cv::Vec3b * pt2 = globalTextures.ptr<cv::Vec3b>(vj,uj+indexMaterial*globalTextures.rows);
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])));
@@ -1609,7 +1605,7 @@ std::vector<cv::Mat> mergeTextures(
UDEBUG("Gain cam%d = %f", newCamIndex[t], gainsGray(newCamIndex[t], 0));
int indexMaterial = newCamIndex[t] / (cols*rows);
cv::Mat roi = globalTextures[indexMaterial](cv::Rect(u, v, emptyImage.cols, emptyImage.rows));
cv::Mat roi = globalTextures(cv::Rect(u+indexMaterial*globalTextures.rows, v, emptyImage.cols, emptyImage.rows));
std::vector<cv::Mat> channels;
cv::split(roi, channels);
@@ -1689,7 +1685,7 @@ std::vector<cv::Mat> mergeTextures(
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));
blendGains[i] = cv::Mat(globalTextures.rows/decimation, globalTextures.rows/decimation, CV_32FC3, cv::Scalar::all(1.0f));
}
for(unsigned int p=0; p<vertexToPixels.size(); ++p)
@@ -1715,7 +1711,7 @@ std::vector<cv::Mat> mergeTextures(
weight = 0.0f;
}
int indexMaterial = newCamIndex[iter->first] / (cols*rows);
cv::Vec3b * pt = globalTextures[indexMaterial].ptr<cv::Vec3b>(v,u);
cv::Vec3b * pt = globalTextures.ptr<cv::Vec3b>(v,u+indexMaterial*globalTextures.rows);
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;
@@ -1740,7 +1736,7 @@ std::vector<cv::Mat> 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;
int indexMaterial = newCamIndex[iter->first] / (cols*rows);
cv::Vec3b * pt = globalTextures[indexMaterial].ptr<cv::Vec3b>(v,u);
cv::Vec3b * pt = globalTextures.ptr<cv::Vec3b>(v,u+indexMaterial*globalTextures.rows);
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]);
@@ -1766,9 +1762,10 @@ std::vector<cv::Mat> mergeTextures(
channels[2].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendSmallR.png", img);*/
cv::Mat globalTexturesROI = globalTextures(cv::Range::all(), cv::Range(i*globalTextures.rows, (i+1)*globalTextures.rows));
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::resize(dst, blendGains[i], globalTexturesROI.size(), 0, 0, cv::INTER_LINEAR);
/*cv::split(blendGains, channels);
channels[0].convertTo(img,CV_8U,128.0,0);
@@ -1778,7 +1775,7 @@ std::vector<cv::Mat> mergeTextures(
channels[2].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendFullR.png", img);*/
cv::multiply(globalTextures[i], blendGains[i], globalTextures[i], 1.0, CV_8UC3);
cv::multiply(globalTexturesROI, blendGains[i], globalTexturesROI, 1.0, CV_8UC3);
//UWARN("Saving blending.png", globalTexture);
//cv::imwrite("blending.png", globalTexture);
@@ -1792,36 +1789,38 @@ std::vector<cv::Mat> mergeTextures(
{
for(int i=0; i<materials; ++i)
{
cv::Mat globalTexturesROI = globalTextures(cv::Range::all(), cv::Range(i*globalTextures.rows, (i+1)*globalTextures.rows));
cv::Mat globalTextureMasksROI = globalTextureMasks(cv::Range::all(), cv::Range(i*globalTextureMasks.rows, (i+1)*globalTextureMasks.rows));
if(exposureFusion)
{
std::vector<cv::Mat> images;
images.push_back(globalTextures[i]);
images.push_back(globalTexturesROI);
if (brightnessContrastRatioLow > 0)
{
images.push_back(util2d::brightnessAndContrastAuto(
globalTextures[i],
globalTextureMasks[i],
globalTexturesROI,
globalTextureMasksROI,
(float)brightnessContrastRatioLow,
0.0f));
}
if (brightnessContrastRatioHigh > 0)
{
images.push_back(util2d::brightnessAndContrastAuto(
globalTextures[i],
globalTextureMasks[i],
globalTexturesROI,
globalTextureMasksROI,
0.0f,
(float)brightnessContrastRatioHigh));
}
globalTextures[i] = util2d::exposureFusion(images);
util2d::exposureFusion(images).copyTo(globalTexturesROI);
}
else
{
globalTextures[i] = util2d::brightnessAndContrastAuto(
globalTextures[i],
globalTextureMasks[i],
util2d::brightnessAndContrastAuto(
globalTexturesROI,
globalTextureMasksROI,
(float)brightnessContrastRatioLow,
(float)brightnessContrastRatioHigh);
(float)brightnessContrastRatioHigh).copyTo(globalTexturesROI);
}
}
if(state) state->callback(uFormat("Brightness and contrast auto %fs", timer.ticks()));
@@ -1829,7 +1828,7 @@ std::vector<cv::Mat> mergeTextures(
}
}
}
UDEBUG("globalTextures=%d", (int)globalTextures.size());
UDEBUG("globalTextures=%d", globalTextures.cols / globalTextures.rows);
return globalTextures;
}