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Export: supporting texturing with multi-camera

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matlabbe
2017-04-26 18:39:57 -04:00
parent 6a2fe47b22
commit f023adff4b
8 changed files with 458 additions and 131 deletions
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9
corelib/include/rtabmap/core/util3d_surface.h
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@@ -142,6 +142,15 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
const ProgressState * state = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);
pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
const std::map<int, Transform> & poses,
const std::map<int, std::vector<CameraModel> > & cameraModels,
float maxDistance = 0.0f, // max camera distance to polygon to apply texture
int minClusterSize = 50, // minimum size of polygons clusters textured
const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
const ProgressState * state = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,