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Export: Added blending option, gain compensation performance increased when exporting with textures

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This commit is contained in:
matlabbe
2017-04-09 19:16:50 -04:00
parent 2509a842f0
commit f1d96a30a4
9 changed files with 495 additions and 75 deletions
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25
corelib/src/pcl18/surface/impl/texture_mapping.hpp
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@@ -1047,7 +1047,8 @@ template<typename PointInT> bool
pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
pcl::TextureMesh &mesh,
const pcl::texture_mapping::CameraVector &cameras,
const ProgressState * state)
const ProgressState * state,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels)
{
if (mesh.tex_polygons.size () != 1)
@@ -1258,6 +1259,10 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
return false;
}
int textured = 0;
if(vertexToPixels)
{
*vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(mesh_cloud->size());
}
for(unsigned int idx_face=0; idx_face<faces.size(); ++idx_face)
{
if((idx_face+1)%10000 == 0)
@@ -1274,6 +1279,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
int cameraIndex = -1;
float closestDistanceToCam = std::numeric_limits<float>::max();
float closestDistanceToCenter = std::numeric_limits<float>::max();
pcl::PointXY uv_coords[3];
for (std::list<int>::iterator camIter = faceCameras[idx_face].begin(); camIter!=faceCameras[idx_face].end(); ++camIter)
{
@@ -1282,14 +1288,26 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
UASSERT(iter != visibleFaces[current_cam].end());
if (iter->second.facingTheCam)
{
float distanceToCam = iter->second.distance;
if(vertexToPixels)
{
vertexToPixels->at(face.vertices[0]).insert(std::make_pair(current_cam, iter->second.uv_coord1));
vertexToPixels->at(face.vertices[1]).insert(std::make_pair(current_cam, iter->second.uv_coord2));
vertexToPixels->at(face.vertices[2]).insert(std::make_pair(current_cam, iter->second.uv_coord3));
}
float distanceToCam = 0;//iter->second.distance;
float vx = (iter->second.uv_coord1.x+iter->second.uv_coord2.x+ iter->second.uv_coord3.x)/3.0f-0.5f;
float vy = (iter->second.uv_coord1.y+iter->second.uv_coord2.y+ iter->second.uv_coord3.y)/3.0f-0.5f;
float distanceToCenter = vx*vx+vy*vy;
//UDEBUG("Process polygon %d cam =%d distanceToCam=%f", idx_face, current_cam, distanceToCam);
if(distanceToCam < closestDistanceToCam)
if(//(distanceToCam <= closestDistanceToCam && distanceToCenter <= closestDistanceToCenter * 1.1) ||
(distanceToCam <= closestDistanceToCam * 2 && distanceToCenter <= closestDistanceToCenter))
{
cameraIndex = current_cam;
closestDistanceToCam = distanceToCam;
closestDistanceToCenter = distanceToCenter;
uv_coords[0] = iter->second.uv_coord1;
uv_coords[1] = iter->second.uv_coord2;
uv_coords[2] = iter->second.uv_coord3;
@@ -1314,6 +1332,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
}
}
UINFO("Process %d polygons...done! (%d textured)", (int)faces.size(), textured);
return true;
}

3
corelib/src/pcl18/surface/texture_mapping.h
View File

@@ -351,7 +351,8 @@ namespace pcl
bool
textureMeshwithMultipleCameras2 (pcl::TextureMesh &mesh,
const pcl::texture_mapping::CameraVector &cameras,
const ProgressState * callback = 0);
const ProgressState * callback = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);
protected:
/** \brief mesh scale control. */