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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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2
guilib/src/CloudViewer.cpp
View File

@@ -317,7 +317,7 @@ void CloudViewer::createMenu()
_aSetLighting->setChecked(false);
_aSetFlatShading = new QAction("Flat Shading", this);
_aSetFlatShading->setCheckable(true);
_aSetFlatShading->setChecked(true);
_aSetFlatShading->setChecked(false);
_aSetEdgeVisibility = new QAction("Show edges", this);
_aSetEdgeVisibility->setCheckable(true);
_aSetEdgeVisibility->setChecked(false);

353
guilib/src/ExportCloudsDialog.cpp
View File

@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UThread.h"
#include "rtabmap/utilite/UStl.h"
#include "rtabmap/utilite/UMath.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_surface.h"
@@ -137,6 +138,8 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->spinBox_textureBrightnessContrastRatioLow, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_textureBrightnessContrastRatioHigh, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_exposureFusion, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_blending, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_blendingDecimation, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
@@ -289,6 +292,8 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mesh_textureBrightnessConstrastRatioLow", _ui->spinBox_textureBrightnessContrastRatioLow->value());
settings.setValue("mesh_textureBrightnessConstrastRatioHigh", _ui->spinBox_textureBrightnessContrastRatioHigh->value());
settings.setValue("mesh_textureExposureFusion", _ui->checkBox_exposureFusion->isChecked());
settings.setValue("mesh_textureBlending", _ui->checkBox_blending->isChecked());
settings.setValue("mesh_textureBlendingDecimation", _ui->comboBox_blendingDecimation->currentIndex());
settings.setValue("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value());
@@ -388,6 +393,8 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
{
_ui->checkBox_exposureFusion->setChecked(settings.value("mesh_textureExposureFusion", _ui->checkBox_exposureFusion->isChecked()).toBool());
}
_ui->checkBox_blending->setChecked(settings.value("mesh_textureBlending", _ui->checkBox_blending->isChecked()).toBool());
_ui->comboBox_blendingDecimation->setCurrentIndex(settings.value("mesh_textureBlendingDecimation", _ui->comboBox_blendingDecimation->currentIndex()).toInt());
_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
_ui->checkBox_mesh_quad->setChecked(settings.value("mesh_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
@@ -481,6 +488,8 @@ void ExportCloudsDialog::restoreDefaults()
_ui->spinBox_textureBrightnessContrastRatioLow->setValue(0);
_ui->spinBox_textureBrightnessContrastRatioHigh->setValue(0);
_ui->checkBox_exposureFusion->setChecked(false);
_ui->checkBox_blending->setChecked(true);
_ui->comboBox_blendingDecimation->setCurrentIndex(0);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
_ui->checkBox_mesh_quad->setChecked(false);
@@ -609,6 +618,7 @@ void ExportCloudsDialog::exportClouds(
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> clouds;
std::map<int, pcl::PolygonMesh::Ptr> meshes;
std::map<int, pcl::TextureMesh::Ptr> textureMeshes;
std::vector<std::map<int, pcl::PointXY> > textureVertexToPixels;
setSaveButton();
@@ -622,11 +632,12 @@ void ExportCloudsDialog::exportClouds(
parameters,
clouds,
meshes,
textureMeshes))
textureMeshes,
textureVertexToPixels))
{
if(textureMeshes.size())
{
saveTextureMeshes(workingDirectory, poses, textureMeshes, cachedSignatures);
saveTextureMeshes(workingDirectory, poses, textureMeshes, cachedSignatures, textureVertexToPixels);
}
else if(meshes.size())
{
@@ -667,6 +678,7 @@ void ExportCloudsDialog::viewClouds(
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> clouds;
std::map<int, pcl::PolygonMesh::Ptr> meshes;
std::map<int, pcl::TextureMesh::Ptr> textureMeshes;
std::vector<std::map<int, pcl::PointXY> > textureVertexToPixels;
setOkButton();
@@ -680,7 +692,8 @@ void ExportCloudsDialog::viewClouds(
parameters,
clouds,
meshes,
textureMeshes))
textureMeshes,
textureVertexToPixels))
{
QDialog * window = new QDialog(this->parentWidget()?this->parentWidget():this, Qt::Window);
window->setAttribute(Qt::WA_DeleteOnClose, true);
@@ -727,7 +740,7 @@ void ExportCloudsDialog::viewClouds(
cv::Mat globalTexture;
if (mesh->tex_materials.size() > 1)
{
globalTexture = mergeTextures(*mesh, cachedSignatures);
globalTexture = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels);
}
_progressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)...").arg(iter->first).arg(mesh->tex_polygons.size()?mesh->tex_polygons[0].size():0));
@@ -901,7 +914,8 @@ bool ExportCloudsDialog::getExportedClouds(
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & cloudsWithNormals,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes)
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels)
{
_canceled = false;
_workingDirectory = workingDirectory;
@@ -979,7 +993,15 @@ bool ExportCloudsDialog::getExportedClouds(
return false;
}
if(_ui->checkBox_gainCompensation->isChecked() && clouds.size() > 1)
if(_ui->checkBox_gainCompensation->isChecked() && clouds.size() > 1 &&
// Do compensation later if we are merging textures on a dense assembled cloud
!(_ui->checkBox_meshing->isChecked() &&
_ui->checkBox_textureMapping->isEnabled() &&
_ui->checkBox_textureMapping->isChecked() &&
_ui->comboBox_pipeline->currentIndex()==1 &&
_ui->checkBox_assemble->isChecked() &&
_ui->comboBox_meshingTextureSize->isEnabled() &&
_ui->comboBox_meshingTextureSize->currentIndex() > 0))
{
UASSERT(_compensator == 0);
_compensator = new GainCompensator(_ui->doubleSpinBox_gainRadius->value(), _ui->doubleSpinBox_gainOverlap->value(), 0.01, _ui->doubleSpinBox_gainBeta->value());
@@ -1924,7 +1946,8 @@ bool ExportCloudsDialog::getExportedClouds(
cameraModels,
_ui->doubleSpinBox_meshingTextureMaxDistance->value(),
_ui->spinBox_mesh_minTextureClusterSize->value(),
&texturingState);
&texturingState,
cameraPoses.size()>1?&textureVertexToPixels:0); // only get vertexToPixels if merged clouds with multi textures
if(_canceled)
{
@@ -2643,7 +2666,15 @@ void ExportCloudsDialog::saveMeshes(
}
}
cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<int, Signature> & cachedSignatures) const
double sqr(uchar v)
{
return double(v)*double(v);
}
cv::Mat ExportCloudsDialog::mergeTextures(
pcl::TextureMesh & mesh,
const QMap<int, Signature> & cachedSignatures,
const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels) const
{
//get texture size, if disabled use default 1024
int textureSize = 1024;
@@ -2659,7 +2690,6 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
cv::Size imageSize;
const int imageType=CV_8UC3;
UDEBUG("");
bool mergeTextures = true;
for(unsigned int i=0; i<mesh.tex_materials.size(); ++i)
{
if(!mesh.tex_materials[i].tex_file.empty() &&
@@ -2722,7 +2752,7 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
}
}
}
if(mergeTextures && textures.size() && imageSize.height>0 && imageSize.width>0)
if(textures.size() && imageSize.height>0 && imageSize.width>0)
{
float scale = 0.0f;
UDEBUG("");
@@ -2739,14 +2769,19 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
cv::Mat emptyImage(int(imageSize.height*scale), int(imageSize.width*scale), imageType, cv::Scalar::all(255));
cv::Mat emptyImageMask(int(imageSize.height*scale), int(imageSize.width*scale), CV_8UC1, cv::Scalar::all(255));
int oi=0;
std::vector<cv::Point2i> imageOrigin(textures.size());
std::vector<int> newCamIndex(textures.size(), -1);
for(int t=0; t<(int)textures.size(); ++t)
{
if(materialsKept.at(t))
{
newCamIndex[t] = oi;
int u = oi%cols * emptyImage.cols;
int v = oi/cols * emptyImage.rows;
UASSERT(u < textureSize-emptyImage.cols);
UASSERT(v < textureSize-emptyImage.rows);
imageOrigin[t].x = u;
imageOrigin[t].y = v;
if(textures[t]>=0)
{
cv::Mat image;
@@ -2788,6 +2823,297 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
++oi;
}
}
if(textureVertexToPixels.size())
{
//UWARN("Saving original.png", globalTexture);
//cv::imwrite("original.png", globalTexture);
if(_ui->checkBox_gainCompensation->isChecked())
{
const int num_images = static_cast<int>(oi);
cv::Mat_<int> N(num_images, num_images); N.setTo(0);
cv::Mat_<double> I(num_images, num_images); I.setTo(0);
cv::Mat_<double> IR(num_images, num_images); IR.setTo(0);
cv::Mat_<double> IG(num_images, num_images); IG.setTo(0);
cv::Mat_<double> IB(num_images, num_images); IB.setTo(0);
// Adjust UV coordinates to globalTexture
for(unsigned int p=0; p<textureVertexToPixels.size(); ++p)
{
for(std::map<int, pcl::PointXY>::const_iterator iter=textureVertexToPixels[p].begin(); iter!=textureVertexToPixels[p].end(); ++iter)
{
if(materialsKept.at(iter->first))
{
N(newCamIndex[iter->first], newCamIndex[iter->first]) +=1;
std::map<int, pcl::PointXY>::const_iterator jter=iter;
++jter;
int k = 1;
for(; jter!=textureVertexToPixels[p].end(); ++jter, ++k)
{
if(materialsKept.at(jter->first))
{
int i = newCamIndex[iter->first];
int j = newCamIndex[jter->first];
N(i, j) += 1;
N(j, i) += 1;
// uv in globalTexture
int ui = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
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 = globalTexture.ptr<cv::Vec3b>(vi,ui);
cv::Vec3b * pt2 = globalTexture.ptr<cv::Vec3b>(vj,uj);
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])));
IR(i, j) += static_cast<double>(pt1->val[2]);
IR(j, i) += static_cast<double>(pt2->val[2]);
IG(i, j) += static_cast<double>(pt1->val[1]);
IG(j, i) += static_cast<double>(pt2->val[1]);
IB(i, j) += static_cast<double>(pt1->val[0]);
IB(j, i) += static_cast<double>(pt2->val[0]);
}
}
}
}
}
for(int i=0; i<num_images; ++i)
{
for(int j=i+1; j<num_images; ++j)
{
if(N(i, j))
{
I(i, j) /= N(i, j);
I(j, i) /= N(j, i);
IR(i, j) /= N(i, j);
IR(j, i) /= N(j, i);
IG(i, j) /= N(i, j);
IG(j, i) /= N(j, i);
IB(i, j) /= N(i, j);
IB(j, i) /= N(j, i);
}
}
}
cv::Mat_<double> A(num_images, num_images); A.setTo(0);
cv::Mat_<double> b(num_images, 1); b.setTo(0);
cv::Mat_<double> AR(num_images, num_images); AR.setTo(0);
cv::Mat_<double> AG(num_images, num_images); AG.setTo(0);
cv::Mat_<double> AB(num_images, num_images); AB.setTo(0);
double alpha = 0.01;
double beta = _ui->doubleSpinBox_gainBeta->value();
for (int i = 0; i < num_images; ++i)
{
for (int j = 0; j < num_images; ++j)
{
b(i, 0) += beta * N(i, j);
A(i, i) += beta * N(i, j);
AR(i, i) += beta * N(i, j);
AG(i, i) += beta * N(i, j);
AB(i, i) += beta * N(i, j);
if (j == i) continue;
A(i, i) += 2 * alpha * I(i, j) * I(i, j) * N(i, j);
A(i, j) -= 2 * alpha * I(i, j) * I(j, i) * N(i, j);
AR(i, i) += 2 * alpha * IR(i, j) * IR(i, j) * N(i, j);
AR(i, j) -= 2 * alpha * IR(i, j) * IR(j, i) * N(i, j);
AG(i, i) += 2 * alpha * IG(i, j) * IG(i, j) * N(i, j);
AG(i, j) -= 2 * alpha * IG(i, j) * IG(j, i) * N(i, j);
AB(i, i) += 2 * alpha * IB(i, j) * IB(i, j) * N(i, j);
AB(i, j) -= 2 * alpha * IB(i, j) * IB(j, i) * N(i, j);
}
}
cv::Mat_<double> gainsGray, gainsR, gainsG, gainsB;
cv::solve(A, b, gainsGray);
cv::solve(AR, b, gainsR);
cv::solve(AG, b, gainsG);
cv::solve(AB, b, gainsB);
cv::Mat_<double> gains(gainsGray.rows, 4);
gainsGray.copyTo(gains.col(0));
gainsR.copyTo(gains.col(1));
gainsG.copyTo(gains.col(2));
gainsB.copyTo(gains.col(3));
for(int t=0; t<(int)textures.size(); ++t)
{
//break;
if(materialsKept.at(t))
{
int u = imageOrigin[t].x;
int v = imageOrigin[t].y;
UDEBUG("Gain cam%d = %f", newCamIndex[t], gainsGray(newCamIndex[t], 0));
cv::Mat roi = globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows));
std::vector<cv::Mat> channels;
cv::split(roi, channels);
// assuming BGR
cv::multiply(channels[0], gains(newCamIndex[t], 3), channels[0]);
cv::multiply(channels[1], gains(newCamIndex[t], 2), channels[1]);
cv::multiply(channels[2], gains(newCamIndex[t], 1), channels[2]);
cv::merge(channels, roi);
}
}
//UWARN("Saving gain.png", globalTexture);
//cv::imwrite("gain.png", globalTexture);
}
if(_ui->checkBox_blending->isChecked())
{
// blending BGR
int decimation = 1;
if(_ui->comboBox_blendingDecimation->currentIndex() == 0)
{
// determinate decimation to apply
std::vector<float> edgeLengths;
if(mesh.tex_coordinates.size() && mesh.tex_coordinates[0].size())
{
UASSERT(mesh.tex_polygons.size() && mesh.tex_polygons[0].size() && mesh.tex_polygons[0][0].vertices.size());
int polygonSize = mesh.tex_polygons[0][0].vertices.size();
UDEBUG("polygon size=%d", polygonSize);
for(unsigned int i=0; i<mesh.tex_coordinates[0].size(); i+=polygonSize)
{
for(int j=0; j<polygonSize; ++j)
{
const Eigen::Vector2f & uc1 = mesh.tex_coordinates[0][i + j];
const Eigen::Vector2f & uc2 = mesh.tex_coordinates[0][i + (j+1)%polygonSize];
Eigen::Vector2f edge = (uc1-uc2)*textureSize;
edgeLengths.push_back(fabs(edge[0]));
edgeLengths.push_back(fabs(edge[1]));
}
}
float edgeLength = 0.0f;
if(edgeLengths.size())
{
std::sort(edgeLengths.begin(), edgeLengths.end());
float m = uMean(edgeLengths.data(), edgeLengths.size());
float stddev = std::sqrt(uVariance(edgeLengths.data(), edgeLengths.size(), m));
edgeLength = m+stddev;
decimation = 1 << 6;
for(int i=1; i<=6; ++i)
{
if(float(1 << i) >= edgeLength)
{
decimation = 1 << i;
break;
}
}
}
UDEBUG("edge length=%f decimation=%d", edgeLength, decimation);
}
}
else
{
decimation = 1 << (_ui->comboBox_blendingDecimation->currentIndex()-1);
UDEBUG("decimation=%d", decimation);
}
cv::Mat blendGains(globalTexture.rows/decimation, globalTexture.cols/decimation, CV_32FC3, cv::Scalar::all(1.0f));
for(unsigned int p=0; p<textureVertexToPixels.size(); ++p)
{
if(textureVertexToPixels[p].size() > 1)
{
std::vector<float> gainsB(textureVertexToPixels[p].size());
std::vector<float> gainsG(textureVertexToPixels[p].size());
std::vector<float> gainsR(textureVertexToPixels[p].size());
float sumWeight = 0.0f;
int k=0;
for(std::map<int, pcl::PointXY>::const_iterator iter=textureVertexToPixels[p].begin(); iter!=textureVertexToPixels[p].end(); ++iter)
{
if(materialsKept.at(iter->first))
{
int u = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
int v = (1.0-iter->second.y)*emptyImage.rows + imageOrigin[iter->first].y;
float x = iter->second.x - 0.5f;
float y = iter->second.y - 0.5f;
float weight = 0.7f - sqrt(x*x+y*y);
if(weight<0.0f)
{
weight = 0.0f;
}
cv::Vec3b * pt = globalTexture.ptr<cv::Vec3b>(v,u);
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;
sumWeight += weight;
++k;
}
}
gainsB.resize(k);
gainsG.resize(k);
gainsR.resize(k);
if(sumWeight > 0)
{
float targetColor[3];
targetColor[0] = uSum(gainsB.data(), gainsB.size()) / sumWeight;
targetColor[1] = uSum(gainsG.data(), gainsG.size()) / sumWeight;
targetColor[2] = uSum(gainsR.data(), gainsR.size()) / sumWeight;
for(std::map<int, pcl::PointXY>::const_iterator iter=textureVertexToPixels[p].begin(); iter!=textureVertexToPixels[p].end(); ++iter)
{
if(materialsKept.at(iter->first))
{
int u = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
int v = (1.0-iter->second.y)*emptyImage.rows + imageOrigin[iter->first].y;
cv::Vec3b * pt = globalTexture.ptr<cv::Vec3b>(v,u);
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]);
cv::Vec3f * ptr = blendGains.ptr<cv::Vec3f>(v/decimation, u/decimation);
ptr->val[0] = (gB>1.3f)?1.3f:(gB<0.7f)?0.7f:gB;
ptr->val[1] = (gG>1.3f)?1.3f:(gG<0.7f)?0.7f:gG;
ptr->val[2] = (gR>1.3f)?1.3f:(gR<0.7f)?0.7f:gR;
}
}
}
}
}
/*std::vector<cv::Mat> channels;
cv::split(blendGains, channels);
cv::Mat img;
channels[0].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendSmallB.png", img);
channels[1].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendSmallG.png", img);
channels[2].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendSmallR.png", img);*/
cv::Mat dst;
cv::blur(blendGains, dst, cv::Size(3,3));
cv::resize(dst, blendGains, globalTexture.size(), 0, 0, cv::INTER_LINEAR);
/*cv::split(blendGains, channels);
channels[0].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendFullB.png", img);
channels[1].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendFullG.png", img);
channels[2].convertTo(img,CV_8U,128.0,0);
cv::imwrite("blendFullR.png", img);*/
cv::multiply(globalTexture, blendGains, globalTexture, 1.0, CV_8UC3);
//UWARN("Saving blending.png", globalTexture);
//cv::imwrite("blending.png", globalTexture);
}
}
if(_ui->spinBox_textureBrightnessContrastRatioLow->value() > 0 || _ui->spinBox_textureBrightnessContrastRatioHigh->value() > 0)
{
if(_ui->checkBox_exposureFusion->isEnabled() && _ui->checkBox_exposureFusion->isChecked())
@@ -2832,7 +3158,8 @@ void ExportCloudsDialog::saveTextureMeshes(
const QString & workingDirectory,
const std::map<int, Transform> & poses,
std::map<int, pcl::TextureMesh::Ptr> & meshes,
const QMap<int, Signature> & cachedSignatures)
const QMap<int, Signature> & cachedSignatures,
const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels)
{
if(meshes.size() == 1)
{
@@ -2858,7 +3185,7 @@ void ExportCloudsDialog::saveTextureMeshes(
bool texturesMerged = _ui->comboBox_meshingTextureSize->isEnabled() && _ui->comboBox_meshingTextureSize->currentIndex() > 0;
if(texturesMerged && mesh->tex_materials.size()>1)
{
globalTexture = mergeTextures(*mesh, cachedSignatures);
globalTexture = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels);
}
bool singleTexture = mesh->tex_materials.size() == 1;
if(!singleTexture)
@@ -2988,7 +3315,7 @@ void ExportCloudsDialog::saveTextureMeshes(
bool texturesMerged = _ui->comboBox_meshingTextureSize->isEnabled() && _ui->comboBox_meshingTextureSize->currentIndex() > 0;
if(texturesMerged && mesh->tex_materials.size()>1)
{
globalTexture = mergeTextures(*mesh, cachedSignatures);
globalTexture = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels);
}
bool singleTexture = mesh->tex_materials.size() == 1;
if(!singleTexture)

7
guilib/src/ExportCloudsDialog.h
View File

@@ -111,11 +111,12 @@ private:
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes);
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
void saveClouds(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
void saveMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
void saveTextureMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, std::map<int, pcl::TextureMesh::Ptr> & textureMeshes, const QMap<int, Signature> & cachedSignatures);
cv::Mat mergeTextures(pcl::TextureMesh & mesh, const QMap<int, Signature> & cachedSignatures) const;
void saveTextureMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, std::map<int, pcl::TextureMesh::Ptr> & textureMeshes, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
cv::Mat mergeTextures(pcl::TextureMesh & mesh, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels) const;
void setSaveButton();
void setOkButton();

171
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1929</y>
<y>-1967</y>
<width>773</width>
<height>3342</height>
<height>3396</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1373,20 +1373,63 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
<item row="4" column="1">
<widget class="QLabel" name="label_meshingTextureSize_3">
<item row="0" column="1">
<widget class="QLabel" name="label_meshingTextureFormat">
<property name="text">
<string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
<string>Texture format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_meshingTextureFormat">
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
<property name="suffix">
<string> %</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>49</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_meshingTextureSize_2">
<property name="text">
<string>Texture format.</string>
<string>Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_exposureFusion">
<property name="text">
<string>Exposure fusion. Only used when textures are merged and brightness/contrast balance ratios are used (merging original texture + 1 for each ratios).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_meshingTextureSize_3">
<property name="text">
<string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1473,7 +1516,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="5" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_meshingTextureSize_5">
<property name="text">
<string>Brightness and contrast balance low ratio. Only used when textures are merged.</string>
@@ -1483,19 +1526,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
<property name="suffix">
<string> %</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>49</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_meshingTextureSize_4">
<property name="text">
@@ -1506,17 +1536,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioLow">
<property name="suffix">
<string> %</string>
@@ -1529,16 +1549,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_meshingTextureSize_2">
<property name="text">
<string>Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
<property name="suffix">
@@ -1561,7 +1571,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_meshingTextureSize_6">
<property name="text">
<string>Brightness and contrast balance high ratio. Only used when textures are merged.</string>
@@ -1571,21 +1581,82 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_exposureFusion">
<item row="10" column="0">
<widget class="QCheckBox" name="checkBox_exposureFusion">
<property name="text">
<string>Exposure fusion. Only used when textures are merged and brightness/contrast balance ratios are used (merging original texture + 1 for each ratios).</string>
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_blending">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_exposureFusion_2">
<property name="text">
<string>Blending. Only used with dense reconstruction flavor and if clouds are assembled.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_exposureFusion">
<item row="6" column="1">
<widget class="QLabel" name="label_exposureFusion_3">
<property name="text">
<string/>
<string>Blending decimation. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QComboBox" name="comboBox_blendingDecimation">
<item>
<property name="text">
<string>Auto</string>
</property>
</item>
<item>
<property name="text">
<string>1</string>
</property>
</item>
<item>
<property name="text">
<string>2</string>
</property>
</item>
<item>
<property name="text">
<string>4</string>
</property>
</item>
<item>
<property name="text">
<string>8</string>
</property>
</item>
<item>
<property name="text">
<string>16</string>
</property>
</item>
<item>
<property name="text">
<string>32</string>
</property>
</item>
<item>
<property name="text">
<string>64</string>
</property>
</item>
</widget>
</item>
</layout>