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Texturing: using depth image to filter wrongly projected textures

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This commit is contained in:
matlabbe
2017-06-06 11:42:42 -04:00
parent fa95ede3e9
commit 7a0a82bcb4
6 changed files with 376 additions and 131 deletions
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corelib/include/rtabmap/core/util3d_surface.h
+6
View File
@@ -137,7 +137,10 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
const std::map<int, Transform> & poses,
const std::map<int, CameraModel> & cameraModels,
const std::map<int, cv::Mat> & cameraDepths,
float maxDistance = 0.0f, // max camera distance to polygon to apply texture
float maxDepthError = 0.0f, // maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)
float maxAngle = 0.0f, // maximum angle between camera and face (0=disabled)
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,
@@ -146,7 +149,10 @@ 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,
const std::map<int, cv::Mat> & cameraDepths,
float maxDistance = 0.0f, // max camera distance to polygon to apply texture
float maxDepthError = 0.0f, // maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)
float maxAngle = 0.0f, // maximum angle between camera and face (0=disabled)
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,
corelib/src/pcl18/surface/impl/texture_mapping.hpp
+104 -17
View File
@@ -1013,12 +1013,16 @@ class FaceInfo
{
public:
FaceInfo(float d,
float a,
float edge,
bool facingCam,
const pcl::PointXY & uv1,
const pcl::PointXY & uv2,
const pcl::PointXY & uv3,
const pcl::PointXY & center) :
distance(d),
angle(a),
longestEdgeSqrd(edge),
facingTheCam(facingCam),
uv_coord1(uv1),
uv_coord2(uv2),
@@ -1026,6 +1030,8 @@ public:
uv_center(center)
{}
float distance;
float angle;
float longestEdgeSqrd;
bool facingTheCam;
pcl::PointXY uv_coord1;
pcl::PointXY uv_coord2;
@@ -1116,10 +1122,36 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
float angle = normal.dot(Eigen::Vector3f(0.0f,0.0f,1.0f));
bool facingTheCam = angle>0.0f;
float distanceToCam = std::min(std::min(pt0.z, pt1.z), pt2.z);
float angleToCam = 0.0f;
Eigen::Vector3f e0 = Eigen::Vector3f(
pt1.x - pt0.x,
pt1.y - pt0.y,
pt1.z - pt0.z);
Eigen::Vector3f e1 = Eigen::Vector3f(
pt2.x - pt0.x,
pt2.y - pt0.y,
pt2.z - pt0.z);
Eigen::Vector3f e2 = Eigen::Vector3f(
pt2.x - pt1.x,
pt2.y - pt1.y,
pt2.z - pt1.z);
if(facingTheCam && this->max_angle_)
{
Eigen::Vector3f normal3D;
normal3D = e0.cross(e1);
angleToCam = pcl::getAngle3D(Eigen::Vector4f(normal3D[0], normal3D[1], normal3D[2], 0.0f), Eigen::Vector4f(0.0f,0.0f,-1.0f,0.0f));
}
// longest edge
float e0norm2 = e0[0]*e0[0] + e0[1]*e0[1] + e0[2]*e0[2];
float e1norm2 = e1[0]*e1[0] + e1[1]*e1[1] + e1[2]*e1[2];
float e2norm2 = e2[0]*e2[0] + e2[1]*e2[1] + e2[2]*e2[2];
float longestEdgeSqrd = std::max(std::max(e0norm2, e1norm2), e2norm2);
pcl::PointXY center;
center.x = (uv_coords1.x+uv_coords2.x+uv_coords3.x)/3.0f;
center.y = (uv_coords1.y+uv_coords2.y+uv_coords3.y)/3.0f;
visibleFaces[current_cam].insert(visibleFaces[current_cam].end(), std::make_pair(idx_face, FaceInfo(distanceToCam, facingTheCam, uv_coords1, uv_coords2, uv_coords3, center)));
visibleFaces[current_cam].insert(visibleFaces[current_cam].end(), std::make_pair(idx_face, FaceInfo(distanceToCam, angleToCam, longestEdgeSqrd, facingTheCam, uv_coords1, uv_coords2, uv_coords3, center)));
sortedVisibleFaces.insert(std::make_pair(distanceToCam, idx_face));
visibilityIndices[oi] = idx_face;
++oi;
@@ -1278,16 +1310,72 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
pcl::Vertices & face = faces[idx_face];
int cameraIndex = -1;
float closestDistanceToCam = std::numeric_limits<float>::max();
float closestDistanceToCenter = std::numeric_limits<float>::max();
float smallestWeight = std::numeric_limits<float>::max();
bool depthSet = false;
pcl::PointXY uv_coords[3];
for (std::list<int>::iterator camIter = faceCameras[idx_face].begin(); camIter!=faceCameras[idx_face].end(); ++camIter)
{
int current_cam = *camIter;
std::map<int, FaceInfo>::iterator iter = visibleFaces[current_cam].find(idx_face);
UASSERT(iter != visibleFaces[current_cam].end());
if (iter->second.facingTheCam)
if (iter->second.facingTheCam && (max_angle_ <=0.0f || iter->second.angle <= max_angle_))
{
float distanceToCam = 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;
cv::Mat depth = cameras[current_cam].depth;
bool currentDepthSet = false;
float maxDepthError = max_depth_error_==0.0f?std::sqrt(iter->second.longestEdgeSqrd) : max_depth_error_;
if(!cameras[current_cam].depth.empty() && maxDepthError > 0.0f)
{
float d1 = depth.type() == CV_32FC1?
depth.at<float>((1.0f-iter->second.uv_coord1.y)*depth.rows, iter->second.uv_coord1.x*depth.cols):
float(depth.at<unsigned short>((1.0f-iter->second.uv_coord1.y)*depth.rows, iter->second.uv_coord1.x*depth.cols))/1000.0f;
float d2 = depth.type() == CV_32FC1?
depth.at<float>((1.0f-iter->second.uv_coord2.y)*depth.rows, iter->second.uv_coord2.x*depth.cols):
float(depth.at<unsigned short>((1.0f-iter->second.uv_coord2.y)*depth.rows, iter->second.uv_coord2.x*depth.cols))/1000.0f;
float d3 = depth.type() == CV_32FC1?
depth.at<float>((1.0f-iter->second.uv_coord3.y)*depth.rows, iter->second.uv_coord3.x*depth.cols):
float(depth.at<unsigned short>((1.0f-iter->second.uv_coord3.y)*depth.rows, iter->second.uv_coord3.x*depth.cols))/1000.0f;
if(d1 <= 0.0f || !std::isfinite(d1) || d2 <= 0.0f || !std::isfinite(d2) || d3 <= 0.0f || !std::isfinite(d3))
{
if(depthSet)
{
// ignore pixels with no depth
continue;
}
else if(d1 > 0.0f && std::isfinite(d1) && fabs(d1 - distanceToCam) > maxDepthError)
{
// ignore pixels with too much depth error
continue;
}
else if(d2 > 0.0f && std::isfinite(d2) && fabs(d2 - distanceToCam) > maxDepthError)
{
// ignore pixels with too much depth error
continue;
}
else if(d3 > 0.0f && std::isfinite(d3) && fabs(d3 - distanceToCam) > maxDepthError)
{
// ignore pixels with too much depth error
continue;
}
//else it could be a window for which no depth is available on any cameras
}
else
{
if(fabs(d1 - distanceToCam) > maxDepthError ||
fabs(d2 - distanceToCam) > maxDepthError ||
fabs(d3 - distanceToCam) > maxDepthError)
{
// ignore pixels with too much depth error
continue;
}
currentDepthSet = true;
}
}
if(vertexToPixels)
{
vertexToPixels->at(face.vertices[0]).insert(std::make_pair(current_cam, iter->second.uv_coord1));
@@ -1295,22 +1383,19 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
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 && distanceToCenter <= closestDistanceToCenter * 1.1) ||
(distanceToCam <= closestDistanceToCam * 2 && distanceToCenter <= closestDistanceToCenter))
if(distanceToCenter <= smallestWeight || (!depthSet && currentDepthSet))
{
cameraIndex = current_cam;
closestDistanceToCam = distanceToCam;
closestDistanceToCenter = distanceToCenter;
smallestWeight = distanceToCenter;
uv_coords[0] = iter->second.uv_coord1;
uv_coords[1] = iter->second.uv_coord2;
uv_coords[2] = iter->second.uv_coord3;
if(!depthSet && currentDepthSet)
{
depthSet = true;
}
}
}
}
@@ -1432,12 +1517,14 @@ pcl::TextureMapping<PointInT>::getPointUVCoordinates(const PointInT &pt, const C
}
}
// original code of PCL inverted y
UV_coordinates.y = 1.0f - UV_coordinates.y;
// point is visible!
if (UV_coordinates.x >= 0.0 && UV_coordinates.x <= 1.0 && UV_coordinates.y >= 0.0 && UV_coordinates.y <= 1.0)
return (true); // point was visible by the camera
{
// point is visible by the camera
// original code of PCL inverted y
UV_coordinates.y = 1.0f - UV_coordinates.y;
return (true);
}
}
// point is NOT visible by the camera
corelib/src/pcl18/surface/texture_mapping.h
+20 -1
View File
@@ -78,6 +78,7 @@ namespace pcl
double width;
std::string texture_file;
std::vector<double> roi; // [x, y, width, height]
cv::Mat depth;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
@@ -120,7 +121,7 @@ namespace pcl
/** \brief Constructor. */
TextureMapping () :
f_ (), vector_field_ (), tex_files_ (), tex_material_ (), max_distance_(0.0f), min_cluster_size_(50)
f_ (), vector_field_ (), tex_files_ (), tex_material_ (), max_distance_(0.0f), max_depth_error_(0.0f), max_angle_(0.0f), min_cluster_size_(50)
{
}
@@ -175,6 +176,18 @@ namespace pcl
max_distance_ = maxDistance;
}
inline void
setMaxDepthError(float maxDepthError)
{
max_depth_error_ = maxDepthError;
}
inline void
setMaxAngle(float maxAngle)
{
max_angle_ = maxAngle;
}
inline void
setMinClusterSize(int size)
{
@@ -371,6 +384,12 @@ namespace pcl
/** \brief maximum distance between camera and polygon to apply a texture */
float max_distance_;
/** \brief maximum depth error between projected point and corresponding depth of the camera to apply a texture */
float max_depth_error_;
/** \brief maximum angle (rad) between camera and polygon to apply a texture */
float max_angle_;
/** \brief Remove texture from small polygon clusters */
int min_cluster_size_;
corelib/src/util3d_surface.cpp
+27
View File
@@ -574,6 +574,7 @@ pcl::PolygonMesh::Ptr createMesh(
pcl::texture_mapping::CameraVector createTextureCameras(
const std::map<int, Transform> & poses,
const std::map<int, std::vector<CameraModel> > & cameraModels,
const std::map<int, cv::Mat> & cameraDepths,
const std::vector<float> & roiRatios)
{
UASSERT_MSG(poses.size() == cameraModels.size(), uFormat("%d vs %d", (int)poses.size(), (int)cameraModels.size()).c_str());
@@ -585,6 +586,8 @@ pcl::texture_mapping::CameraVector createTextureCameras(
{
UASSERT(poseIter->first == modelIter->first);
std::map<int, cv::Mat>::const_iterator depthIter = cameraDepths.find(poseIter->first);
// for each sub camera
for(unsigned int i=0; i<modelIter->second.size(); ++i)
{
@@ -621,6 +624,15 @@ pcl::texture_mapping::CameraVector createTextureCameras(
cam.roi[2] = cam.width * (1.0 - roiRatios[1]) - cam.roi[0]; // right -> width
cam.roi[3] = cam.height * (1.0 - roiRatios[3]) - cam.roi[1]; // bottom -> height
}
if(depthIter != cameraDepths.end() && !depthIter->second.empty())
{
UASSERT(depthIter->second.type() == CV_32FC1 || depthIter->second.type() == CV_16UC1);
UASSERT(depthIter->second.cols % modelIter->second.size() == 0);
int subWidth = depthIter->second.cols/(modelIter->second.size());
cam.depth = cv::Mat(depthIter->second, cv::Range(0, depthIter->second.rows), cv::Range(subWidth*i, subWidth*(i+1)));
}
cameras.push_back(cam);
}
}
@@ -631,7 +643,10 @@ pcl::TextureMesh::Ptr createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
const std::map<int, Transform> & poses,
const std::map<int, CameraModel> & cameraModels,
const std::map<int, cv::Mat> & cameraDepths,
float maxDistance,
float maxDepthError,
float maxAngle,
int minClusterSize,
const std::vector<float> & roiRatios,
const ProgressState * state,
@@ -649,7 +664,10 @@ pcl::TextureMesh::Ptr createTextureMesh(
mesh,
poses,
cameraSubModels,
cameraDepths,
maxDistance,
maxDepthError,
maxAngle,
minClusterSize,
roiRatios,
state,
@@ -660,7 +678,10 @@ pcl::TextureMesh::Ptr createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
const std::map<int, Transform> & poses,
const std::map<int, std::vector<CameraModel> > & cameraModels,
const std::map<int, cv::Mat> & cameraDepths,
float maxDistance,
float maxDepthError,
float maxAngle,
int minClusterSize,
const std::vector<float> & roiRatios,
const ProgressState * state,
@@ -680,6 +701,7 @@ pcl::TextureMesh::Ptr createTextureMesh(
pcl::texture_mapping::CameraVector cameras = createTextureCameras(
poses,
cameraModels,
cameraDepths,
roiRatios);
// Create materials for each texture (and one extra for occluded faces)
@@ -722,6 +744,11 @@ pcl::TextureMesh::Ptr createTextureMesh(
// Texture by projection
pcl::TextureMapping<pcl::PointXYZ> tm; // TextureMapping object that will perform the sort
tm.setMaxDistance(maxDistance);
tm.setMaxAngle(maxAngle);
if(maxDepthError > 0.0f)
{
tm.setMaxDepthError(maxDepthError);
}
tm.setMinClusterSize(minClusterSize);
if(tm.textureMeshwithMultipleCameras2(*textureMesh, cameras, state, vertexToPixels))
{
guilib/src/ExportCloudsDialog.cpp
+48 -6
View File
@@ -170,6 +170,8 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->comboBox_meshingTextureSize, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_mesh_maxTextures, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_meshingTextureMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_meshingTextureMaxDepthError, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_meshingTextureMaxAngle, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_mesh_minTextureClusterSize, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->lineEdit_meshingTextureRoiRatios, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_cameraFilter, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -310,6 +312,8 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex());
settings.setValue("mesh_textureMaxCount", _ui->spinBox_mesh_maxTextures->value());
settings.setValue("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value());
settings.setValue("mesh_textureMaxDepthError", _ui->doubleSpinBox_meshingTextureMaxDepthError->value());
settings.setValue("mesh_textureMaxAngle", _ui->doubleSpinBox_meshingTextureMaxAngle->value());
settings.setValue("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value());
settings.setValue("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text());
settings.setValue("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked());
@@ -421,6 +425,8 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->comboBox_meshingTextureSize->setCurrentIndex(settings.value("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex()).toInt());
_ui->spinBox_mesh_maxTextures->setValue(settings.value("mesh_textureMaxCount", _ui->spinBox_mesh_maxTextures->value()).toInt());
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(settings.value("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value()).toDouble());
_ui->doubleSpinBox_meshingTextureMaxDepthError->setValue(settings.value("mesh_textureMaxDepthError", _ui->doubleSpinBox_meshingTextureMaxDepthError->value()).toDouble());
_ui->doubleSpinBox_meshingTextureMaxAngle->setValue(settings.value("mesh_textureMaxAngle", _ui->doubleSpinBox_meshingTextureMaxAngle->value()).toDouble());
_ui->spinBox_mesh_minTextureClusterSize->setValue(settings.value("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value()).toDouble());
_ui->lineEdit_meshingTextureRoiRatios->setText(settings.value("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text()).toString());
_ui->checkBox_cameraFilter->setChecked(settings.value("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked()).toBool());
@@ -532,6 +538,8 @@ void ExportCloudsDialog::restoreDefaults()
_ui->comboBox_meshingTextureSize->setCurrentIndex(5); // 4096
_ui->spinBox_mesh_maxTextures->setValue(1);
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(3.0);
_ui->doubleSpinBox_meshingTextureMaxDepthError->setValue(0.0);
_ui->doubleSpinBox_meshingTextureMaxAngle->setValue(0.0);
_ui->spinBox_mesh_minTextureClusterSize->setValue(50);
_ui->lineEdit_meshingTextureRoiRatios->setText("0.0 0.0 0.0 0.0");
_ui->checkBox_cameraFilter->setChecked(false);
@@ -1928,6 +1936,7 @@ bool ExportCloudsDialog::getExportedClouds(
}
std::map<int, Transform> cameraPoses;
std::map<int, std::vector<CameraModel> > cameraModels;
std::map<int, cv::Mat > cameraDepths;
for(std::map<int, Transform>::iterator jter=cameras.begin(); jter!=cameras.end(); ++jter)
{
if(validCameras.find(jter->first) != validCameras.end())
@@ -1947,8 +1956,10 @@ bool ExportCloudsDialog::getExportedClouds(
_dbDriver->getCalibration(jter->first, models, stereoModel);
}
bool stereo=false;
if(stereoModel.isValidForProjection())
{
stereo = true;
models.clear();
models.push_back(stereoModel.left());
}
@@ -1956,8 +1967,11 @@ bool ExportCloudsDialog::getExportedClouds(
{
models.clear();
}
if(!jter->second.isNull() && models.size())
{
cv::Mat depth;
bool getDepth = !stereo && _ui->doubleSpinBox_meshingTextureMaxDepthError->value() >= 0.0f;
if(models[0].imageWidth() == 0 || models[0].imageHeight() == 0)
{
// we are using an old database format (image size not saved in calibrations), we should
@@ -1965,13 +1979,13 @@ bool ExportCloudsDialog::getExportedClouds(
cv::Mat img;
if(cacheHasCompressedImage)
{
cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(&img, 0);
cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(&img, getDepth?&depth:0);
}
else if(_dbDriver)
{
SensorData data;
_dbDriver->getNodeData(jter->first, data, true, false, false, false);
data.uncompressDataConst(&img, 0);
data.uncompressDataConst(&img, getDepth?&depth:0);
}
cv::Size imageSize = img.size();
imageSize.width /= models.size();
@@ -1979,13 +1993,30 @@ bool ExportCloudsDialog::getExportedClouds(
{
models[i].setImageSize(imageSize);
}
}
else
{
// get just the depth
if(cacheHasCompressedImage)
{
cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(0, getDepth?&depth:0);
}
else if(_dbDriver)
{
SensorData data;
_dbDriver->getNodeData(jter->first, data, true, false, false, false);
data.uncompressDataConst(0, getDepth?&depth:0);
}
}
if(models[0].imageWidth() != 0 && models[0].imageHeight() != 0)
{
cameraPoses.insert(std::make_pair(jter->first, jter->second));
cameraModels.insert(std::make_pair(jter->first, models));
if(!depth.empty())
{
cameraDepths.insert(std::make_pair(jter->first, depth));
}
}
}
}
@@ -2058,6 +2089,7 @@ bool ExportCloudsDialog::getExportedClouds(
if(cameraPoses.find(modelIter->first)==cameraPoses.end())
{
cameraModels.erase(modelIter++);
cameraDepths.erase(modelIter->first);
}
else
{
@@ -2114,7 +2146,10 @@ bool ExportCloudsDialog::getExportedClouds(
iter->second,
cameraPoses,
cameraModels,
cameraDepths,
_ui->doubleSpinBox_meshingTextureMaxDistance->value(),
_ui->doubleSpinBox_meshingTextureMaxDepthError->value(),
_ui->doubleSpinBox_meshingTextureMaxAngle->value()*M_PI/180.0,
_ui->spinBox_mesh_minTextureClusterSize->value(),
roiRatios,
&texturingState,
@@ -3097,7 +3132,7 @@ std::vector<cv::Mat> ExportCloudsDialog::mergeTextures(
}
}
}
else if(mesh.tex_polygons[i].size())
else if(mesh.tex_polygons[i].size() && mesh.tex_materials[i].tex_file.compare("occluded")!=0)
{
UWARN("Failed parsing texture file name: %s", mesh.tex_materials[i].tex_file.c_str());
}
@@ -3278,9 +3313,16 @@ std::vector<cv::Mat> ExportCloudsDialog::mergeTextures(
for(int i=0; i<num_images; ++i)
{
for(int j=i+1; j<num_images; ++j)
for(int j=i; j<num_images; ++j)
{
if(N(i, j))
if(i == j)
{
if(N(i,j) == 0)
{
N(i,j) = 1;
}
}
else if(N(i, j))
{
I(i, j) /= N(i, j);
I(j, i) /= N(j, i);
guilib/src/ui/exportCloudsDialog.ui
+171 -107
View File
@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1412</y>
<y>-2146</y>
<width>773</width>
<height>3953</height>
<height>4045</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1486,7 +1486,111 @@ 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="7" column="1">
<item row="12" 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="12" 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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" 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>
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_blending">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_exposureFusion_3">
<property name="text">
<string>Blending decimation. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_meshingTextureSize_7">
<property name="text">
<string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_meshingTextureSize_8">
<property name="text">
<string>Maximum output textures.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" 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>
@@ -1528,7 +1632,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="9" column="1">
<item row="11" 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>
@@ -1562,29 +1666,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="10" 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="10" 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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_meshingTextureSize">
<item>
@@ -1634,14 +1715,14 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="12" column="0">
<item row="14" column="0">
<widget class="QCheckBox" name="checkBox_exposureFusion">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_meshingTextureSize_4">
<property name="text">
<string>Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor.</string>
@@ -1654,50 +1735,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<item row="3" column="0">
<widget class="QLineEdit" name="lineEdit_meshingTextureRoiRatios"/>
</item>
<item row="8" 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>
<item row="1" column="1">
<widget class="QLabel" name="label_meshingTextureSize">
<property name="text">
@@ -1708,21 +1745,14 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_blending">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_cameraFilter">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="0">
<item row="11" column="0">
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioLow">
<property name="suffix">
<string> %</string>
@@ -1735,7 +1765,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="5" column="0">
<item row="7" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
<property name="minimum">
<number>0</number>
@@ -1746,16 +1776,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_exposureFusion_3">
<property name="text">
<string>Blending decimation. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" 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>
@@ -1765,7 +1785,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="12" column="1">
<item row="14" 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>
@@ -1775,16 +1795,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_meshingTextureSize_7">
<property name="text">
<string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_mesh_maxTextures">
<property name="minimum">
@@ -1795,16 +1805,70 @@ 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_8">
<item row="5" column="1">
<widget class="QLabel" name="label_meshingTextureSize_9">
<property name="text">
<string>Maximum output textures.</string>
<string>Maximum depth error between reconstructed mesh projection in camera and corresponding value in depth image to apply texturing (negative means disabled, 0 means that longest edge length of the face is used as maximum error).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDepthError">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>-1.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_meshingTextureSize_10">
<property name="text">
<string>Maximum angle between camera and face to apply texture (0 means disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxAngle">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>