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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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guilib/src/ExportCloudsDialog.cpp
+48 -6
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@@ -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);