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Export: added rgb/gray gain compensation option, added maximum outout textures option (can be useful for #189).

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matlabbe
2017-06-03 18:24:56 -04:00
parent 657f0314e4
commit de797b644e
7 changed files with 382 additions and 260 deletions
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corelib/include/rtabmap/core/GainCompensator.h
+8 -4
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@@ -73,18 +73,22 @@ public:
void apply(
int id,
pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud) const;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
bool rgb = true) const;
void apply(
int id,
pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices) const;
const pcl::IndicesPtr & indices,
bool rgb = true) const;
void apply(
int id,
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices) const;
const pcl::IndicesPtr & indices,
bool rgb = true) const;
void apply(
int id,
cv::Mat & image) const;
cv::Mat & image,
bool rgb = true) const;
double getGain(int id, double * r=0, double * g=0, double * b=0) const;
int getIndex(int id) const;
corelib/include/rtabmap/core/util3d.h
+1 -1
View File
@@ -264,7 +264,7 @@ pcl::TextureMesh::Ptr RTABMAP_EXP concatenateTextureMeshes(
const std::list<pcl::TextureMesh::Ptr> & meshes);
void RTABMAP_EXP concatenateTextureMaterials(
pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, float & scale, std::vector<bool> * materialsKept=0);
pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept=0);
/**
* @brief Concatenate a vector of indices to a single vector.