Fixed assert when exporting textured mesh with both multiband and ble…

…nding enabled with grayscale images
introlab · Mar 5, 2024 · 52e1b01 · 52e1b01
1 parent 8019a2d
commit 52e1b01
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Showing 2 changed files with 30 additions and 14 deletions.
diff --git a/corelib/src/util3d_surface.cpp b/corelib/src/util3d_surface.cpp
@@ -2398,7 +2398,7 @@ bool multiBandTexturing(
  std::string tmpImageDirectory = outputDirectory+"/rtabmap_tmp_textures";
  UDirectory::removeDir(tmpImageDirectory);
  UDirectory::makeDir(tmpImageDirectory);
- UINFO("Temporary saving images in directory \"%s\"...", tmpImageDirectory.c_str());
+ UINFO("Temporary saving images from %ld nodes in directory \"%s\"...", cameraPoses.size(), tmpImageDirectory.c_str());
  int viewId = 0;
  for(std::map<int, Transform>::const_iterator iter = cameraPoses.lower_bound(1); iter!=cameraPoses.end(); ++iter)
  {
@@ -2510,28 +2510,45 @@ bool multiBandTexturing(
  imageSize.height = image.rows;
  imageSize.width = image.cols;
  }
+
  UASSERT(image.cols % imageSize.width == 0);
  cv::Mat imageRoi = image.colRange(i*imageSize.width, (i+1)*imageSize.width);
+
  if(gains.find(camId) != gains.end() &&
  gains.at(camId).find(i) != gains.at(camId).end())
  {
  const cv::Vec4d & g = gains.at(camId).at(i);
- std::vector<cv::Mat> channels;
- cv::split(imageRoi, channels);
+ if(imageRoi.channels() == 1)
+ {
+ cv::multiply(imageRoi, g.val[0], imageRoi);
+ }
+ else
+ {
+ std::vector<cv::Mat> channels;
+ cv::split(imageRoi, channels);
 
- // assuming BGR
- cv::multiply(channels[0], g.val[gainRGB?3:0], channels[0]);
- cv::multiply(channels[1], g.val[gainRGB?2:0], channels[1]);
- cv::multiply(channels[2], g.val[gainRGB?1:0], channels[2]);
+  // assuming BGR
+  cv::multiply(channels[0], g.val[gainRGB?3:0], channels[0]);
+  cv::multiply(channels[1], g.val[gainRGB?2:0], channels[1]);
+  cv::multiply(channels[2], g.val[gainRGB?1:0], channels[2]);
 
- cv::Mat output;
- cv::merge(channels, output);
- imageRoi = output;
+ cv::Mat output;
+ cv::merge(channels, output);
+ imageRoi = output;
+ }
  }
 
  if(blendingGains.find(camId) != blendingGains.end() &&
  blendingGains.at(camId).find(i) != blendingGains.at(camId).end())
  {
+ // Should be color for blending options
+ if(imageRoi.channels() == 1)
+ {
+ cv::Mat imageRoiColor;
+ cv::cvtColor(imageRoi, imageRoiColor, CV_GRAY2BGR);
+ imageRoi = imageRoiColor;
+ }
+
  cv::Mat g = blendingGains.at(camId).at(i);
  cv::Mat dst;
  cv::blur(g, dst, cv::Size(3,3));
@@ -2559,9 +2576,7 @@ bool multiBandTexturing(
  sfmData.intrinsics.insert(std::make_pair((IndexT)viewId, camPtr));
 
  std::string imagePath = tmpImageDirectory+uFormat("/%d.jpg", viewId);
-
  cv::imwrite(imagePath, imageRoi);
-
  std::shared_ptr<sfmData::View> viewPtr = std::make_shared<sfmData::View>(
  imagePath,
  (IndexT)viewId,
@@ -2572,8 +2587,9 @@ bool multiBandTexturing(
  sfmData.views.insert(std::make_pair((IndexT)viewId, viewPtr));
  ++viewId;
  }
+ UDEBUG("camId=%d", camId);
  }
- UINFO("Temporary saving images in directory \"%s\"... done (%d images). %fs", tmpImageDirectory.c_str(), viewId, (int)cameraPoses.size(), timer.ticks());
+ UINFO("Temporary saving images in directory \"%s\"... done (%d images of %d nodes). %fs", tmpImageDirectory.c_str(), viewId, (int)cameraPoses.size(), timer.ticks());
 
  mvsUtils::MultiViewParams mp(sfmData);
 

diff --git a/guilib/src/ExportCloudsDialog.cpp b/guilib/src/ExportCloudsDialog.cpp
@@ -4676,7 +4676,7 @@ void ExportCloudsDialog::saveTextureMeshes(
  path.toStdString(),
  mesh->cloud,
  mesh->tex_polygons[0],
- poses,
+ filterNodes(poses),
  textureVertexToPixels,
  images,
  calibrations,