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Read and write 16bit support for odm_orthophoto

pull/1057/head
Piero Toffanin 2019-10-24 15:06:05 +00:00
rodzic 8c53c5c7aa
commit d25f05486c
2 zmienionych plików z 49 dodań i 20 usunięć
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67
modules/odm_orthophoto/src/OdmOrthoPhoto.cpp
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@ -269,7 +269,7 @@ void OdmOrthoPhoto::printHelp()
{
log_.setIsPrintingInCout(true);
log_ << "OpenDroneMapOrthoPhoto.exe\n\n";
log_ << "odm_orthophoto\n\n";
log_ << "Purpose\n";
log_ << "Create an orthograpical photo from an oriented textured mesh.\n\n";
@ -306,6 +306,11 @@ void OdmOrthoPhoto::printHelp()
log_.setIsPrintingInCout(false);
}
template <typename T>
inline int maxRange(){
return static_cast<int>(pow(2, sizeof(T) * 8) - 1);
}
void OdmOrthoPhoto::createOrthoPhoto()
{
if(inputFile_.empty())
@ -395,15 +400,6 @@ void OdmOrthoPhoto::createOrthoPhoto()
log_ << "New ortho photo resolution, width x height : " << colRes << "x" << rowRes << '\n';
}
// Init ortho photo
try{
photo_ = cv::Mat::zeros(rowRes, colRes, CV_8UC4) + cv::Scalar(255, 255, 255, 0);
depth_ = cv::Mat::zeros(rowRes, colRes, CV_32F) - std::numeric_limits<float>::infinity();
}catch(const cv::Exception &e){
std::cerr << "Couldn't allocate enough memory to render the orthophoto (" << colRes << "x" << rowRes << " cells = " << ((long long)colRes * (long long)rowRes * 4) << " bytes). Try to increase the --orthophoto-resolution parameter to a larger integer or add more RAM.\n";
exit(1);
}
// Contains the vertices of the mesh.
pcl::PointCloud<pcl::PointXYZ>::Ptr meshCloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2 (mesh.cloud, *meshCloud);
@ -489,11 +485,36 @@ void OdmOrthoPhoto::createOrthoPhoto()
log_ << "Rendering the ortho photo...\n";
// Iterate over each part of the mesh (one per material).
int textureDepth = -1;
for(size_t t = 0; t < mesh.tex_materials.size(); ++t)
{
// The material of the current submesh.
pcl::TexMaterial material = mesh.tex_materials[t];
texture = cv::imread(material.tex_file);
texture = cv::imread(material.tex_file, cv::IMREAD_COLOR | cv::IMREAD_ANYDEPTH);
// The first material determines the bit depth
// Init ortho photo
if (textureDepth == -1){
try{
textureDepth = texture.depth();
log_ << "Texture depth is " << textureDepth << "bit\n";
if (textureDepth == CV_8U){
photo_ = cv::Mat::zeros(rowRes, colRes, CV_8UC4) + cv::Scalar(255, 255, 255, 0);
}else if (textureDepth == CV_16U){
photo_ = cv::Mat::zeros(rowRes, colRes, CV_16UC4) + cv::Scalar(65535, 65535, 65535, 0);
}else{
std::cerr << "Unsupported bit depth value: " << textureDepth;
exit(1);
}
depth_ = cv::Mat::zeros(rowRes, colRes, CV_32F) - std::numeric_limits<float>::infinity();
}catch(const cv::Exception &e){
std::cerr << "Couldn't allocate enough memory to render the orthophoto (" << colRes << "x" << rowRes << " cells = " << ((long long)colRes * (long long)rowRes * 4) << " bytes). Try to increase the --orthophoto-resolution parameter to a larger integer or add more RAM.\n";
exit(1);
}
}
// Check for missing files.
if(texture.empty())
@ -514,7 +535,11 @@ void OdmOrthoPhoto::createOrthoPhoto()
pcl::Vertices polygon = faces[faceIndex];
// ... and draw it into the ortho photo.
drawTexturedTriangle(texture, polygon, meshCloud, uvs, faceIndex+faceOff);
if (textureDepth == CV_8U){
drawTexturedTriangle<unsigned char>(texture, polygon, meshCloud, uvs, faceIndex+faceOff);
}else if (textureDepth == CV_16U){
drawTexturedTriangle<unsigned short>(texture, polygon, meshCloud, uvs, faceIndex+faceOff);
}
}
faceOff += faces.size();
log_ << "Material " << t << " rendered.\n";
@ -737,6 +762,7 @@ Eigen::Transform<float, 3, Eigen::Affine> OdmOrthoPhoto::readTransform(std::stri
return transform;
}
template <typename T>
void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vertices &polygon, const pcl::PointCloud<pcl::PointXYZ>::Ptr &meshCloud, const std::vector<Eigen::Vector2f> &uvs, size_t faceIndex)
{
// The index to the vertices of the polygon.
@ -934,7 +960,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
u = v1u*l1+v2u*l2+v3u*l3;
v = v1v*l1+v2v*l2+v3v*l3;
renderPixel(rq, cq, u*fCols, (1.0f-v)*fRows, texture);
renderPixel<T>(rq, cq, u*fCols, (1.0f-v)*fRows, texture);
// Update depth buffer.
depth_.at<float>(rq, cq) = z;
@ -992,7 +1018,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
u = v1u*l1+v2u*l2+v3u*l3;
v = v1v*l1+v2v*l2+v3v*l3;
renderPixel(rq, cq, u*fCols, (1.0f-v)*fRows, texture);
renderPixel<T>(rq, cq, u*fCols, (1.0f-v)*fRows, texture);
// Update depth buffer.
depth_.at<float>(rq, cq) = z;
@ -1001,10 +1027,11 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
}
}
template <typename T>
void OdmOrthoPhoto::renderPixel(int row, int col, float s, float t, const cv::Mat &texture)
{
// The colors of the texture pixels. tl : top left, tr : top right, bl : bottom left, br : bottom right.
cv::Vec3b tl, tr, bl, br;
cv::Vec<T,3> tl, tr, bl, br;
// The offset of the texture coordinate from its pixel positions.
float leftF, topF;
@ -1023,10 +1050,10 @@ void OdmOrthoPhoto::renderPixel(int row, int col, float s, float t, const cv::Ma
left = static_cast<int>(leftF);
top = static_cast<int>(topF);
tl = texture.at<cv::Vec3b>(top, left);
tr = texture.at<cv::Vec3b>(top, left+1);
bl = texture.at<cv::Vec3b>(top+1, left);
br = texture.at<cv::Vec3b>(top+1, left+1);
tl = texture.at<cv::Vec<T,3> >(top, left);
tr = texture.at<cv::Vec<T,3> >(top, left+1);
bl = texture.at<cv::Vec<T,3> >(top+1, left);
br = texture.at<cv::Vec<T,3> >(top+1, left+1);
// The interpolated color values.
float r = 0.0f, g = 0.0f, b = 0.0f;
@ -1049,7 +1076,7 @@ void OdmOrthoPhoto::renderPixel(int row, int col, float s, float t, const cv::Ma
b += static_cast<float>(bl[0]) * dr * dt;
b += static_cast<float>(br[0]) * dl * dt;
photo_.at<cv::Vec4b>(row,col) = cv::Vec4b(static_cast<unsigned char>(b), static_cast<unsigned char>(g), static_cast<unsigned char>(r), 255);
photo_.at<cv::Vec<T, 4> >(row,col) = cv::Vec<T, 4>(static_cast<T>(b), static_cast<T>(g), static_cast<T>(r), static_cast<T>(maxRange<T>()));
}
void OdmOrthoPhoto::getBarycentricCoordinates(pcl::PointXYZ v1, pcl::PointXYZ v2, pcl::PointXYZ v3, float x, float y, float &l1, float &l2, float &l3) const

2
modules/odm_orthophoto/src/OdmOrthoPhoto.hpp
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@ -135,6 +135,7 @@ private:
* \param uvs Contains the texture coordinates for the active material.
* \param faceIndex The index of the face.
*/
template <typename T>
void drawTexturedTriangle(const cv::Mat &texture, const pcl::Vertices &polygon, const pcl::PointCloud<pcl::PointXYZ>::Ptr &meshCloud, const std::vector<Eigen::Vector2f> &uvs, size_t faceIndex);
/*!
@ -146,6 +147,7 @@ private:
* \param t The v texture-coordinate, multiplied with the number of rows in the texture.
* \param texture The texture from which to get the color.
**/
template <typename T>
void renderPixel(int row, int col, float u, float v, const cv::Mat &texture);
/*!