Export: added texture format option (jpg, png)

corelib/src/util3d_surface.cpp

@@ -597,7 +597,7 @@ pcl::texture_mapping::CameraVector createTextureCameras(
 		cam.focal_length=modelIter->second.fx();
 		cam.height=modelIter->second.imageHeight();
 		cam.width=modelIter->second.imageWidth();
-		cam.texture_file = uFormat("%d.png", poseIter->first);
+		cam.texture_file = uFormat("%d", poseIter->first);
 		cameras[oi++] = cam;
 	}
 	return cameras;
@@ -654,7 +654,7 @@ pcl::TextureMesh::Ptr createTextureMesh(
 		}
 		else
 		{
-			mesh_material.tex_file = "occluded.png";
+			mesh_material.tex_file = "occluded";
 		}
 
 		textureMesh->tex_materials[i] = mesh_material;

guilib/src/ExportCloudsDialog.cpp

@@ -132,10 +132,12 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SLOT(updatePoissonOutputPolygonsAvailability()));
 	connect(_ui->doubleSpinBox_transferColorRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_cleanMesh, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SLOT(updateTexturingAvailability()));
+	connect(_ui->comboBox_meshingTextureFormat, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
 
 	connect(_ui->checkBox_poisson_outputPolygons, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_poisson_manifold, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -186,6 +188,15 @@ void ExportCloudsDialog::updateTexturingAvailability(bool isExporting)
 {
 	_ui->checkBox_textureMapping->setEnabled(!_ui->checkBox_assemble->isChecked() || isExporting);
 	_ui->label_textureMapping->setEnabled(_ui->checkBox_textureMapping->isEnabled());
+	_ui->comboBox_meshingTextureFormat->setEnabled(_ui->label_textureMapping->isEnabled());
+	_ui->label_meshingTextureFormat->setEnabled(_ui->label_textureMapping->isEnabled());
+	updatePoissonOutputPolygonsAvailability();
+}
+void ExportCloudsDialog::updatePoissonOutputPolygonsAvailability()
+{
+	_ui->checkBox_poisson_outputPolygons->setDisabled(
+			_ui->checkBox_binary->isEnabled() ||
+			_ui->doubleSpinBox_meshDecimationFactor->value()!=0.0);
 }
 
 void ExportCloudsDialog::cancel()
@@ -257,6 +268,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("mesh_dense_strategy", _ui->comboBox_meshingApproach->currentIndex());
 
 	settings.setValue("mesh_texture", _ui->checkBox_textureMapping->isChecked());
+	settings.setValue("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex());
 
 	settings.setValue("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value());
 	settings.setValue("mesh_quad", _ui->checkBox_mesh_quad->isChecked());
@@ -342,6 +354,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_ui->comboBox_meshingApproach->setCurrentIndex(settings.value("mesh_dense_strategy", _ui->comboBox_meshingApproach->currentIndex()).toInt());
 
 	_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", _ui->checkBox_textureMapping->isChecked()).toBool());
+	_ui->comboBox_meshingTextureFormat->setCurrentIndex(settings.value("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex()).toInt());
 
 	_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
 	_ui->checkBox_mesh_quad->setChecked(settings.value("mesh_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
@@ -425,6 +438,7 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->comboBox_meshingApproach->setCurrentIndex(1);
 
 	_ui->checkBox_textureMapping->setChecked(false);
+	_ui->comboBox_meshingTextureFormat->setCurrentIndex(0);
 
 	_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
 	_ui->checkBox_mesh_quad->setChecked(false);
@@ -650,13 +664,12 @@ void ExportCloudsDialog::viewClouds(
 					if(!iter->second->tex_materials[i].tex_file.empty())
 					{
 						// absolute path
-						QString fullPath = workingDirectory+QDir::separator()+prefix+QDir::separator()+QString(iter->second->tex_materials[i].tex_file.c_str());
+						QString fullPath = workingDirectory+QDir::separator()+prefix+QDir::separator()+QString(iter->second->tex_materials[i].tex_file.c_str())+_ui->comboBox_meshingTextureFormat->currentText();
 						if(!QFileInfo(fullPath).exists())
 						{
-							std::list<std::string> values = uSplit(iter->second->tex_materials[i].tex_file, '.');
+							if(uIsInteger(iter->second->tex_materials[i].tex_file, false))
-							if(values.size() == 2 && uIsInteger(*values.begin(), false))
 							{
-								int textureId = uStr2Int(*values.begin());
+								int textureId = uStr2Int(iter->second->tex_materials[i].tex_file);
 								UASSERT(cachedSignatures.contains(textureId) && !cachedSignatures.value(textureId).sensorData().imageCompressed().empty());
 								cv::Mat image;
 								cachedSignatures.value(textureId).sensorData().uncompressDataConst(&image, 0);
@@ -1354,7 +1367,7 @@ bool ExportCloudsDialog::getExportedClouds(
 					else
 					{
 						pcl::Poisson<pcl::PointXYZRGBNormal> poisson;
-						poisson.setOutputPolygons(_ui->checkBox_poisson_outputPolygons->isChecked());
+						poisson.setOutputPolygons(_ui->checkBox_poisson_outputPolygons->isEnabled()?_ui->checkBox_poisson_outputPolygons->isChecked():false);
 						poisson.setManifold(_ui->checkBox_poisson_manifold->isChecked());
 						poisson.setSamplesPerNode(_ui->doubleSpinBox_poisson_samples->value());
 						poisson.setDepth(_ui->spinBox_poisson_depth->value());
@@ -1612,7 +1625,7 @@ bool ExportCloudsDialog::getExportedClouds(
 							tex_name << "material_" << iter->first;
 							tex_name >> mesh_material.tex_name;
 
-							mesh_material.tex_file = uFormat("%d.png", iter->first);
+							mesh_material.tex_file = uFormat("%d", iter->first);
 							textureMesh->tex_materials.push_back(mesh_material);
 						}
 						else
@@ -1696,7 +1709,7 @@ bool ExportCloudsDialog::getExportedClouds(
 									{
 										polygonSize = textureMesh->tex_polygons[t][0].vertices.size();
 
-										UASSERT(filteredCoordinates.size() == textureMesh->tex_polygons[t].size()*polygonSize);
+										UASSERT_MSG(filteredCoordinates.size() == textureMesh->tex_polygons[t].size()*polygonSize, uFormat("%d vs %d (polygon size=%d)", (int)filteredCoordinates.size(), (int)textureMesh->tex_polygons[t].size(), (int)polygonSize).c_str());
 										for(unsigned int i=0; i<textureMesh->tex_polygons[t].size(); ++i)
 										{
 											if(validPolygons.find(allPolygonsIndex) != validPolygons.end())
@@ -2350,14 +2363,13 @@ void ExportCloudsDialog::saveTextureMeshes(
 					if(!mesh->tex_materials[i].tex_file.empty())
 					{
 						// absolute path
-						QString fullPath = QFileInfo(path).absoluteDir().absolutePath()+QDir::separator()+QFileInfo(path).baseName()+QDir::separator()+QString(mesh->tex_materials[i].tex_file.c_str());
+						QString fullPath = QFileInfo(path).absoluteDir().absolutePath()+QDir::separator()+QFileInfo(path).baseName()+QDir::separator()+QString(mesh->tex_materials[i].tex_file.c_str())+_ui->comboBox_meshingTextureFormat->currentText();
 
 						if(!QFileInfo(fullPath).exists())
 						{
-							std::list<std::string> values = uSplit(mesh->tex_materials[i].tex_file, '.');
+							if(uIsInteger(mesh->tex_materials[i].tex_file, false))
-							if(values.size() == 2 && uIsInteger(*values.begin(), false))
 							{
-								int textureId = uStr2Int(*values.begin());
+								int textureId = uStr2Int(mesh->tex_materials[i].tex_file);
 								UASSERT(cachedSignatures.contains(textureId) && !cachedSignatures.value(textureId).sensorData().imageCompressed().empty());
 								cv::Mat image;
 								cachedSignatures.value(textureId).sensorData().uncompressDataConst(&image, 0);
@@ -2387,7 +2399,7 @@ void ExportCloudsDialog::saveTextureMeshes(
 							}
 						}
 						// relative path
-						mesh->tex_materials[i].tex_file=(QFileInfo(path).baseName()+QDir::separator()+QString(mesh->tex_materials[i].tex_file.c_str())).toStdString();
+						mesh->tex_materials[i].tex_file=(QFileInfo(path).baseName()+QDir::separator()+QString(mesh->tex_materials[i].tex_file.c_str())+_ui->comboBox_meshingTextureFormat->currentText()).toStdString();
 					}
 				}
 
@@ -2435,13 +2447,12 @@ void ExportCloudsDialog::saveTextureMeshes(
 							if(!mesh->tex_materials[i].tex_file.empty())
 							{
 								// absolute path
-								QString fullPath = path+QDir::separator()+currentPrefix+QDir::separator()+QString(mesh->tex_materials[i].tex_file.c_str());
+								QString fullPath = path+QDir::separator()+currentPrefix+QDir::separator()+QString(mesh->tex_materials[i].tex_file.c_str())+_ui->comboBox_meshingTextureFormat->currentText();
 								if(!QFileInfo(fullPath).exists())
 								{
-									std::list<std::string> values = uSplit(mesh->tex_materials[i].tex_file, '.');
+									if(uIsInteger(mesh->tex_materials[i].tex_file, false))
-									if(values.size() == 2 && uIsInteger(*values.begin(), false))
 									{
-										int textureId = uStr2Int(*values.begin());
+										int textureId = uStr2Int(mesh->tex_materials[i].tex_file);
 										UASSERT(cachedSignatures.contains(textureId) && !cachedSignatures.value(textureId).sensorData().imageCompressed().empty());
 										cv::Mat image;
 										cachedSignatures.value(textureId).sensorData().uncompressDataConst(&image, 0);
@@ -2471,7 +2482,7 @@ void ExportCloudsDialog::saveTextureMeshes(
 									}
 								}
 								// relative path
-								mesh->tex_materials[i].tex_file=(currentPrefix+QDir::separator()+QString(mesh->tex_materials[i].tex_file.c_str())).toStdString();
+								mesh->tex_materials[i].tex_file=(currentPrefix+QDir::separator()+QString(mesh->tex_materials[i].tex_file.c_str())+_ui->comboBox_meshingTextureFormat->currentText()).toStdString();
 							}
 						}
 						pcl::PointCloud<pcl::PointNormal>::Ptr tmp(new pcl::PointCloud<pcl::PointNormal>);

guilib/src/ExportCloudsDialog.h

@@ -92,6 +92,7 @@ private slots:
 	void selectDistortionModel();
 	void updateMLSGrpVisibility();
 	void updateTexturingAvailability();
+	void updatePoissonOutputPolygonsAvailability();
 	void cancel();
 
 private:

guilib/src/ui/exportCloudsDialog.ui

@@ -23,9 +23,9 @@
       <property name="geometry">
        <rect>
         <x>0</x>
-        <y>0</y>
+        <y>-1430</y>
         <width>773</width>
-        <height>2728</height>
+        <height>2774</height>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1105,14 +1105,14 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
          <layout class="QVBoxLayout" name="verticalLayout_15">
           <item>
            <layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
-            <item row="5" column="0">
+            <item row="6" column="0">
              <widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
               <property name="maximum">
                <number>999</number>
               </property>
              </widget>
             </item>
-            <item row="2" column="1">
+            <item row="3" column="1">
              <widget class="QLabel" name="label_meshDecimation">
               <property name="text">
                <string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons). Can be used only when dense reconstruction flavor is selected.</string>
@@ -1122,6 +1122,43 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
               </property>
              </widget>
             </item>
+            <item row="0" column="1">
+             <widget class="QLabel" name="label_denseReconstruction">
+              <property name="text">
+               <string>Surface reconstruction approach. Can be used only when dense reconstruction flavor is selected. Poisson is available only when clouds are assembled.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="1">
+             <widget class="QLabel" name="label_meshDecimation_2">
+              <property name="text">
+               <string>Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). 0 means disabled.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QLabel" name="label_textureMapping">
+              <property name="text">
+               <string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Only available on Export or when clouds are not assembled.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="1">
+             <widget class="QLabel" name="label_16">
+              <property name="text">
+               <string>Min polygon cluster size</string>
+              </property>
+             </widget>
+            </item>
             <item row="1" column="0">
              <widget class="QCheckBox" name="checkBox_textureMapping">
               <property name="text">
@@ -1143,27 +1180,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
               </item>
              </widget>
             </item>
-            <item row="0" column="1">
+            <item row="4" column="0">
-             <widget class="QLabel" name="label_denseReconstruction">
-              <property name="text">
-               <string>Surface reconstruction approach. Can be used only when dense reconstruction flavor is selected. Poisson is available only when clouds are assembled.</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1">
-             <widget class="QLabel" name="label_meshDecimation_2">
-              <property name="text">
-               <string>Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). 0 means disabled.</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_transferColorRadius">
               <property name="suffix">
                <string> m</string>
@@ -1185,7 +1202,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
               </property>
              </widget>
             </item>
-            <item row="2" column="0">
+            <item row="3" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
               <property name="decimals">
                <number>2</number>
@@ -1204,24 +1221,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
               </property>
              </widget>
             </item>
-            <item row="1" column="1">
-             <widget class="QLabel" name="label_textureMapping">
-              <property name="text">
-               <string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Only available on Export or when clouds are not assembled.</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
             <item row="5" column="1">
-             <widget class="QLabel" name="label_16">
-              <property name="text">
-               <string>Min polygon cluster size</string>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="1">
              <widget class="QLabel" name="label_meshDecimation_3">
               <property name="text">
                <string>Clean mesh from polygons without color or texture.</string>
@@ -1231,13 +1231,37 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
               </property>
              </widget>
             </item>
-            <item row="4" column="0">
+            <item row="5" column="0">
              <widget class="QCheckBox" name="checkBox_cleanMesh">
               <property name="text">
                <string/>
               </property>
              </widget>
             </item>
+            <item row="2" column="1">
+             <widget class="QLabel" name="label_meshingTextureFormat">
+              <property name="text">
+               <string>Texture format.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QComboBox" name="comboBox_meshingTextureFormat">
+              <item>
+               <property name="text">
+                <string>.jpg</string>
+               </property>
+              </item>
+              <item>
+               <property name="text">
+                <string>.png</string>
+               </property>
+              </item>
+             </widget>
+            </item>
            </layout>
           </item>
           <item>
@@ -1461,9 +1485,9 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
               </widget>
              </item>
              <item row="1" column="1">
-              <widget class="QLabel" name="label_173">
+              <widget class="QLabel" name="label_outputPolygons">
                <property name="text">
-                <string>Output polygons flag. Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating of the results of Marching Cubes).</string>
+                <string>Output polygons flag. Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating of the results of Marching Cubes). Disabled when exporting to file or if mesh decimation is set.</string>
                </property>
                <property name="wordWrap">
                 <bool>true</bool>