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Added some parameters for mesh reconstruction

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1315 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-03 19:28:59 +00:00
parent b875d8f7be
commit 0fc6228b4f
6 changed files with 395 additions and 81 deletions
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49
guilib/src/MainWindow.cpp
View File

@@ -1094,7 +1094,16 @@ void MainWindow::updateMapCloud(const std::map<int, Transform> & posesIn, const
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
if(cloud->size())
{
mesh = util3d::createMesh(cloud, _preferencesDialog->getCloudVoxelSize(0)==0?0.025:_preferencesDialog->getCloudVoxelSize(0)*4);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(0))
{
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(0));
}
else
{
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(0));
}
mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(0));
}
if(mesh->polygons.size())
@@ -2926,7 +2935,17 @@ void MainWindow::saveMeshes()
if(button == QMessageBox::No)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud();
meshes.insert(std::make_pair(0, util3d::createMesh(cloud)));
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(1))
{
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
}
else
{
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
meshes.insert(std::make_pair(0, mesh));
}
else
{
@@ -3019,7 +3038,19 @@ void MainWindow::viewMeshes()
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = this->createAssembledCloud();
_initProgressDialog->appendText(tr("Meshing the assembled cloud (%1 points)...").arg(cloud->size()));
_initProgressDialog->incrementStep();
meshes.insert(std::make_pair(0, util3d::createMesh(cloud, _preferencesDialog->getCloudVoxelSize(2)*4.0f)));
QApplication::processEvents();
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(1))
{
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
}
else
{
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
meshes.insert(std::make_pair(0, mesh));
}
else
{
@@ -3052,6 +3083,7 @@ void MainWindow::viewMeshes()
pcl::fromPCLPointCloud2(iter->second->cloud, *cloud);
viewer->addCloudMesh(uFormat("mesh%d",iter->first), cloud, iter->second->polygons, iter->first>0?_currentPosesMap.at(iter->first):Transform::getIdentity());
_initProgressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)... done.").arg(iter->first).arg(iter->second->polygons.size()));
QApplication::processEvents();
}
}
else
@@ -3518,7 +3550,16 @@ std::map<int, pcl::PolygonMesh::Ptr> MainWindow::createMeshes()
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
if(cloud->size())
{
mesh = util3d::createMesh(cloud, _preferencesDialog->getCloudVoxelSize(2)==0?0.025:_preferencesDialog->getCloudVoxelSize(2)*4);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals;
if(_preferencesDialog->getMeshSmoothing(1))
{
cloudWithNormals = util3d::computeNormalsSmoothed(cloud, (float)_preferencesDialog->getMeshSmoothingRadius(1));
}
else
{
cloudWithNormals = util3d::computeNormals(cloud, _preferencesDialog->getMeshNormalKSearch(1));
}
mesh = util3d::createMesh(cloudWithNormals, _preferencesDialog->getMeshGP3Radius(1));
}
if(mesh->polygons.size())