i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed backward compatibility for exporting texture mesh with old databases

Browse Source
This commit is contained in:
matlabbe
2017-03-03 00:19:46 -05:00
parent 300e37124c
commit 1ce4db5604
2 changed files with 33 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/pcl18/surface/impl/texture_mapping.hpp
View File

@@ -1259,7 +1259,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
if((idx_face+1)%10000 == 0)
{
UDEBUG("face %d/%d", idx_face+1, (int)faces.size());
if(state && !state->callback(""))
if(state && !state->callback(uFormat("Textured %d/%d polygons", (int)idx_face+1, (int)faces.size())))
{
//cancelled!
UWARN("Texturing cancelled!");

41
guilib/src/ExportCloudsDialog.cpp
View File

@@ -740,17 +740,23 @@ void ExportCloudsDialog::viewClouds(
if (globalTexture.empty())
{
UASSERT(mesh->tex_materials.size()==1 &&
if(mesh->tex_materials.size()==1 &&
!mesh->tex_materials[0].tex_file.empty() &&
uIsInteger(mesh->tex_materials[0].tex_file, false));
int textureId = uStr2Int(mesh->tex_materials[0].tex_file);
UASSERT(cachedSignatures.contains(textureId) && !cachedSignatures.value(textureId).sensorData().imageCompressed().empty());
cachedSignatures.value(textureId).sensorData().uncompressDataConst(&globalTexture, 0);
UASSERT(!globalTexture.empty());
if (_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
uIsInteger(mesh->tex_materials[0].tex_file, false))
{
_compensator->apply(textureId, globalTexture);
int textureId = uStr2Int(mesh->tex_materials[0].tex_file);
UASSERT(cachedSignatures.contains(textureId) && !cachedSignatures.value(textureId).sensorData().imageCompressed().empty());
cachedSignatures.value(textureId).sensorData().uncompressDataConst(&globalTexture, 0);
UASSERT(!globalTexture.empty());
if (_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
{
_compensator->apply(textureId, globalTexture);
}
}
else
{
_progressDialog->appendText(tr("No textures added to mesh %1!?").arg(iter->first), Qt::darkRed);
_progressDialog->setAutoClose(false);
}
}
@@ -1771,6 +1777,15 @@ bool ExportCloudsDialog::getExportedClouds(
}
if(!jter->second.isNull() && model.isValidForProjection() && !s.sensorData().imageCompressed().empty())
{
if(model.imageWidth() == 0 || model.imageHeight() == 0)
{
// we are using an old database format (image size not saved in calibrations), we should
// uncompress images to get their size
cv::Mat img;
s.sensorData().uncompressDataConst(&img, 0);
model.setImageSize(img.size());
}
cameraPoses.insert(std::make_pair(jter->first, jter->second));
cameraModels.insert(std::make_pair(jter->first, model));
}
@@ -2015,10 +2030,14 @@ bool ExportCloudsDialog::getExportedClouds(
}
else if(cameraPoses.size() == 0)
{
_progressDialog->appendText(tr("No cameras from %1 poses with valid calibration found!").arg(poses.size()), Qt::darkYellow);
_progressDialog->setAutoClose(false);
UWARN("No camera poses!?");
}
else
{
_progressDialog->appendText(tr("No polygons!?"), Qt::darkYellow);
_progressDialog->setAutoClose(false);
UWARN("No polygons!");
}
@@ -2617,6 +2636,10 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
iter->sensorData().uncompressDataConst(&image, 0);
UASSERT(!image.empty());
tmpImageSize = image.size();
if(imageSize.height == 0 && imageSize.width == 0)
{
imageType = image.type();
}
}
if(imageSize.width>0 && imageSize.height>0 && imageSize.width != tmpImageSize.width)
{