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Tango: Added Rendering Options... -> Mesh Rendering -> Mesh Decimation

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This commit is contained in:
matlabbe
2016-12-03 21:49:40 -05:00
parent d2287ab9f4
commit 3c17049084
15 changed files with 365 additions and 180 deletions
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6
corelib/include/rtabmap/core/util3d_surface.h
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@@ -65,6 +65,12 @@ std::list<std::list<int> > RTABMAP_EXP clusterPolygons(
const std::vector<std::set<int> > & neighborPolygons,
int minClusterSize = 0);
std::vector<pcl::Vertices> RTABMAP_EXP organizedFastMesh(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
double angleTolerance,
bool quad,
int trianglePixelSize,
const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
std::vector<pcl::Vertices> RTABMAP_EXP organizedFastMesh(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
double angleTolerance = M_PI/16,

38
corelib/src/util3d_surface.cpp
View File

@@ -137,6 +137,44 @@ std::list<std::list<int> > clusterPolygons(
return clusters;
}
std::vector<pcl::Vertices> organizedFastMesh(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
double angleTolerance,
bool quad,
int trianglePixelSize,
const Eigen::Vector3f & viewpoint)
{
UDEBUG("size=%d angle=%f quad=%d triangleSize=%d", (int)cloud->size(), angleTolerance, quad?1:0, trianglePixelSize);
UASSERT(cloud->is_dense == false);
UASSERT(cloud->width > 1 && cloud->height > 1);
pcl::OrganizedFastMesh<pcl::PointXYZ> ofm;
ofm.setTrianglePixelSize (trianglePixelSize);
ofm.setTriangulationType (quad?pcl::OrganizedFastMesh<pcl::PointXYZ>::QUAD_MESH:pcl::OrganizedFastMesh<pcl::PointXYZ>::TRIANGLE_RIGHT_CUT);
ofm.setInputCloud (cloud);
ofm.setAngleTolerance(angleTolerance);
ofm.setViewpoint(viewpoint);
std::vector<pcl::Vertices> vertices;
ofm.reconstruct (vertices);
if(quad)
{
//flip all polygons (right handed)
std::vector<pcl::Vertices> output(vertices.size());
for(unsigned int i=0; i<vertices.size(); ++i)
{
output[i].vertices.resize(4);
output[i].vertices[0] = vertices[i].vertices[0];
output[i].vertices[3] = vertices[i].vertices[1];
output[i].vertices[2] = vertices[i].vertices[2];
output[i].vertices[1] = vertices[i].vertices[3];
}
return output;
}
return vertices;
}
std::vector<pcl::Vertices> organizedFastMesh(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
double angleTolerance,