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Fixed a bug where camera facing polygons were not textured

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This commit is contained in:
matlabbe
2017-03-03 15:22:20 -05:00
parent fd55828c42
commit 3cf8ea63d8
5 changed files with 19 additions and 17 deletions
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21
corelib/src/pcl18/surface/impl/texture_mapping.hpp
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@@ -1103,17 +1103,16 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
{ {
// check if the polygon is facing the camera, assuming counterclockwise normal // check if the polygon is facing the camera, assuming counterclockwise normal
Eigen::Vector3f v0( Eigen::Vector3f v0(
pt1.x - pt0.x, uv_coords2.x - uv_coords1.x,
pt1.y - pt0.y, uv_coords2.y - uv_coords1.y,
pt1.z - pt0.z); 0);
Eigen::Vector3f v1( Eigen::Vector3f v1(
pt2.x - pt0.x, uv_coords3.x - uv_coords1.x,
pt2.y - pt0.y, uv_coords3.y - uv_coords1.y,
pt2.z - pt0.z); 0);
Eigen::Vector3f normal = v0.cross(v1); Eigen::Vector3f normal = v0.cross(v1);
float angle = normal.dot(Eigen::Vector3f(0.0f,0.0f,-1.0f)); float angle = normal.dot(Eigen::Vector3f(0.0f,0.0f,1.0f));
bool facingTheCam = angle>0.0f; bool facingTheCam = angle>0.0f;
float distanceToCam = std::min(std::min(pt0.z, pt1.z), pt2.z); float distanceToCam = std::min(std::min(pt0.z, pt1.z), pt2.z);
pcl::PointXY center; pcl::PointXY center;
center.x = (uv_coords1.x+uv_coords2.x+uv_coords3.x)/3.0f; center.x = (uv_coords1.x+uv_coords2.x+uv_coords3.x)/3.0f;
@@ -1254,12 +1253,13 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
UWARN("Texturing cancelled!"); UWARN("Texturing cancelled!");
return false; return false;
} }
int textured = 0;
for(unsigned int idx_face=0; idx_face<faces.size(); ++idx_face) for(unsigned int idx_face=0; idx_face<faces.size(); ++idx_face)
{ {
if((idx_face+1)%10000 == 0) if((idx_face+1)%10000 == 0)
{ {
UDEBUG("face %d/%d", idx_face+1, (int)faces.size()); UDEBUG("face %d/%d", idx_face+1, (int)faces.size());
if(state && !state->callback(uFormat("Textured %d/%d polygons", (int)idx_face+1, (int)faces.size()))) if(state && !state->callback(uFormat("Textured %d/%d of %d polygons", textured, idx_face+1, (int)faces.size())))
{ {
//cancelled! //cancelled!
UWARN("Texturing cancelled!"); UWARN("Texturing cancelled!");
@@ -1293,6 +1293,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
if(cameraIndex >= 0) if(cameraIndex >= 0)
{ {
++textured;
mesh.tex_polygons[cameraIndex].push_back(face); mesh.tex_polygons[cameraIndex].push_back(face);
mesh.tex_coordinates[cameraIndex].push_back(Eigen::Vector2f(uv_coords[0].x, uv_coords[0].y)); mesh.tex_coordinates[cameraIndex].push_back(Eigen::Vector2f(uv_coords[0].x, uv_coords[0].y));
mesh.tex_coordinates[cameraIndex].push_back(Eigen::Vector2f(uv_coords[1].x, uv_coords[1].y)); mesh.tex_coordinates[cameraIndex].push_back(Eigen::Vector2f(uv_coords[1].x, uv_coords[1].y));
@@ -1306,7 +1307,7 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
mesh.tex_coordinates[cameras.size()].push_back(Eigen::Vector2f(-1.0,-1.0)); mesh.tex_coordinates[cameras.size()].push_back(Eigen::Vector2f(-1.0,-1.0));
} }
} }
UINFO("Process %d polygons...done!", (int)faces.size()); UINFO("Process %d polygons...done! (%d textured)", (int)faces.size(), textured);
return true; return true;
} }

2
guilib/include/rtabmap/gui/ProgressDialog.h
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@@ -63,7 +63,7 @@ protected:
public slots: public slots:
void appendText(const QString & text ,const QColor & color = Qt::black); void appendText(const QString & text ,const QColor & color = Qt::black);
void incrementStep(); void incrementStep(int steps = 1);
void clear(); void clear();
void resetProgress(); void resetProgress();

4
guilib/src/ExportCloudsDialog.cpp
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@@ -889,7 +889,6 @@ bool ExportCloudsDialog::getExportedClouds(
{ {
mul+=1; mul+=1;
} }
mul+=1; // normals
if(_ui->checkBox_textureMapping->isChecked()) if(_ui->checkBox_textureMapping->isChecked())
{ {
mul+=1; mul+=1;
@@ -1720,7 +1719,7 @@ bool ExportCloudsDialog::getExportedClouds(
meshes.insert(std::make_pair(iter->first, mesh)); meshes.insert(std::make_pair(iter->first, mesh));
_progressDialog->incrementStep(); _progressDialog->incrementStep(_ui->checkBox_assemble->isChecked()?poses.size():1);
QApplication::processEvents(); QApplication::processEvents();
if(_canceled) if(_canceled)
{ {
@@ -1877,6 +1876,7 @@ bool ExportCloudsDialog::getExportedClouds(
} }
TexturingState texturingState(_progressDialog); TexturingState texturingState(_progressDialog);
_progressDialog->setMaximumSteps(_progressDialog->maximumSteps()+iter->second->polygons.size()/10000+1);
textureMesh = util3d::createTextureMesh( textureMesh = util3d::createTextureMesh(
iter->second, iter->second,
cameraPoses, cameraPoses,

8
guilib/src/ProgressDialog.cpp
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@@ -133,14 +133,14 @@ void ProgressDialog::setMaximumSteps(int steps)
_progressBar->setMaximum(steps); _progressBar->setMaximum(steps);
} }
void ProgressDialog::incrementStep() void ProgressDialog::incrementStep(int steps)
{ {
//incremental progress bar (if we don't know how many items will be added) //incremental progress bar (if we don't know how many items will be added)
if(_progressBar->value() == _progressBar->maximum()-1) if(_progressBar->value() >= _progressBar->maximum()-steps)
{ {
_progressBar->setMaximum(_progressBar->maximum()+1); _progressBar->setMaximum(_progressBar->maximum()+steps+1);
} }
_progressBar->setValue(_progressBar->value()+1); _progressBar->setValue(_progressBar->value()+steps);
} }
void ProgressDialog::clear() void ProgressDialog::clear()

1
guilib/src/TexturingState.h
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@@ -50,6 +50,7 @@ public:
if(!msg.empty()) if(!msg.empty())
{ {
dialog_->appendText(msg.c_str()); dialog_->appendText(msg.c_str());
dialog_->incrementStep();
} }
QApplication::processEvents(); QApplication::processEvents();
return !canceled_; return !canceled_;