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GUI export: added mesh quadric decimation factor option

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This commit is contained in:
matlabbe
2015-08-24 12:49:45 -04:00
parent 698ae0eeda
commit 45877e7486
8 changed files with 144 additions and 27 deletions
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6
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -135,6 +135,12 @@ public:
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloudMesh(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const Transform & pose = Transform::getIdentity());
bool addCloudMesh(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,

19
guilib/src/CloudViewer.cpp
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@@ -536,6 +536,25 @@ bool CloudViewer::addCloud(
return false;
}
bool CloudViewer::addCloudMesh(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const Transform & pose)
{
if(!_addedClouds.contains(id))
{
UDEBUG("Adding %s with %d points and %d polygons", id.c_str(), (int)cloud->size(), (int)polygons.size());
if(_visualizer->addPolygonMesh<pcl::PointXYZ>(cloud, polygons, id))
{
_visualizer->updatePointCloudPose(id, pose.toEigen3f());
_addedClouds.insert(id, pose);
return true;
}
}
return false;
}
bool CloudViewer::addCloudMesh(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,

10
guilib/src/ExportCloudsDialog.cpp
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@@ -70,6 +70,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->groupBox_gp3, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
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->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
}
@@ -117,6 +118,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mesh", this->getMesh());
settings.setValue("mesh_radius", this->getMeshGp3Radius());
settings.setValue("mesh_mu", this->getMeshGp3Mu());
settings.setValue("mesh_decimation_factor", this->getMeshDecimationFactor());
settings.setValue("mesh_texture", this->getMeshTexture());
@@ -157,6 +159,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->groupBox_gp3->setChecked(settings.value("mesh", this->getMesh()).toBool());
_ui->doubleSpinBox_gp3Radius->setValue(settings.value("mesh_radius", this->getMeshGp3Radius()).toDouble());
_ui->doubleSpinBox_gp3Mu->setValue(settings.value("mesh_mu", this->getMeshGp3Mu()).toDouble());
_ui->doubleSpinBox_meshDecimationFactor->setValue(settings.value("mesh_decimation_factor", this->getMeshDecimationFactor()).toDouble());
_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", this->getGenerate()).toBool());
@@ -195,7 +198,10 @@ void ExportCloudsDialog::restoreDefaults()
_ui->groupBox_gp3->setChecked(false);
_ui->doubleSpinBox_gp3Radius->setValue(0.04);
_ui->doubleSpinBox_gp3Mu->setValue(2.5);
_ui->doubleSpinBox_meshDecimationFactor->setValue(1.0);
_ui->checkBox_textureMapping->setChecked(false);
this->update();
}
void ExportCloudsDialog::setSaveButton()
@@ -316,6 +322,10 @@ double ExportCloudsDialog::getMeshGp3Mu() const
{
return _ui->doubleSpinBox_gp3Mu->value();
}
double ExportCloudsDialog::getMeshDecimationFactor() const
{
return _ui->doubleSpinBox_meshDecimationFactor->value();
}
bool ExportCloudsDialog::getMeshTexture() const
{
return _ui->checkBox_textureMapping->isChecked();

1
guilib/src/ExportCloudsDialog.h
View File

@@ -77,6 +77,7 @@ public:
bool getMesh() const;
double getMeshGp3Radius() const;
double getMeshGp3Mu() const;
double getMeshDecimationFactor() const;
bool getMeshTexture() const;
signals:

60
guilib/src/MainWindow.cpp
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@@ -4495,9 +4495,27 @@ void MainWindow::viewClouds()
{
_initProgressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)...").arg(iter->first).arg(iter->second->polygons.size()));
_initProgressDialog->incrementStep();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
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());
bool isRGB = false;
for(unsigned int i=0; i<iter->second->cloud.fields.size(); ++i)
{
if(iter->second->cloud.fields[i].name.compare("rgb") == 0)
{
isRGB=true;
break;
}
}
if(isRGB)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
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());
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
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();
}
@@ -4684,9 +4702,16 @@ bool MainWindow::getExportedClouds(
++iter)
{
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(iter->second, _exportDialog->getMeshGp3Radius(), _exportDialog->getMeshGp3Mu());
_initProgressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(mesh->polygons.size()).arg(++i).arg(clouds.size()));
if(_exportDialog->getMeshDecimationFactor() < 1.0)
{
mesh = util3d::meshDecimation(mesh, (float)_exportDialog->getMeshDecimationFactor());
_initProgressDialog->appendText(tr("Mesh %1 decimation (factor=%2) to %3 polygons").arg(iter->first).arg(_exportDialog->getMeshDecimationFactor()).arg(mesh->polygons.size()));
}
meshes.insert(std::make_pair(iter->first, mesh));
_initProgressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(mesh->polygons.size()).arg(++i).arg(clouds.size()));
_initProgressDialog->incrementStep();
QApplication::processEvents();
}
@@ -5126,10 +5151,29 @@ void MainWindow::saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes,
{
pcl::PolygonMesh mesh;
mesh.polygons = iter->second->polygons;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromPCLPointCloud2(iter->second->cloud, *tmp);
tmp = util3d::transformPointCloud(tmp, _currentPosesMap.at(iter->first));
pcl::toPCLPointCloud2(*tmp, mesh.cloud);
bool isRGB = false;
for(unsigned int i=0; i<iter->second->cloud.fields.size(); ++i)
{
if(iter->second->cloud.fields[i].name.compare("rgb") == 0)
{
isRGB=true;
break;
}
}
if(isRGB)
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::fromPCLPointCloud2(iter->second->cloud, *tmp);
tmp = util3d::transformPointCloud(tmp, _currentPosesMap.at(iter->first));
pcl::toPCLPointCloud2(*tmp, mesh.cloud);
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(iter->second->cloud, *tmp);
tmp = util3d::transformPointCloud(tmp, _currentPosesMap.at(iter->first));
pcl::toPCLPointCloud2(*tmp, mesh.cloud);
}
QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
bool success =false;

60
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-178</y>
<width>766</width>
<height>915</height>
<height>949</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -604,6 +604,16 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
<item row="2" column="1">
<widget class="QLabel" name="label_169">
<property name="text">
<string>Set the multiplier of the nearest neighbor distance to obtain the final search radius for each point (this will make the algorithm adapt to different point densities in the cloud).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Radius">
<property name="suffix">
@@ -634,21 +644,8 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_169">
<property name="text">
<string>Set the multiplier of the nearest neighbor distance to obtain the final search radius for each point (this will make the algorithm adapt to different point densities in the cloud).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Mu">
<property name="suffix">
<string>0</string>
</property>
<property name="decimals">
<number>1</number>
</property>
@@ -666,14 +663,14 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_textureMapping">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<item row="4" 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.</string>
@@ -683,6 +680,35 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_170">
<property name="text">
<string>Mesh quadric decimation factor (1=no decimation). Used to reduce the number of polygons.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>