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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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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;