GUI export: added mesh quadric decimation factor option

corelib/include/rtabmap/core/util3d_surface.h

@@ -84,6 +84,8 @@ void RTABMAP_EXP adjustNormalsToViewPoints(
 		pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
 		int k = 0); // optional: recompute normal with k neighbors (min k=3)
 
+pcl::PolygonMesh::Ptr RTABMAP_EXP meshDecimation(const pcl::PolygonMesh::Ptr & mesh, float factor);
+
 template<typename pointT>
 std::vector<pcl::Vertices> normalizePolygonsSide(
 		const pcl::PointCloud<pointT> & cloud,

corelib/src/util3d_surface.cpp

@@ -36,8 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/features/normal_3d.h>
 #include <pcl/surface/mls.h>
 #include <pcl/surface/texture_mapping.h>
-
+#include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>
-#include <pcl/visualization/pcl_visualizer.h>
 
 namespace rtabmap
 {
@@ -381,6 +380,16 @@ void adjustNormalsToViewPoints(
 	}
 }
 
+pcl::PolygonMesh::Ptr meshDecimation(const pcl::PolygonMesh::Ptr & mesh, float factor)
+{
+	pcl::MeshQuadricDecimationVTK mqd;
+	mqd.setTargetReductionFactor(factor);
+	mqd.setInputMesh(mesh);
+	pcl::PolygonMesh::Ptr output(new pcl::PolygonMesh);
+	mqd.process (*output);
+	return output;
+}
+
 }
 
 }

guilib/include/rtabmap/gui/CloudViewer.h

@@ -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,

guilib/src/CloudViewer.cpp

@@ -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,

guilib/src/ExportCloudsDialog.cpp

@@ -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();

guilib/src/ExportCloudsDialog.h

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

guilib/src/MainWindow.cpp

@@ -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>);
+				bool isRGB = false;
-				pcl::fromPCLPointCloud2(iter->second->cloud, *cloud);
+				for(unsigned int i=0; i<iter->second->cloud.fields.size(); ++i)
-				viewer->addCloudMesh(uFormat("mesh%d",iter->first), cloud, iter->second->polygons, iter->first>0?_currentPosesMap.at(iter->first):Transform::getIdentity());
+				{
+					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>);
+							bool isRGB = false;
-							pcl::fromPCLPointCloud2(iter->second->cloud, *tmp);
+							for(unsigned int i=0; i<iter->second->cloud.fields.size(); ++i)
-							tmp = util3d::transformPointCloud(tmp, _currentPosesMap.at(iter->first));
+							{
-							pcl::toPCLPointCloud2(*tmp, mesh.cloud);
+								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;

guilib/src/ui/exportCloudsDialog.ui

@@ -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>