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util3d::denseMeshPostProcessing(): coloredOutput param not used anymore

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matlabbe
2017-07-24 19:21:22 -04:00
parent 57dc0cd53e
commit 62de6fcdae
2 changed files with 4 additions and 60 deletions
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62
corelib/include/rtabmap/core/impl/util3d_surface.hpp
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@@ -97,8 +97,7 @@ void denseMeshPostProcessing(
if(cloud.get()!=0 && if(cloud.get()!=0 &&
!hasColors && !hasColors &&
transferColorRadius >= 0.0 && transferColorRadius >= 0.0)
coloredOutput)
{ {
if(progressState) progressState->callback(uFormat("Transferring color from point cloud to mesh...")); if(progressState) progressState->callback(uFormat("Transferring color from point cloud to mesh..."));
@@ -179,63 +178,8 @@ void denseMeshPostProcessing(
} }
hasColors = true; hasColors = true;
} }
else if(cloud.get()!=0 &&
!hasColors &&
transferColorRadius > 0.0 &&
cleanMesh &&
!coloredOutput)
{
if(progressState) progressState->callback(uFormat("Removing polygons too far from the cloud..."));
// transfer color from point cloud to mesh if(minClusterSize)
typename pcl::search::KdTree<pointRGBT>::Ptr tree (new pcl::search::KdTree<pointRGBT>(true));
tree->setInputCloud(cloud);
pcl::PointCloud<pcl::PointNormal>::Ptr optimizedCloud(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2(mesh->cloud, *optimizedCloud);
std::vector<bool> closePts(optimizedCloud->size());
for(unsigned int i=0; i<optimizedCloud->size(); ++i)
{
std::vector<int> kIndices;
std::vector<float> kDistances;
pointRGBT pt;
pt.x = optimizedCloud->at(i).x;
pt.y = optimizedCloud->at(i).y;
pt.z = optimizedCloud->at(i).z;
tree->radiusSearch(pt, transferColorRadius, kIndices, kDistances);
if(kIndices.size())
{
closePts.at(i) = true;
}
else
{
closePts.at(i) = false;
}
}
// remove far polygons
std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
int oi=0;
for(unsigned int i=0; i<mesh->polygons.size(); ++i)
{
bool keepPolygon = true;
for(unsigned int j=0; j<mesh->polygons[i].vertices.size(); ++j)
{
if(!closePts.at(mesh->polygons[i].vertices[j]))
{
keepPolygon = false;
break;
}
}
if(keepPolygon)
{
filteredPolygons[oi++] = mesh->polygons[i];
}
}
filteredPolygons.resize(oi);
mesh->polygons = filteredPolygons;
}
if(minClusterSize && coloredOutput && !cleanMesh)
{ {
if(progressState) progressState->callback(uFormat("Filter small polygon clusters...")); if(progressState) progressState->callback(uFormat("Filter small polygon clusters..."));
@@ -290,7 +234,7 @@ void denseMeshPostProcessing(
int before = (int)mesh->polygons.size(); int before = (int)mesh->polygons.size();
mesh->polygons = filteredPolygons; mesh->polygons = filteredPolygons;
if(progressState) progressState->callback(uFormat("Filtered %1 polygons.", before-(int)mesh->polygons.size())); if(progressState) progressState->callback(uFormat("Filtered %d polygons.", before-(int)mesh->polygons.size()));
} }
// compute normals for the mesh if not already here, add also white color if colored output is required // compute normals for the mesh if not already here, add also white color if colored output is required

2
corelib/include/rtabmap/core/util3d_surface.h
View File

@@ -292,7 +292,7 @@ void denseMeshPostProcessing(
int maximumPolygons = 0, // 0=disabled int maximumPolygons = 0, // 0=disabled
const typename pcl::PointCloud<pointRGBT>::Ptr & cloud = pcl::PointCloud<pointRGBT>::Ptr(), // A RGB point cloud used to transfer colors back to mesh (needed for parameters below) const typename pcl::PointCloud<pointRGBT>::Ptr & cloud = pcl::PointCloud<pointRGBT>::Ptr(), // A RGB point cloud used to transfer colors back to mesh (needed for parameters below)
float transferColorRadius = 0.05f, // <0=disabled, 0=nearest color float transferColorRadius = 0.05f, // <0=disabled, 0=nearest color
bool coloredOutput = true, // If output should be colored bool coloredOutput = true, // Not used anymore, output is colored if transferColorRadius>=0
bool cleanMesh = true, // Remove polygons not colored (if coloredOutput is disabled, transferColorRadius is still used to clean the mesh) bool cleanMesh = true, // Remove polygons not colored (if coloredOutput is disabled, transferColorRadius is still used to clean the mesh)
int minClusterSize = 50, // Remove small polygon clusters after the mesh has been cleaned (0=disabled) int minClusterSize = 50, // Remove small polygon clusters after the mesh has been cleaned (0=disabled)
ProgressState * progressState = 0); ProgressState * progressState = 0);