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GUI: Added export mesh with textures, refactored Export dialog (more MLS options)

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This commit is contained in:
matlabbe
2015-08-24 11:59:26 -04:00
parent 7fe064ca82
commit 698ae0eeda
15 changed files with 1471 additions and 602 deletions
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2
corelib/include/rtabmap/core/CameraModel.h
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@@ -98,7 +98,7 @@ public:
const cv::Size & imageSize() const {return imageSize_;}
int imageWidth() const {return imageSize_.width;}
int imageWeight() const {return imageSize_.height;}
int imageHeight() const {return imageSize_.height;}
bool load(const std::string & directory, const std::string & cameraName);
bool save(const std::string & directory) const;

26
corelib/include/rtabmap/core/util3d_surface.h
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@@ -33,6 +33,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/PolygonMesh.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/TextureMesh.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/CameraModel.h>
namespace rtabmap
{
@@ -50,6 +53,13 @@ pcl::PolygonMesh::Ptr RTABMAP_EXP createMesh(
float gp3MaximumAngle = 2*M_PI/3,
bool gp3NormalConsistency = true);
pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const pcl::PolygonMesh::Ptr & mesh,
const std::map<int, Transform> & poses,
const std::map<int, CameraModel> & cameraModels,
const std::map<int, cv::Mat> & images,
const std::string & tmpDirectory = ".");
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
int normalKSearch = 20);
@@ -58,15 +68,21 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
int normalKSearch = 20);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP computeNormalsSmoothed(
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP mls(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
float smoothingSearchRadius = 0.025,
bool smoothingPolynomialFit = true,
float voxelSize = 0.0f);
float searchRadius = 0.0f,
int polygonialOrder = 2,
int upsamplingMethod = 0, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
float upsamplingRadius = 0.0f, // SAMPLE_LOCAL_PLANE
float upsamplingStep = 0.0f, // SAMPLE_LOCAL_PLANE
int pointDensity = 0, // RANDOM_UNIFORM_DENSITY
float dilationVoxelSize = 1.0f, // VOXEL_GRID_DILATION
int dilationIterations = 0); // VOXEL_GRID_DILATION
void RTABMAP_EXP adjustNormalsToViewPoints(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & viewpoints,
pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
int k = 0); // optional: recompute normal with k neighbors (min k=3)
template<typename pointT>
std::vector<pcl::Vertices> normalizePolygonsSide(

3
corelib/include/rtabmap/core/util3d_transforms.h
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@@ -46,6 +46,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP transformPointCloud(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP transformPointCloud(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & transform);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP transformPointCloud(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const Transform & transform);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP transformPointCloud(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Transform & transform);