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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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6
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/PolygonMesh.h>
#include <pcl/TextureMesh.h>
#include "rtabmap/core/Transform.h"
#include <QtCore/QMap>
#include <QtCore/QSet>
@@ -145,6 +146,11 @@ public:
const pcl::PolygonMesh::Ptr & mesh,
const Transform & pose = Transform::getIdentity());
bool addCloudTextureMesh(
const std::string & id,
const pcl::TextureMesh::Ptr & textureMesh,
const Transform & pose = Transform::getIdentity());
bool addOccupancyGridMap(
const cv::Mat & map8U,
float resolution, // cell size

15
guilib/include/rtabmap/gui/MainWindow.h
View File

@@ -41,6 +41,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PolygonMesh.h>
#include <pcl/TextureMesh.h>
namespace rtabmap {
class CameraThread;
@@ -226,20 +227,22 @@ private:
void exportPoses(int format);
QString captureScreen();
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr > getClouds(
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > getClouds(
const std::map<int, Transform> & poses,
bool regenerateClouds,
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth,
int normalKSearch,
bool mls,
float mlsRadius) const;
float regenerateMaxDepth) const;
bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
bool getExportedClouds(std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool toSave);
bool getExportedClouds(
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
std::map<int, pcl::PolygonMesh::Ptr> & meshes,
std::map<int, pcl::TextureMesh::Ptr> & textureMeshes,
bool toSave);
void saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
void saveTextureMeshes(const std::map<int, pcl::TextureMesh::Ptr> & meshes);
void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds, bool binaryMode = true);
private: