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Tango: added sketchfab links, Color Radius is used when texturing optimized mesh

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matlabbe
2017-02-27 16:53:05 -05:00
parent 2565239a1b
commit 6c9572714f
5 changed files with 96 additions and 11 deletions
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53
app/android/jni/RTABMapApp.cpp
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@@ -1823,6 +1823,59 @@ bool RTABMapApp::exportMesh(
}
else
{
if(optimizedColorRadius > 0.0f && optimizedCleanWhitePolygons)
{
LOGI("Removing polygons too far from the cloud");
// transfer color from point cloud to mesh
pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>(true));
tree->setInputCloud(mergedClouds);
pcl::PointCloud<pcl::PointXYZ>::Ptr optimizedCloud(new pcl::PointCloud<pcl::PointXYZ>);
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;
pcl::PointXYZRGBNormal pt;
pt.x = optimizedCloud->at(i).x;
pt.y = optimizedCloud->at(i).y;
pt.z = optimizedCloud->at(i).z;
tree->radiusSearch(pt, optimizedColorRadius, 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;
LOGI("Removing polygons too far from the cloud...done! %fs", timer.ticks());
}
LOGI("Texturing...");
textureMesh = rtabmap::util3d::createTextureMesh(
mesh,