mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option
This commit is contained in:
matlabbe
@@ -132,9 +132,10 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
|
||||
connect(_ui->checkBox_gainCompensation, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
|
||||
connect(_ui->doubleSpinBox_gainRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->doubleSpinBox_gainOverlap, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->doubleSpinBox_gainAlpha, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->doubleSpinBox_gainBeta, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->checkBox_gainLinkedLocationsOnly, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->checkBox_gainFull, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->spinBox_textureBrightnessContrastRatioLow, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->spinBox_textureBrightnessContrastRatioHigh, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
|
||||
|
||||
connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
|
||||
@@ -143,6 +144,8 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
|
||||
connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SLOT(updateReconstructionFlavor()));
|
||||
connect(_ui->spinBox_meshMaxPolygons, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->spinBox_meshMaxPolygons, SIGNAL(valueChanged(int)), this, SLOT(updateReconstructionFlavor()));
|
||||
connect(_ui->doubleSpinBox_transferColorRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->checkBox_cleanMesh, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
|
||||
connect(_ui->spinBox_mesh_minClusterSize, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
|
||||
@@ -176,6 +179,9 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
|
||||
|
||||
#ifdef DISABLE_VTK
|
||||
_ui->doubleSpinBox_meshDecimationFactor->setEnabled(false);
|
||||
_ui->spinBox_meshMaxPolygons->setEnabled(false);
|
||||
_ui->label_meshDecimation->setEnabled(false);
|
||||
_ui->label_meshMaxPolygons->setEnabled(false);
|
||||
#endif
|
||||
}
|
||||
|
||||
@@ -251,14 +257,14 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
|
||||
settings.setValue("gain", _ui->checkBox_gainCompensation->isChecked());
|
||||
settings.setValue("gain_radius", _ui->doubleSpinBox_gainRadius->value());
|
||||
settings.setValue("gain_overlap", _ui->doubleSpinBox_gainOverlap->value());
|
||||
settings.setValue("gain_alpha", _ui->doubleSpinBox_gainAlpha->value());
|
||||
settings.setValue("gain_beta", _ui->doubleSpinBox_gainBeta->value());
|
||||
settings.setValue("gain_linked_locations", _ui->checkBox_gainLinkedLocationsOnly->isChecked());
|
||||
settings.setValue("gain_full", _ui->checkBox_gainFull->isChecked());
|
||||
|
||||
settings.setValue("mesh", _ui->checkBox_meshing->isChecked());
|
||||
settings.setValue("mesh_radius", _ui->doubleSpinBox_gp3Radius->value());
|
||||
settings.setValue("mesh_mu", _ui->doubleSpinBox_gp3Mu->value());
|
||||
settings.setValue("mesh_decimation_factor", _ui->doubleSpinBox_meshDecimationFactor->value());
|
||||
settings.setValue("mesh_max_polygons", _ui->spinBox_meshMaxPolygons->value());
|
||||
settings.setValue("mesh_color_radius", _ui->doubleSpinBox_transferColorRadius->value());
|
||||
settings.setValue("mesh_clean", _ui->checkBox_cleanMesh->isChecked());
|
||||
settings.setValue("mesh_min_cluster_size", _ui->spinBox_mesh_minClusterSize->value());
|
||||
@@ -273,6 +279,8 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
|
||||
settings.setValue("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked());
|
||||
settings.setValue("mesh_textureCameraFilteringRadius", _ui->doubleSpinBox_cameraFilterRadius->value());
|
||||
settings.setValue("mesh_textureCameraFilteringAngle", _ui->doubleSpinBox_cameraFilterAngle->value());
|
||||
settings.setValue("mesh_textureBrightnessConstrastRatioLow", _ui->spinBox_textureBrightnessContrastRatioLow->value());
|
||||
settings.setValue("mesh_textureBrightnessConstrastRatioHigh", _ui->spinBox_textureBrightnessContrastRatioHigh->value());
|
||||
|
||||
|
||||
settings.setValue("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value());
|
||||
@@ -344,14 +352,14 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
|
||||
_ui->checkBox_gainCompensation->setChecked(settings.value("gain", _ui->checkBox_gainCompensation->isChecked()).toBool());
|
||||
_ui->doubleSpinBox_gainRadius->setValue(settings.value("gain_radius", _ui->doubleSpinBox_gainRadius->value()).toDouble());
|
||||
_ui->doubleSpinBox_gainOverlap->setValue(settings.value("gain_overlap", _ui->doubleSpinBox_gainOverlap->value()).toDouble());
|
||||
_ui->doubleSpinBox_gainAlpha->setValue(settings.value("gain_alpha", _ui->doubleSpinBox_gainAlpha->value()).toDouble());
|
||||
_ui->doubleSpinBox_gainBeta->setValue(settings.value("gain_beta", _ui->doubleSpinBox_gainBeta->value()).toDouble());
|
||||
_ui->checkBox_gainLinkedLocationsOnly->setChecked(settings.value("gain_linked_locations", _ui->checkBox_gainLinkedLocationsOnly->isChecked()).toBool());
|
||||
_ui->checkBox_gainFull->setChecked(settings.value("gain_full", _ui->checkBox_gainFull->isChecked()).toBool());
|
||||
|
||||
_ui->checkBox_meshing->setChecked(settings.value("mesh", _ui->checkBox_meshing->isChecked()).toBool());
|
||||
_ui->doubleSpinBox_gp3Radius->setValue(settings.value("mesh_radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
|
||||
_ui->doubleSpinBox_gp3Mu->setValue(settings.value("mesh_mu", _ui->doubleSpinBox_gp3Mu->value()).toDouble());
|
||||
_ui->doubleSpinBox_meshDecimationFactor->setValue(settings.value("mesh_decimation_factor",_ui->doubleSpinBox_meshDecimationFactor->value()).toDouble());
|
||||
_ui->spinBox_meshMaxPolygons->setValue(settings.value("mesh_max_polygons",_ui->spinBox_meshMaxPolygons->value()).toDouble());
|
||||
_ui->doubleSpinBox_transferColorRadius->setValue(settings.value("mesh_color_radius",_ui->doubleSpinBox_transferColorRadius->value()).toDouble());
|
||||
_ui->checkBox_cleanMesh->setChecked(settings.value("mesh_clean",_ui->checkBox_cleanMesh->isChecked()).toBool());
|
||||
_ui->spinBox_mesh_minClusterSize->setValue(settings.value("mesh_min_cluster_size", _ui->spinBox_mesh_minClusterSize->value()).toInt());
|
||||
@@ -366,6 +374,8 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
|
||||
_ui->checkBox_cameraFilter->setChecked(settings.value("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked()).toBool());
|
||||
_ui->doubleSpinBox_cameraFilterRadius->setValue(settings.value("mesh_textureCameraFilteringRadius", _ui->doubleSpinBox_cameraFilterRadius->value()).toDouble());
|
||||
_ui->doubleSpinBox_cameraFilterAngle->setValue(settings.value("mesh_textureCameraFilteringAngle", _ui->doubleSpinBox_cameraFilterAngle->value()).toDouble());
|
||||
_ui->spinBox_textureBrightnessContrastRatioLow->setValue(settings.value("mesh_textureBrightnessConstrastRatioLow", _ui->spinBox_textureBrightnessContrastRatioLow->value()).toDouble());
|
||||
_ui->spinBox_textureBrightnessContrastRatioHigh->setValue(settings.value("mesh_textureBrightnessConstrastRatioHigh", _ui->spinBox_textureBrightnessContrastRatioHigh->value()).toDouble());
|
||||
|
||||
_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
|
||||
_ui->checkBox_mesh_quad->setChecked(settings.value("mesh_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
|
||||
@@ -433,15 +443,15 @@ void ExportCloudsDialog::restoreDefaults()
|
||||
|
||||
_ui->checkBox_gainCompensation->setChecked(false);
|
||||
_ui->doubleSpinBox_gainRadius->setValue(0.02);
|
||||
_ui->doubleSpinBox_gainOverlap->setValue(0.05);
|
||||
_ui->doubleSpinBox_gainAlpha->setValue(0.01);
|
||||
_ui->doubleSpinBox_gainOverlap->setValue(0.0);
|
||||
_ui->doubleSpinBox_gainBeta->setValue(10);
|
||||
_ui->checkBox_gainLinkedLocationsOnly->setChecked(true);
|
||||
_ui->checkBox_gainFull->setChecked(false);
|
||||
|
||||
_ui->checkBox_meshing->setChecked(false);
|
||||
_ui->doubleSpinBox_gp3Radius->setValue(0.2);
|
||||
_ui->doubleSpinBox_gp3Mu->setValue(2.5);
|
||||
_ui->doubleSpinBox_meshDecimationFactor->setValue(0.0);
|
||||
_ui->spinBox_meshMaxPolygons->setValue(0);
|
||||
_ui->doubleSpinBox_transferColorRadius->setValue(0.025);
|
||||
_ui->checkBox_cleanMesh->setChecked(true);
|
||||
_ui->spinBox_mesh_minClusterSize->setValue(0);
|
||||
@@ -456,6 +466,8 @@ void ExportCloudsDialog::restoreDefaults()
|
||||
_ui->checkBox_cameraFilter->setChecked(false);
|
||||
_ui->doubleSpinBox_cameraFilterRadius->setValue(0.1);
|
||||
_ui->doubleSpinBox_cameraFilterAngle->setValue(30);
|
||||
_ui->spinBox_textureBrightnessContrastRatioLow->setValue(0);
|
||||
_ui->spinBox_textureBrightnessContrastRatioHigh->setValue(0);
|
||||
|
||||
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
|
||||
_ui->checkBox_mesh_quad->setChecked(false);
|
||||
@@ -482,8 +494,12 @@ void ExportCloudsDialog::updateReconstructionFlavor()
|
||||
_ui->checkBox_smoothing->setVisible(_ui->comboBox_pipeline->currentIndex() == 1);
|
||||
_ui->checkBox_smoothing->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
|
||||
_ui->label_denseReconstruction->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
|
||||
#ifndef DISABLE_VTK
|
||||
_ui->doubleSpinBox_meshDecimationFactor->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
|
||||
_ui->label_meshDecimation->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
|
||||
_ui->spinBox_meshMaxPolygons->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
|
||||
_ui->label_meshMaxPolygons->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
|
||||
#endif
|
||||
_ui->groupBox_organized->setVisible(_ui->comboBox_pipeline->currentIndex() == 0);
|
||||
|
||||
_ui->groupBox_regenerate->setVisible(_ui->checkBox_regenerate->isChecked());
|
||||
@@ -511,6 +527,7 @@ void ExportCloudsDialog::updateReconstructionFlavor()
|
||||
_ui->checkBox_poisson_outputPolygons->setDisabled(
|
||||
_ui->checkBox_binary->isEnabled() ||
|
||||
_ui->doubleSpinBox_meshDecimationFactor->value()!=0.0 ||
|
||||
_ui->spinBox_meshMaxPolygons->value()!=0 ||
|
||||
_ui->checkBox_textureMapping->isChecked());
|
||||
|
||||
_ui->checkBox_cleanMesh->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
|
||||
@@ -952,9 +969,9 @@ bool ExportCloudsDialog::getExportedClouds(
|
||||
if(_ui->checkBox_gainCompensation->isChecked() && clouds.size() > 1)
|
||||
{
|
||||
UASSERT(_compensator == 0);
|
||||
_compensator = new GainCompensator(_ui->doubleSpinBox_gainRadius->value(), _ui->doubleSpinBox_gainOverlap->value(), _ui->doubleSpinBox_gainAlpha->value(), _ui->doubleSpinBox_gainBeta->value());
|
||||
_compensator = new GainCompensator(_ui->doubleSpinBox_gainRadius->value(), _ui->doubleSpinBox_gainOverlap->value(), 0.01, _ui->doubleSpinBox_gainBeta->value());
|
||||
|
||||
if(!_ui->checkBox_gainLinkedLocationsOnly->isChecked())
|
||||
if(_ui->checkBox_gainFull->isChecked())
|
||||
{
|
||||
_progressDialog->appendText(tr("Full gain compensation of %1 clouds...").arg(clouds.size()));
|
||||
}
|
||||
@@ -966,7 +983,7 @@ bool ExportCloudsDialog::getExportedClouds(
|
||||
uSleep(100);
|
||||
QApplication::processEvents();
|
||||
|
||||
if(!_ui->checkBox_gainLinkedLocationsOnly->isChecked())
|
||||
if(_ui->checkBox_gainFull->isChecked())
|
||||
{
|
||||
std::multimap<int, Link> allLinks;
|
||||
for(std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> >::const_iterator iter=clouds.begin(); iter!=clouds.end(); ++iter)
|
||||
@@ -1407,85 +1424,13 @@ bool ExportCloudsDialog::getExportedClouds(
|
||||
pcl::toPCLPointCloud2(*mergedClouds, mesh->cloud);
|
||||
mesh->polygons = mergedPolygons;
|
||||
|
||||
if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
|
||||
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
|
||||
{
|
||||
unsigned int count = mesh->polygons.size();
|
||||
_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 polygons...").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count));
|
||||
QApplication::processEvents();
|
||||
|
||||
mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
|
||||
_progressDialog->appendText(tr("Mesh decimated (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
|
||||
if(count < mesh->polygons.size())
|
||||
{
|
||||
_progressDialog->appendText(tr("Decimated mesh has more polygons than before!"), Qt::darkYellow);
|
||||
_progressDialog->setAutoClose(false);
|
||||
}
|
||||
QApplication::processEvents();
|
||||
|
||||
if(_ui->doubleSpinBox_transferColorRadius->value() >= 0.0 &&
|
||||
(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked()))
|
||||
{
|
||||
_progressDialog->appendText(tr("Transferring color from point cloud to mesh..."));
|
||||
QApplication::processEvents();
|
||||
|
||||
// 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::PointXYZRGB>::Ptr coloredCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
|
||||
pcl::fromPCLPointCloud2(mesh->cloud, *coloredCloud);
|
||||
for(unsigned int i=0; i<coloredCloud->size(); ++i)
|
||||
{
|
||||
std::vector<int> kIndices;
|
||||
std::vector<float> kDistances;
|
||||
pcl::PointXYZRGBNormal pt;
|
||||
pt.x = coloredCloud->at(i).x;
|
||||
pt.y = coloredCloud->at(i).y;
|
||||
pt.z = coloredCloud->at(i).z;
|
||||
if(_ui->doubleSpinBox_transferColorRadius->value() > 0.0)
|
||||
{
|
||||
tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
|
||||
}
|
||||
else
|
||||
{
|
||||
tree->nearestKSearch(pt, 1, kIndices, kDistances);
|
||||
}
|
||||
if(kIndices.size())
|
||||
{
|
||||
//compute average color
|
||||
int r=0;
|
||||
int g=0;
|
||||
int b=0;
|
||||
int a=0;
|
||||
for(unsigned int j=0; j<kIndices.size(); ++j)
|
||||
{
|
||||
r+=(int)mergedClouds->at(kIndices[j]).r;
|
||||
g+=(int)mergedClouds->at(kIndices[j]).g;
|
||||
b+=(int)mergedClouds->at(kIndices[j]).b;
|
||||
a+=(int)mergedClouds->at(kIndices[j]).a;
|
||||
}
|
||||
coloredCloud->at(i).r = r/kIndices.size();
|
||||
coloredCloud->at(i).g = g/kIndices.size();
|
||||
coloredCloud->at(i).b = b/kIndices.size();
|
||||
coloredCloud->at(i).a = a/kIndices.size();
|
||||
}
|
||||
else
|
||||
{
|
||||
//white
|
||||
coloredCloud->at(i).r = coloredCloud->at(i).g = coloredCloud->at(i).b = 255;
|
||||
}
|
||||
}
|
||||
pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
|
||||
}
|
||||
}
|
||||
|
||||
meshes.insert(std::make_pair(0, mesh));
|
||||
|
||||
_progressDialog->incrementStep();
|
||||
QApplication::processEvents();
|
||||
}
|
||||
}
|
||||
else
|
||||
else // dense pipeline
|
||||
{
|
||||
if(_ui->comboBox_meshingApproach->currentIndex() == 0)
|
||||
{
|
||||
@@ -1534,101 +1479,173 @@ bool ExportCloudsDialog::getExportedClouds(
|
||||
_progressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(mesh->polygons.size()).arg(++i).arg(clouds.size()));
|
||||
QApplication::processEvents();
|
||||
|
||||
if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
|
||||
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
|
||||
if(mesh->polygons.size()>0)
|
||||
{
|
||||
unsigned int count = mesh->polygons.size();
|
||||
_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 polygons...").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count));
|
||||
QApplication::processEvents();
|
||||
uSleep(100);
|
||||
QApplication::processEvents();
|
||||
|
||||
mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
|
||||
_progressDialog->appendText(tr("Mesh decimated (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
|
||||
if(count < mesh->polygons.size())
|
||||
double meshDecimationFactor = 0.0;
|
||||
if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
|
||||
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
|
||||
{
|
||||
_progressDialog->appendText(tr("Decimated mesh %1 has more polygons than before!").arg(iter->first), Qt::darkYellow);
|
||||
_progressDialog->setAutoClose(false);
|
||||
meshDecimationFactor = _ui->doubleSpinBox_meshDecimationFactor->value();
|
||||
}
|
||||
QApplication::processEvents();
|
||||
lostColors = true;
|
||||
}
|
||||
|
||||
if(lostColors &&
|
||||
_ui->doubleSpinBox_transferColorRadius->value() >= 0.0 &&
|
||||
(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked()))
|
||||
{
|
||||
_progressDialog->appendText(tr("Transferring color from point cloud to mesh..."));
|
||||
QApplication::processEvents();
|
||||
|
||||
// transfer color from point cloud to mesh
|
||||
pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>(true));
|
||||
tree->setInputCloud(iter->second);
|
||||
pcl::PointCloud<pcl::PointXYZRGB>::Ptr coloredCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
|
||||
pcl::fromPCLPointCloud2(mesh->cloud, *coloredCloud);
|
||||
std::vector<bool> coloredPts(coloredCloud->size());
|
||||
for(unsigned int i=0; i<coloredCloud->size(); ++i)
|
||||
if(_ui->spinBox_meshMaxPolygons->isEnabled() &&
|
||||
_ui->spinBox_meshMaxPolygons->value() > 0)
|
||||
{
|
||||
std::vector<int> kIndices;
|
||||
std::vector<float> kDistances;
|
||||
pcl::PointXYZRGBNormal pt;
|
||||
pt.x = coloredCloud->at(i).x;
|
||||
pt.y = coloredCloud->at(i).y;
|
||||
pt.z = coloredCloud->at(i).z;
|
||||
if(_ui->doubleSpinBox_transferColorRadius->value() > 0.0)
|
||||
double factor = 1.0-double(_ui->spinBox_meshMaxPolygons->value())/double(mesh->polygons.size());
|
||||
if(factor > meshDecimationFactor)
|
||||
{
|
||||
tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
|
||||
meshDecimationFactor = factor;
|
||||
}
|
||||
else
|
||||
}
|
||||
if(meshDecimationFactor > 0.0)
|
||||
{
|
||||
unsigned int count = mesh->polygons.size();
|
||||
_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 polygons...").arg(meshDecimationFactor).arg(count));
|
||||
QApplication::processEvents();
|
||||
uSleep(100);
|
||||
QApplication::processEvents();
|
||||
|
||||
mesh = util3d::meshDecimation(mesh, (float)meshDecimationFactor);
|
||||
_progressDialog->appendText(tr("Mesh decimated (factor=%1) from %2 to %3 polygons").arg(meshDecimationFactor).arg(count).arg(mesh->polygons.size()));
|
||||
if(count < mesh->polygons.size())
|
||||
{
|
||||
tree->nearestKSearch(pt, 1, kIndices, kDistances);
|
||||
_progressDialog->appendText(tr("Decimated mesh %1 has more polygons than before!").arg(iter->first), Qt::darkYellow);
|
||||
_progressDialog->setAutoClose(false);
|
||||
}
|
||||
if(kIndices.size())
|
||||
QApplication::processEvents();
|
||||
lostColors = true;
|
||||
}
|
||||
|
||||
if(lostColors &&
|
||||
_ui->doubleSpinBox_transferColorRadius->value() >= 0.0 &&
|
||||
(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked()))
|
||||
{
|
||||
_progressDialog->appendText(tr("Transferring color from point cloud to mesh..."));
|
||||
QApplication::processEvents();
|
||||
|
||||
// transfer color from point cloud to mesh
|
||||
pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>(true));
|
||||
tree->setInputCloud(iter->second);
|
||||
pcl::PointCloud<pcl::PointXYZRGB>::Ptr coloredCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
|
||||
pcl::fromPCLPointCloud2(mesh->cloud, *coloredCloud);
|
||||
std::vector<bool> coloredPts(coloredCloud->size());
|
||||
for(unsigned int i=0; i<coloredCloud->size(); ++i)
|
||||
{
|
||||
//compute average color
|
||||
int r=0;
|
||||
int g=0;
|
||||
int b=0;
|
||||
int a=0;
|
||||
for(unsigned int j=0; j<kIndices.size(); ++j)
|
||||
std::vector<int> kIndices;
|
||||
std::vector<float> kDistances;
|
||||
pcl::PointXYZRGBNormal pt;
|
||||
pt.x = coloredCloud->at(i).x;
|
||||
pt.y = coloredCloud->at(i).y;
|
||||
pt.z = coloredCloud->at(i).z;
|
||||
if(_ui->doubleSpinBox_transferColorRadius->value() > 0.0)
|
||||
{
|
||||
r+=(int)iter->second->at(kIndices[j]).r;
|
||||
g+=(int)iter->second->at(kIndices[j]).g;
|
||||
b+=(int)iter->second->at(kIndices[j]).b;
|
||||
a+=(int)iter->second->at(kIndices[j]).a;
|
||||
tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
|
||||
}
|
||||
else
|
||||
{
|
||||
tree->nearestKSearch(pt, 1, kIndices, kDistances);
|
||||
}
|
||||
if(kIndices.size())
|
||||
{
|
||||
//compute average color
|
||||
int r=0;
|
||||
int g=0;
|
||||
int b=0;
|
||||
int a=0;
|
||||
for(unsigned int j=0; j<kIndices.size(); ++j)
|
||||
{
|
||||
r+=(int)iter->second->at(kIndices[j]).r;
|
||||
g+=(int)iter->second->at(kIndices[j]).g;
|
||||
b+=(int)iter->second->at(kIndices[j]).b;
|
||||
a+=(int)iter->second->at(kIndices[j]).a;
|
||||
}
|
||||
coloredCloud->at(i).r = r/kIndices.size();
|
||||
coloredCloud->at(i).g = g/kIndices.size();
|
||||
coloredCloud->at(i).b = b/kIndices.size();
|
||||
coloredCloud->at(i).a = a/kIndices.size();
|
||||
coloredPts.at(i) = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
//white
|
||||
coloredCloud->at(i).r = coloredCloud->at(i).g = coloredCloud->at(i).b = 255;
|
||||
coloredPts.at(i) = false;
|
||||
}
|
||||
coloredCloud->at(i).r = r/kIndices.size();
|
||||
coloredCloud->at(i).g = g/kIndices.size();
|
||||
coloredCloud->at(i).b = b/kIndices.size();
|
||||
coloredCloud->at(i).a = a/kIndices.size();
|
||||
coloredPts.at(i) = true;
|
||||
}
|
||||
else
|
||||
pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
|
||||
|
||||
// remove polygons with no color
|
||||
if(_ui->checkBox_cleanMesh->isChecked())
|
||||
{
|
||||
//white
|
||||
coloredCloud->at(i).r = coloredCloud->at(i).g = coloredCloud->at(i).b = 255;
|
||||
coloredPts.at(i) = false;
|
||||
std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
|
||||
int oi=0;
|
||||
for(unsigned int i=0; i<mesh->polygons.size(); ++i)
|
||||
{
|
||||
bool coloredPolygon = true;
|
||||
for(unsigned int j=0; j<mesh->polygons[i].vertices.size(); ++j)
|
||||
{
|
||||
if(!coloredPts.at(mesh->polygons[i].vertices[j]))
|
||||
{
|
||||
coloredPolygon = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(coloredPolygon)
|
||||
{
|
||||
filteredPolygons[oi++] = mesh->polygons[i];
|
||||
}
|
||||
}
|
||||
filteredPolygons.resize(oi);
|
||||
mesh->polygons = filteredPolygons;
|
||||
}
|
||||
}
|
||||
pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
|
||||
|
||||
// remove polygons with no color
|
||||
if(_ui->checkBox_cleanMesh->isChecked())
|
||||
else if(lostColors &&
|
||||
_ui->doubleSpinBox_transferColorRadius->value() > 0.0 &&
|
||||
_ui->checkBox_cleanMesh->isChecked() &&
|
||||
(_ui->checkBox_textureMapping->isEnabled() && _ui->checkBox_textureMapping->isChecked()))
|
||||
{
|
||||
_progressDialog->appendText(tr("Removing polygons too far from the cloud..."));
|
||||
QApplication::processEvents();
|
||||
|
||||
// transfer color from point cloud to mesh
|
||||
pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>(true));
|
||||
tree->setInputCloud(iter->second);
|
||||
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, _ui->doubleSpinBox_transferColorRadius->value(), 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 coloredPolygon = true;
|
||||
bool keepPolygon = true;
|
||||
for(unsigned int j=0; j<mesh->polygons[i].vertices.size(); ++j)
|
||||
{
|
||||
if(!coloredPts.at(mesh->polygons[i].vertices[j]))
|
||||
if(!closePts.at(mesh->polygons[i].vertices[j]))
|
||||
{
|
||||
coloredPolygon = false;
|
||||
keepPolygon = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(coloredPolygon)
|
||||
if(keepPolygon)
|
||||
{
|
||||
filteredPolygons[oi++] = mesh->polygons[i];
|
||||
}
|
||||
@@ -1636,127 +1653,76 @@ bool ExportCloudsDialog::getExportedClouds(
|
||||
filteredPolygons.resize(oi);
|
||||
mesh->polygons = filteredPolygons;
|
||||
}
|
||||
}
|
||||
else if(lostColors &&
|
||||
_ui->doubleSpinBox_transferColorRadius->value() > 0.0 &&
|
||||
_ui->checkBox_cleanMesh->isChecked() &&
|
||||
(_ui->checkBox_textureMapping->isEnabled() && _ui->checkBox_textureMapping->isChecked()))
|
||||
{
|
||||
_progressDialog->appendText(tr("Removing polygons too far from the cloud..."));
|
||||
QApplication::processEvents();
|
||||
|
||||
// transfer color from point cloud to mesh
|
||||
pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>(true));
|
||||
tree->setInputCloud(iter->second);
|
||||
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)
|
||||
if(_ui->spinBox_mesh_minClusterSize->value() &&
|
||||
!(_ui->checkBox_textureMapping->isEnabled() &&
|
||||
_ui->checkBox_textureMapping->isChecked() &&
|
||||
_ui->checkBox_cleanMesh->isChecked()))
|
||||
{
|
||||
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, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
|
||||
if(kIndices.size())
|
||||
_progressDialog->appendText(tr("Filter small polygon clusters..."));
|
||||
QApplication::processEvents();
|
||||
|
||||
// filter polygons
|
||||
std::vector<std::set<int> > neighbors;
|
||||
std::vector<std::set<int> > vertexToPolygons;
|
||||
util3d::createPolygonIndexes(mesh->polygons,
|
||||
mesh->cloud.height*mesh->cloud.width,
|
||||
neighbors,
|
||||
vertexToPolygons);
|
||||
std::list<std::list<int> > clusters = util3d::clusterPolygons(
|
||||
neighbors,
|
||||
_ui->spinBox_mesh_minClusterSize->value()<0?0:_ui->spinBox_mesh_minClusterSize->value());
|
||||
|
||||
std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
|
||||
if(_ui->spinBox_mesh_minClusterSize->value() < 0)
|
||||
{
|
||||
closePts.at(i) = true;
|
||||
// only keep the biggest cluster
|
||||
std::list<std::list<int> >::iterator biggestClusterIndex = clusters.end();
|
||||
unsigned int biggestClusterSize = 0;
|
||||
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
|
||||
{
|
||||
if(iter->size() > biggestClusterSize)
|
||||
{
|
||||
biggestClusterIndex = iter;
|
||||
biggestClusterSize = iter->size();
|
||||
}
|
||||
}
|
||||
if(biggestClusterIndex != clusters.end())
|
||||
{
|
||||
int oi=0;
|
||||
for(std::list<int>::iterator jter=biggestClusterIndex->begin(); jter!=biggestClusterIndex->end(); ++jter)
|
||||
{
|
||||
filteredPolygons[oi++] = mesh->polygons.at(*jter);
|
||||
}
|
||||
filteredPolygons.resize(oi);
|
||||
}
|
||||
}
|
||||
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(_ui->spinBox_mesh_minClusterSize->value() &&
|
||||
!(_ui->checkBox_textureMapping->isEnabled() &&
|
||||
_ui->checkBox_textureMapping->isChecked() &&
|
||||
_ui->checkBox_cleanMesh->isChecked()))
|
||||
{
|
||||
_progressDialog->appendText(tr("Filter small polygon clusters..."));
|
||||
QApplication::processEvents();
|
||||
|
||||
// filter polygons
|
||||
std::vector<std::set<int> > neighbors;
|
||||
std::vector<std::set<int> > vertexToPolygons;
|
||||
util3d::createPolygonIndexes(mesh->polygons,
|
||||
mesh->cloud.height*mesh->cloud.width,
|
||||
neighbors,
|
||||
vertexToPolygons);
|
||||
std::list<std::list<int> > clusters = util3d::clusterPolygons(
|
||||
neighbors,
|
||||
_ui->spinBox_mesh_minClusterSize->value()<0?0:_ui->spinBox_mesh_minClusterSize->value());
|
||||
|
||||
std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
|
||||
if(_ui->spinBox_mesh_minClusterSize->value() < 0)
|
||||
{
|
||||
// only keep the biggest cluster
|
||||
std::list<std::list<int> >::iterator biggestClusterIndex = clusters.end();
|
||||
unsigned int biggestClusterSize = 0;
|
||||
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
|
||||
{
|
||||
if(iter->size() > biggestClusterSize)
|
||||
{
|
||||
biggestClusterIndex = iter;
|
||||
biggestClusterSize = iter->size();
|
||||
}
|
||||
}
|
||||
if(biggestClusterIndex != clusters.end())
|
||||
{
|
||||
int oi=0;
|
||||
for(std::list<int>::iterator jter=biggestClusterIndex->begin(); jter!=biggestClusterIndex->end(); ++jter)
|
||||
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
|
||||
{
|
||||
filteredPolygons[oi++] = mesh->polygons.at(*jter);
|
||||
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
|
||||
{
|
||||
filteredPolygons[oi++] = mesh->polygons.at(*jter);
|
||||
}
|
||||
}
|
||||
filteredPolygons.resize(oi);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
int oi=0;
|
||||
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
|
||||
{
|
||||
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
|
||||
{
|
||||
filteredPolygons[oi++] = mesh->polygons.at(*jter);
|
||||
}
|
||||
}
|
||||
filteredPolygons.resize(oi);
|
||||
|
||||
int before = (int)mesh->polygons.size();
|
||||
mesh->polygons = filteredPolygons;
|
||||
|
||||
_progressDialog->appendText(tr("Filtered %1 polygons.").arg(before-(int)mesh->polygons.size()));
|
||||
}
|
||||
|
||||
int before = (int)mesh->polygons.size();
|
||||
mesh->polygons = filteredPolygons;
|
||||
|
||||
_progressDialog->appendText(tr("Filtered %1 polygons.").arg(before-(int)mesh->polygons.size()));
|
||||
QApplication::processEvents();
|
||||
meshes.insert(std::make_pair(iter->first, mesh));
|
||||
}
|
||||
else
|
||||
{
|
||||
_progressDialog->appendText(tr("No polygons created for cloud %d!").arg(iter->first), Qt::darkYellow);
|
||||
_progressDialog->setAutoClose(false);
|
||||
}
|
||||
|
||||
meshes.insert(std::make_pair(iter->first, mesh));
|
||||
|
||||
_progressDialog->incrementStep(_ui->checkBox_assemble->isChecked()?poses.size():1);
|
||||
QApplication::processEvents();
|
||||
@@ -2754,9 +2720,11 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
|
||||
int cols = float(textureSize)/(scale*imageSize.width);
|
||||
|
||||
globalTexture = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
|
||||
cv::Mat globalTextureMask = cv::Mat(textureSize, textureSize, CV_8UC1, cv::Scalar::all(0));
|
||||
|
||||
// make a blank texture
|
||||
cv::Mat emptyImage(int(imageSize.height*scale), int(imageSize.width*scale), imageType, cv::Scalar::all(255));
|
||||
cv::Mat emptyImageMask(int(imageSize.height*scale), int(imageSize.width*scale), CV_8UC1, cv::Scalar::all(255));
|
||||
int oi=0;
|
||||
for(int t=0; t<(int)textures.size(); ++t)
|
||||
{
|
||||
@@ -2798,6 +2766,7 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
|
||||
}
|
||||
UASSERT(resizedImage.type() == globalTexture.type());
|
||||
resizedImage.copyTo(globalTexture(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
|
||||
emptyImageMask.copyTo(globalTextureMask(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -2806,6 +2775,10 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
|
||||
++oi;
|
||||
}
|
||||
}
|
||||
if(_ui->spinBox_textureBrightnessContrastRatioLow->value() > 0 || _ui->spinBox_textureBrightnessContrastRatioHigh->value() > 0)
|
||||
{
|
||||
globalTexture = util2d::brightnessAndContrastAuto(globalTexture, globalTextureMask, (float)_ui->spinBox_textureBrightnessContrastRatioLow->value(), (float)_ui->spinBox_textureBrightnessContrastRatioHigh->value());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user