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Image Decimation can now be negative, meaning that decimation is done from RGB size instead of depth. If Depth size is smaller than RGB, it may be upsampled depending on the decimation value. Export Dialog: Fixed MLS not done even when checked.

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This commit is contained in:
matlabbe
2016-10-30 16:03:23 -04:00
parent 20a5d80647
commit 768c864766
12 changed files with 230 additions and 183 deletions
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102
guilib/src/ExportCloudsDialog.cpp
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@@ -358,6 +358,7 @@ void ExportCloudsDialog::restoreDefaults()
void ExportCloudsDialog::updateReconstructionFlavor()
{
_ui->groupBox_mls->setVisible(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->groupBox_mls->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->groupBox_gp3->setVisible(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->groupBox_organized->setVisible(_ui->comboBox_pipeline->currentIndex() == 0);
}
@@ -818,7 +819,7 @@ bool ExportCloudsDialog::getExportedClouds(
}
std::map<int, Transform> viewPoints = poses;
if(_ui->groupBox_mls->isVisible() && _ui->groupBox_mls->isChecked())
if(_ui->groupBox_mls->isEnabled() && _ui->groupBox_mls->isChecked())
{
_progressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m voxel=%2m]").arg(_ui->doubleSpinBox_mlsRadius->value()).arg(_ui->doubleSpinBox_voxelSize_assembled->value()));
@@ -850,10 +851,10 @@ bool ExportCloudsDialog::getExportedClouds(
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals = iter->second.first;
if(_ui->groupBox_mls->isVisible() && _ui->groupBox_mls->isChecked())
if(_ui->groupBox_mls->isEnabled() && _ui->groupBox_mls->isChecked())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals(new pcl::PointCloud<pcl::PointXYZRGB>);
if(iter->second.first->isOrganized())
if(iter->second.second->size())
{
pcl::copyPointCloud(*cloudWithNormals, *iter->second.second, *cloudWithoutNormals);
}
@@ -1244,65 +1245,70 @@ bool ExportCloudsDialog::getExportedClouds(
int w = ster->second.width;
int h = ster->second.height;
UASSERT(w > 1 && h > 1);
UASSERT(textureMesh->tex_polygons.size() && textureMesh->tex_polygons[0].size());
textureMesh->tex_coordinates.resize(1);
if(!_ui->checkBox_mesh_quad->isEnabled()) // disabled -> we are exporting to file
if(textureMesh->tex_polygons.size() && textureMesh->tex_polygons[0].size())
{
// When saving to file, tex_coordinates should be linked to polygon vertices, not points
int polygonSize = textureMesh->tex_polygons[0][0].vertices.size();
textureMesh->tex_coordinates[0].resize(polygonSize*textureMesh->tex_polygons[0].size());
for(unsigned int i=0; i<textureMesh->tex_polygons[0].size(); ++i)
textureMesh->tex_coordinates.resize(1);
if(!_ui->checkBox_mesh_quad->isEnabled()) // disabled -> we are exporting to file
{
const pcl::Vertices & vertices = textureMesh->tex_polygons[0][i];
UASSERT(polygonSize == (int)vertices.vertices.size());
for(int k=0; k<polygonSize; ++k)
// When saving to file, tex_coordinates should be linked to polygon vertices, not points
int polygonSize = textureMesh->tex_polygons[0][0].vertices.size();
textureMesh->tex_coordinates[0].resize(polygonSize*textureMesh->tex_polygons[0].size());
for(unsigned int i=0; i<textureMesh->tex_polygons[0].size(); ++i)
{
const pcl::Vertices & vertices = textureMesh->tex_polygons[0][i];
UASSERT(polygonSize == (int)vertices.vertices.size());
for(int k=0; k<polygonSize; ++k)
{
//uv
UASSERT(vertices.vertices[k] < oter->second.size());
int originalVertex = oter->second[vertices.vertices[k]];
textureMesh->tex_coordinates[0][i*polygonSize+k] = Eigen::Vector2f(
float(originalVertex % w) / float(w), // u
float(h - originalVertex / w) / float(h)); // v
}
}
}
else
{
int nPoints = textureMesh->cloud.data.size()/textureMesh->cloud.point_step;
textureMesh->tex_coordinates[0].resize(nPoints);
for(int i=0; i<nPoints; ++i)
{
//uv
UASSERT(vertices.vertices[k] < oter->second.size());
int originalVertex = oter->second[vertices.vertices[k]];
textureMesh->tex_coordinates[0][i*polygonSize+k] = Eigen::Vector2f(
UASSERT(i < (int)oter->second.size());
int originalVertex = oter->second[i];
textureMesh->tex_coordinates[0][i] = Eigen::Vector2f(
float(originalVertex % w) / float(w), // u
float(h - originalVertex / w) / float(h)); // v
}
}
}
else
{
int nPoints = textureMesh->cloud.data.size()/textureMesh->cloud.point_step;
textureMesh->tex_coordinates[0].resize(nPoints);
for(int i=0; i<nPoints; ++i)
pcl::TexMaterial mesh_material;
mesh_material.tex_d = 1.0f;
mesh_material.tex_Ns = 75.0f;
mesh_material.tex_illum = 1;
std::stringstream tex_name;
tex_name << "material_" << iter->first;
tex_name >> mesh_material.tex_name;
std::string tmpDirectory = dir.filePath("tmp_textures").toStdString();
mesh_material.tex_file = uFormat("%s/%s%d.png", tmpDirectory.c_str(), "texture_", iter->first);
if(!cv::imwrite(mesh_material.tex_file, images.at(iter->first)))
{
//uv
UASSERT(i < (int)oter->second.size());
int originalVertex = oter->second[i];
textureMesh->tex_coordinates[0][i] = Eigen::Vector2f(
float(originalVertex % w) / float(w), // u
float(h - originalVertex / w) / float(h)); // v
UERROR("Cannot save texture of image %d", iter->first);
}
else
{
UINFO("Saved temporary texture: \"%s\"", mesh_material.tex_file.c_str());
}
}
pcl::TexMaterial mesh_material;
mesh_material.tex_d = 1.0f;
mesh_material.tex_Ns = 75.0f;
mesh_material.tex_illum = 1;
std::stringstream tex_name;
tex_name << "material_" << iter->first;
tex_name >> mesh_material.tex_name;
std::string tmpDirectory = dir.filePath("tmp_textures").toStdString();
mesh_material.tex_file = uFormat("%s/%s%d.png", tmpDirectory.c_str(), "texture_", iter->first);
if(!cv::imwrite(mesh_material.tex_file, images.at(iter->first)))
{
UERROR("Cannot save texture of image %d", iter->first);
textureMesh->tex_materials.push_back(mesh_material);
}
else
{
UINFO("Saved temporary texture: \"%s\"", mesh_material.tex_file.c_str());
UWARN("No polygons for mesh %d!?", iter->first);
}
textureMesh->tex_materials.push_back(mesh_material);
}
else
{
@@ -1422,7 +1428,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
cloudWithoutNormals = util3d::cloudRGBFromSensorData(
d,
_ui->spinBox_decimation->value(),
_ui->spinBox_decimation->value() == 0?1:_ui->spinBox_decimation->value(),
_ui->doubleSpinBox_maxDepth->value(),
_ui->doubleSpinBox_minDepth->value(),
indices.get(),