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Added min polygon cluster size option (DbViewer and GUI export)

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This commit is contained in:
matlabbe
2016-09-03 18:59:43 -04:00
parent 0848b03127
commit 7f2c118f8d
10 changed files with 602 additions and 284 deletions
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54
guilib/src/ExportCloudsDialog.cpp
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@@ -174,6 +174,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
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_min_cluster_size", _ui->spinBox_mesh_minClusterSize->value());
settings.setValue("mesh_texture", _ui->checkBox_textureMapping->isChecked());
@@ -229,6 +230,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_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_mesh_minClusterSize->setValue(settings.value("mesh_min_cluster_size", _ui->spinBox_mesh_minClusterSize->value()).toInt());
_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", _ui->checkBox_textureMapping->isChecked()).toBool());
@@ -752,6 +754,32 @@ bool ExportCloudsDialog::getExportedClouds(
_ui->checkBox_mesh_quad->isEnabled() && _ui->checkBox_mesh_quad->isChecked(),
_ui->spinBox_mesh_triangleSize->value(),
viewpoint);
if(_ui->spinBox_mesh_minClusterSize->value())
{
// filter polygons
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
util3d::createPolygonIndexes(polygons,
iter->second->size(),
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
neighbors,
_ui->spinBox_mesh_minClusterSize->value());
std::vector<pcl::Vertices> filteredPolygons(polygons.size());
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++] = polygons.at(*jter);
}
}
filteredPolygons.resize(oi);
polygons = filteredPolygons;
}
_progressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(polygons.size()).arg(++i).arg(clouds.size()));
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
@@ -874,6 +902,32 @@ bool ExportCloudsDialog::getExportedClouds(
iter->second,
_ui->doubleSpinBox_gp3Radius->value(),
_ui->doubleSpinBox_gp3Mu->value());
if(_ui->spinBox_mesh_minClusterSize->value())
{
// 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());
std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
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);
mesh->polygons = filteredPolygons;
}
_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();