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Tango: added mesh smoothing, show file size on Open, default timestamp filename on save/export

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This commit is contained in:
matlabbe
2016-11-04 16:39:52 -04:00
parent c8d5a446ea
commit 7fd3d9f331
9 changed files with 183 additions and 18 deletions
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2
corelib/src/util2d.cpp
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@@ -1845,7 +1845,9 @@ cv::Mat fastBilateralFiltering(const cv::Mat & depth, float sigmaS, float sigmaR
v = 0.0f;
}
if(depth.type()==CV_32FC1)
{
output.at<float>(y,x) = v;
}
else
{
v*=1000.0f;

43
corelib/src/util3d_surface.cpp
View File

@@ -346,6 +346,49 @@ std::vector<int> filterNotUsedVerticesFromMesh(
return output;
}
std::vector<int> filterNaNPointsFromMesh(
const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
const std::vector<pcl::Vertices> & polygons,
pcl::PointCloud<pcl::PointXYZRGB> & outputCloud,
std::vector<pcl::Vertices> & outputPolygons)
{
UDEBUG("size=%d polygons=%d", (int)cloud.size(), (int)polygons.size());
std::map<int, int> addedVertices; //<oldIndex, newIndex>
std::vector<int> output; //<oldIndex>
output.resize(cloud.size());
outputCloud.resize(cloud.size());
outputCloud.is_dense = true;
std::vector<int> organizedToDense(cloud.size(), -1);
int oi = 0;
for(unsigned int i=0; i<cloud.size(); ++i)
{
if(pcl::isFinite(cloud.at(i)))
{
outputCloud.at(oi) = cloud.at(i);
output[oi] = i;
organizedToDense[i] = oi;
++oi;
}
}
outputCloud.resize(oi);
output.resize(oi);
// remap polygons to dense cloud
outputPolygons = polygons;
for(unsigned int i=0; i<outputPolygons.size(); ++i)
{
pcl::Vertices & v = outputPolygons[i];
for(unsigned int j=0; j<v.vertices.size(); ++j)
{
UASSERT(organizedToDense[v.vertices[j]] >= 0);
v.vertices[j] = organizedToDense[v.vertices[j]];
}
}
return output;
}
std::vector<pcl::Vertices> filterCloseVerticesFromMesh(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud,
const std::vector<pcl::Vertices> & polygons,