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Tango: fixed optimized mesh where nans were removed before saving (causing trouble with corresponding polygons)

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matlabbe
2018-03-21 16:00:12 -04:00
parent b0b3b491a0
commit 8d93c275ab
4 changed files with 91 additions and 84 deletions
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20
app/android/jni/RTABMapApp.cpp
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@@ -440,7 +440,7 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
}
{
LOGI("Creating the meshes (%d)....", poses.size());
LOGI("Creating the meshes (%d)....", (int)poses.size());
boost::mutex::scoped_lock lock(meshesMutex_);
createdMeshes_.clear();
int i=0;
@@ -767,7 +767,7 @@ std::vector<pcl::Vertices> RTABMapApp::filterOrganizedPolygons(
unsigned int biggestClusterSize = 0;
for(std::map<int, std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
LOGD("cluster %d = %d", iter->first, iter->second.size());
LOGD("cluster %d = %d", iter->first, (int)iter->second.size());
if(iter->second.size() > biggestClusterSize)
{
@@ -1092,7 +1092,6 @@ int RTABMapApp::Render()
mesh.texCoords = optMesh_->tex_coordinates[0];
mesh.texture = optTexture_;
}
main_scene_.addMesh(g_optMeshId, mesh, opengl_world_T_rtabmap_world, true);
}
else
@@ -2250,11 +2249,12 @@ bool RTABMapApp::exportMesh(
++iter)
{
std::map<int, Mesh>::iterator jter = createdMeshes_.find(iter->first);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::IndicesPtr indices(new std::vector<int>);
rtabmap::CameraModel model;
cv::Mat depth;
float gains[3] = {1.0f};
float gains[3];
gains[0] = gains[1] = gains[2] = 1.0f;
if(jter != createdMeshes_.end())
{
cloud = jter->second.cloud;
@@ -2373,7 +2373,7 @@ bool RTABMapApp::exportMesh(
poisson.setDepth(optimizedDepth);
poisson.setInputCloud(mergedClouds);
poisson.reconstruct(*mesh);
LOGI("Mesh reconstruction... done! %fs (%d polygons)", timer.ticks(), mesh->polygons.size());
LOGI("Mesh reconstruction... done! %fs (%d polygons)", timer.ticks(), (int)mesh->polygons.size());
if(progressionStatus_.isCanceled())
{
@@ -2704,7 +2704,7 @@ bool RTABMapApp::exportMesh(
// save in database
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromPCLPointCloud2(polygonMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud)); // for database
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false)); // for database
std::vector<std::vector<std::vector<unsigned int> > > polygons(1);
polygons[0].resize(polygonMesh->polygons.size());
for(unsigned int p=0; p<polygonMesh->polygons.size(); ++p)
@@ -2712,6 +2712,7 @@ bool RTABMapApp::exportMesh(
polygons[0][p] = polygonMesh->polygons[p].vertices;
}
boost::mutex::scoped_lock lock(rtabmapMutex_);
rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, poses, polygons);
success = true;
}
@@ -2720,7 +2721,7 @@ bool RTABMapApp::exportMesh(
{
pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud)); // for database
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false)); // for database
// save in database
std::vector<std::vector<std::vector<unsigned int> > > polygons(textureMesh->tex_polygons.size());
@@ -2756,7 +2757,8 @@ bool RTABMapApp::exportMesh(
std::map<int, Mesh>::iterator jter=createdMeshes_.find(iter->first);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::IndicesPtr indices(new std::vector<int>);
float gains[3] = {1.0f};
float gains[3];
gains[0] = gains[1] = gains[2] = 1.0f;
if(regenerateCloud)
{
if(jter != createdMeshes_.end())