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Fixed normals update with corresponding cameras

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This commit is contained in:
matlabbe
2015-08-24 18:35:24 -04:00
parent 58e3da18c2
commit 8ea1fa06ef
5 changed files with 36 additions and 21 deletions
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23
guilib/src/MainWindow.cpp
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@@ -4623,6 +4623,8 @@ bool MainWindow::getExportedClouds(
_exportDialog->getFiltering()?_exportDialog->getFilteringRadius():0.0f,
_exportDialog->getFiltering()?_exportDialog->getFilteringMinNeighbors():0.0f);
pcl::PointCloud<pcl::PointXYZ>::Ptr rawAssembledCloud(new pcl::PointCloud<pcl::PointXYZ>);
std::vector<int> rawCameraIndices;
if(_exportDialog->getAssemble())
{
_initProgressDialog->appendText(tr("Assembling %1 clouds...").arg(clouds.size()));
@@ -4636,12 +4638,15 @@ bool MainWindow::getExportedClouds(
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformed = util3d::transformPointCloud(iter->second, poses.at(iter->first));
*assembledCloud += *transformed;
rawCameraIndices.resize(assembledCloud->size(), iter->first);
_initProgressDialog->appendText(tr("Assembled cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(clouds.size()));
_initProgressDialog->incrementStep();
QApplication::processEvents();
}
pcl::copyPointCloud(*assembledCloud, *rawAssembledCloud);
_initProgressDialog->appendText(tr("Voxelize assembled cloud (%1 points, voxel size = %2 m)...")
.arg(assembledCloud->size())
.arg(_exportDialog->getAssembleVoxel()));
@@ -4653,14 +4658,15 @@ bool MainWindow::getExportedClouds(
_exportDialog->getAssembleVoxel());
}
_initProgressDialog->appendText(tr("Noise filtering (%1 points, radius = %2 m, min neighbors = %3)...")
.arg(assembledCloud->size())
.arg(_exportDialog->getFilteringRadius())
.arg(_exportDialog->getFilteringMinNeighbors()));
if(_exportDialog->getFiltering() &&
_exportDialog->getFilteringRadius() > 0.0 &&
_exportDialog->getFilteringMinNeighbors() > 0)
{
_initProgressDialog->appendText(tr("Noise filtering (%1 points, radius = %2 m, min neighbors = %3)...")
.arg(assembledCloud->size())
.arg(_exportDialog->getFilteringRadius())
.arg(_exportDialog->getFilteringMinNeighbors()));
pcl::IndicesPtr indices = util3d::radiusFiltering(assembledCloud, (float)_exportDialog->getFilteringRadius(), _exportDialog->getFilteringMinNeighbors());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::copyPointCloud(*assembledCloud, *indices, *cloudFiltered);
@@ -4723,7 +4729,12 @@ bool MainWindow::getExportedClouds(
(*viewpoints)[oi].y = iter->second.y();
(*viewpoints)[oi++].z = iter->second.z();
}
util3d::adjustNormalsToViewPoints(viewpoints, cloudWithNormals, _exportDialog->getNormalKSearch());
util3d::adjustNormalsToViewPoints(
poses,
rawAssembledCloud,
rawCameraIndices,
cloudWithNormals,
_exportDialog->getNormalKSearch());
}
cloudsWithNormals.insert(std::make_pair(iter->first, cloudWithNormals));
@@ -4745,7 +4756,7 @@ bool MainWindow::getExportedClouds(
pcl::PolygonMesh::Ptr mesh = util3d::createMesh(iter->second, _exportDialog->getMeshGp3Radius(), _exportDialog->getMeshGp3Mu());
_initProgressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(mesh->polygons.size()).arg(++i).arg(clouds.size()));
if(_exportDialog->getMeshDecimationFactor() < 1.0)
if(_exportDialog->getMeshDecimationFactor() > 0.0)
{
mesh = util3d::meshDecimation(mesh, (float)_exportDialog->getMeshDecimationFactor());
_initProgressDialog->appendText(tr("Mesh %1 decimation (factor=%2) to %3 polygons").arg(iter->first).arg(_exportDialog->getMeshDecimationFactor()).arg(mesh->polygons.size()));