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Tango: Added OBJ export (with texture)

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This commit is contained in:
matlabbe
2016-03-21 20:03:03 -04:00
parent bc78f789eb
commit 9385aa2332
5 changed files with 208 additions and 56 deletions
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3
corelib/include/rtabmap/core/util3d_surface.h
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@@ -79,7 +79,8 @@ void RTABMAP_EXP appendMesh(
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloudB,
const std::vector<pcl::Vertices> & polygonsB);
void RTABMAP_EXP filterNotUsedVerticesFromMesh(
// return map from new to old polygon indices
std::map<int, int> RTABMAP_EXP filterNotUsedVerticesFromMesh(
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
const std::vector<pcl::Vertices> & polygons,
pcl::PointCloud<pcl::PointXYZRGBNormal> & outputCloud,

7
corelib/src/util3d_surface.cpp
View File

@@ -194,7 +194,7 @@ void appendMesh(
}
}
void filterNotUsedVerticesFromMesh(
std::map<int, int> filterNotUsedVerticesFromMesh(
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
const std::vector<pcl::Vertices> & polygons,
pcl::PointCloud<pcl::PointXYZRGBNormal> & outputCloud,
@@ -202,7 +202,9 @@ void filterNotUsedVerticesFromMesh(
{
UDEBUG("size=%d polygons=%d", (int)cloud.size(), (int)polygons.size());
std::map<int, int> addedVertices; //<oldIndex, newIndex>
std::map<int, int> output; //<newIndex, oldIndex>
outputCloud.resize(cloud.size());
outputCloud.is_dense = true;
outputPolygons.resize(polygons.size());
int oi = 0;
for(unsigned int i=0; i<polygons.size(); ++i)
@@ -216,6 +218,7 @@ void filterNotUsedVerticesFromMesh(
{
outputCloud[oi] = cloud.at(polygons[i].vertices[j]);
addedVertices.insert(std::make_pair(polygons[i].vertices[j], oi));
output.insert(std::make_pair(oi, polygons[i].vertices[j]));
v.vertices[j] = oi++;
}
else
@@ -225,6 +228,8 @@ void filterNotUsedVerticesFromMesh(
}
}
outputCloud.resize(oi);
return output;
}
std::vector<pcl::Vertices> filterCloseVerticesFromMesh(