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ExportCloudsDialog: Updated TextureMesh export. MainWindow: fixed exporting only visible clouds.

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This commit is contained in:
matlabbe
2016-03-22 20:44:18 -04:00
parent c43fd6a2a7
commit a01fb82f51
8 changed files with 240 additions and 106 deletions
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4
corelib/include/rtabmap/core/util3d.h
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@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
#include <pcl/TextureMesh.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/SensorData.h>
#include <opencv2/core/core.hpp>
@@ -201,6 +202,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP concatenateClouds(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP concatenateClouds(
const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
pcl::TextureMesh::Ptr RTABMAP_EXP concatenateTextureMeshes(
const std::list<pcl::TextureMesh::Ptr> & meshes);
/**
* @brief Concatenate a vector of indices to a single vector.
*

59
corelib/src/util3d.cpp
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@@ -1316,6 +1316,65 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr concatenateClouds(const std::list<pcl::Po
return cloud;
}
pcl::TextureMesh::Ptr concatenateTextureMeshes(const std::list<pcl::TextureMesh::Ptr> & meshes)
{
pcl::TextureMesh::Ptr output(new pcl::TextureMesh);
std::map<std::string, int> addedMaterials; //<file, index>
for(std::list<pcl::TextureMesh::Ptr>::const_iterator iter = meshes.begin(); iter!=meshes.end(); ++iter)
{
// append point cloud
int polygonStep = output->cloud.height * output->cloud.width;
pcl::PCLPointCloud2 tmp;
pcl::concatenatePointCloud(output->cloud, iter->get()->cloud, tmp);
output->cloud = tmp;
UASSERT((*iter)->tex_polygons.size() == (*iter)->tex_coordinates.size() &&
(*iter)->tex_polygons.size() == (*iter)->tex_materials.size());
int materialCount = (*iter)->tex_polygons.size();
for(int i=0; i<materialCount; ++i)
{
std::map<std::string, int>::iterator jter = addedMaterials.find((*iter)->tex_materials[i].tex_file);
int index;
if(jter != addedMaterials.end())
{
index = jter->second;
}
else
{
addedMaterials.insert(std::make_pair((*iter)->tex_materials[i].tex_file, output->tex_materials.size()));
index = output->tex_materials.size();
output->tex_materials.push_back((*iter)->tex_materials[i]);
output->tex_materials.back().tex_name = uFormat("material_%d", index);
output->tex_polygons.resize(output->tex_polygons.size() + 1);
output->tex_coordinates.resize(output->tex_coordinates.size() + 1);
}
// update and append polygon indices
int oi = output->tex_polygons[index].size();
output->tex_polygons[index].resize(output->tex_polygons[index].size() + (*iter)->tex_polygons[i].size());
for(unsigned int j=0; j<(*iter)->tex_polygons[i].size(); ++j)
{
pcl::Vertices polygon = (*iter)->tex_polygons[i][j];
for(unsigned int k=0; k<polygon.vertices.size(); ++k)
{
polygon.vertices[k] += polygonStep;
}
output->tex_polygons[index][oi+j] = polygon;
}
// append uv coordinates
oi = output->tex_coordinates[index].size();
output->tex_coordinates[index].resize(output->tex_coordinates[index].size() + (*iter)->tex_coordinates[i].size());
for(unsigned int j=0; j<(*iter)->tex_coordinates[i].size(); ++j)
{
output->tex_coordinates[index][oi+j] = (*iter)->tex_coordinates[i][j];
}
}
}
return output;
}
pcl::IndicesPtr concatenate(const std::vector<pcl::IndicesPtr> & indices)
{
//compute total size

19
corelib/src/util3d_surface.cpp
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@@ -236,7 +236,7 @@ std::vector<pcl::Vertices> filterCloseVerticesFromMesh(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud,
const std::vector<pcl::Vertices> & polygons,
float radius,
float angle,
float angle, // FIXME angle not used
bool keepLatestInRadius)
{
UDEBUG("size=%d polygons=%d radius=%f angle=%f keepLatest=%d",
@@ -428,21 +428,14 @@ pcl::TextureMesh::Ptr createTextureMesh(
const std::map<int, cv::Mat> & images,
const std::string & tmpDirectory)
{
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
textureMesh->cloud = mesh->cloud;
textureMesh->tex_polygons.push_back(mesh->polygons);
// Original from pcl/gpu/kinfu_large_scale/tools/standalone_texture_mapping.cpp:
// Author: Raphael Favier, Technical University Eindhoven, (r.mysurname <aT> tue.nl)
// Create the texturemesh object that will contain our UV-mapped mesh
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
textureMesh->cloud = mesh->cloud;
std::vector< pcl::Vertices> polygons;
// push faces into the texturemesh object
polygons.resize (mesh->polygons.size ());
for(size_t i =0; i < mesh->polygons.size (); ++i)
{
polygons[i] = mesh->polygons[i];
}
textureMesh->tex_polygons.push_back(polygons);
// create cameras
pcl::texture_mapping::CameraVector cameras = createTextureCameras(
@@ -498,7 +491,7 @@ pcl::TextureMesh::Ptr createTextureMesh(
textureMesh->tex_materials[i] = mesh_material;
}
// Sort faces
// Texture by projection
pcl::TextureMapping<pcl::PointXYZ> tm; // TextureMapping object that will perform the sort
tm.textureMeshwithMultipleCameras(*textureMesh, cameras);