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

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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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corelib/src/util3d_surface.cpp
+6 -13
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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);