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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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165
guilib/src/ExportCloudsDialog.cpp
View File

@@ -671,6 +671,9 @@ bool ExportCloudsDialog::getExportedClouds(
QApplication::processEvents();
}
//used for organized texturing below
std::map<int, std::pair<std::map<int, int>, std::pair<int, int> > > organizedIndices;
//mesh
UDEBUG("Meshing=%d", _ui->groupBox_meshing->isChecked()?1:0);
if(_ui->groupBox_meshing->isChecked())
@@ -700,9 +703,35 @@ bool ExportCloudsDialog::getExportedClouds(
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::vector<pcl::Vertices> densePolygons;
util3d::filterNotUsedVerticesFromMesh(*iter->second, polygons, *denseCloud, densePolygons);
std::map<int, int> newToOldIndices = util3d::filterNotUsedVerticesFromMesh(*iter->second, polygons, *denseCloud, densePolygons);
if(_ui->checkBox_assemble->isChecked())
if(!_ui->checkBox_assemble->isChecked() ||
(_ui->checkBox_textureMapping->isEnabled() &&
_ui->checkBox_textureMapping->isChecked() &&
_ui->doubleSpinBox_voxelSize_assembled->value() == 0.0)) // don't assemble now if we are texturing
{
if(_ui->checkBox_assemble->isChecked())
{
denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
}
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*denseCloud, mesh->cloud);
mesh->polygons = densePolygons;
if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
{
int count = mesh->polygons.size();
mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
}
else
{
organizedIndices.insert(std::make_pair(iter->first, std::make_pair(newToOldIndices, std::make_pair(iter->second->width, iter->second->height))));
}
meshes.insert(std::make_pair(iter->first, mesh));
}
else
{
denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
if(mergedClouds->size() == 0)
@@ -715,46 +744,6 @@ bool ExportCloudsDialog::getExportedClouds(
util3d::appendMesh(*mergedClouds, mergedPolygons, *denseCloud, densePolygons);
}
}
else
{
if(_ui->doubleSpinBox_voxelSize_assembled->value() == 0.0)
{
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*denseCloud, mesh->cloud);
mesh->polygons = densePolygons;
if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
{
int count = mesh->polygons.size();
mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
_progressDialog->appendText(tr("Assembled mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
}
meshes.insert(std::make_pair(iter->first, mesh));
}
else
{
densePolygons = util3d::filterCloseVerticesFromMesh(
denseCloud,
densePolygons,
_ui->doubleSpinBox_voxelSize_assembled->value(),
M_PI/4,
true);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr filteredCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::vector<pcl::Vertices> filteredPolygons;
util3d::filterNotUsedVerticesFromMesh(*denseCloud, densePolygons, *filteredCloud, filteredPolygons);
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*filteredCloud, mesh->cloud);
mesh->polygons = filteredPolygons;
if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
{
int count = mesh->polygons.size();
mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
_progressDialog->appendText(tr("Assembled mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
}
meshes.insert(std::make_pair(iter->first, mesh));
}
}
}
else
{
@@ -769,7 +758,7 @@ bool ExportCloudsDialog::getExportedClouds(
{
if(_ui->doubleSpinBox_voxelSize_assembled->value())
{
_progressDialog->appendText(tr("Filtering assembled mesh (points=%1, polygons=%2)...").arg(mergedClouds->size()).arg(mergedPolygons.size()));
_progressDialog->appendText(tr("Filtering assembled mesh for close vertices (points=%1, polygons=%2)...").arg(mergedClouds->size()).arg(mergedPolygons.size()));
QApplication::processEvents();
mergedPolygons = util3d::filterCloseVerticesFromMesh(
@@ -865,7 +854,7 @@ bool ExportCloudsDialog::getExportedClouds(
else
{
UASSERT(uContains(poses, iter->first));
cameras.insert(std::make_pair(iter->first, Transform::getIdentity()));
cameras.insert(std::make_pair(iter->first, _ui->checkBox_assemble->isChecked()?poses.at(iter->first):Transform::getIdentity()));
}
std::map<int, Transform> cameraPoses;
std::map<int, CameraModel> cameraModels;
@@ -899,12 +888,67 @@ bool ExportCloudsDialog::getExportedClouds(
}
if(cameraPoses.size())
{
pcl::TextureMesh::Ptr textureMesh = util3d::createTextureMesh(
iter->second,
cameraPoses,
cameraModels,
images,
dir.filePath("tmp_textures").toStdString());
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
std::map<int, std::pair<std::map<int, int>, std::pair<int, int> > >::iterator oter = organizedIndices.find(iter->first);
if(iter->first != 0 && oter != organizedIndices.end())
{
UDEBUG("Texture by pixels");
textureMesh->cloud = iter->second->cloud;
textureMesh->tex_polygons.push_back(iter->second->polygons);
int w = oter->second.second.first;
int h = oter->second.second.second;
UASSERT(w > 1 && h > 1);
UASSERT(textureMesh->tex_polygons.size() && textureMesh->tex_polygons[0].size());
textureMesh->tex_coordinates.resize(1);
int polygonSize = textureMesh->tex_polygons[0][0].vertices.size();
textureMesh->tex_coordinates[0].resize(polygonSize*textureMesh->tex_polygons[0].size());
for(unsigned int i=0; i<textureMesh->tex_polygons[0].size(); ++i)
{
const pcl::Vertices & vertices = textureMesh->tex_polygons[0][i];
UASSERT(polygonSize == vertices.vertices.size());
for(int k=0; k<polygonSize; ++k)
{
//uv
std::map<int, int>::iterator vter = oter->second.first.find(vertices.vertices[k]);
UASSERT(vter != oter->second.first.end());
int originalVertex = vter->second;
textureMesh->tex_coordinates[0][i*polygonSize+k] = Eigen::Vector2f(
float(originalVertex % w) / float(w), // u
float(h - originalVertex / w) / float(h)); // v
}
}
pcl::TexMaterial mesh_material;
mesh_material.tex_d = 1.0f;
mesh_material.tex_Ns = 75.0f;
mesh_material.tex_illum = 1;
std::stringstream tex_name;
tex_name << "material_" << iter->first;
tex_name >> mesh_material.tex_name;
std::string tmpDirectory = dir.filePath("tmp_textures").toStdString();
mesh_material.tex_file = uFormat("%s/%s%d.png", tmpDirectory.c_str(), "texture_", iter->first);
if(!cv::imwrite(mesh_material.tex_file, images.at(iter->first)))
{
UERROR("Cannot save texture of image %d", iter->first);
}
else
{
UINFO("Saved temporary texture: \"%s\"", mesh_material.tex_file.c_str());
}
textureMesh->tex_materials.push_back(mesh_material);
}
else
{
UDEBUG("Texture by projection");
textureMesh = util3d::createTextureMesh(
iter->second,
cameraPoses,
cameraModels,
images,
dir.filePath("tmp_textures").toStdString());
}
textureMeshes.insert(std::make_pair(iter->first, textureMesh));
}
@@ -918,6 +962,18 @@ bool ExportCloudsDialog::getExportedClouds(
QApplication::processEvents();
}
if(textureMeshes.size() > 1 && _ui->checkBox_assemble->isChecked())
{
_progressDialog->appendText(tr("Assembling %1 meshes...").arg(textureMeshes.size()));
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
pcl::TextureMesh::Ptr assembledMesh = util3d::concatenateTextureMeshes(uValuesList(textureMeshes));
textureMeshes.clear();
textureMeshes.insert(std::make_pair(0, assembledMesh));
}
}
return true;
@@ -1202,6 +1258,9 @@ void ExportCloudsDialog::saveMeshes(
if(meshes.begin()->second->polygons.size())
{
_progressDialog->appendText(tr("Saving the mesh (%1 polygons)...").arg(meshes.begin()->second->polygons.size()));
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
bool success =false;
if(QFileInfo(path).suffix() == "")
@@ -1350,6 +1409,9 @@ void ExportCloudsDialog::saveTextureMeshes(
if(meshes.begin()->second->tex_materials.size())
{
_progressDialog->appendText(tr("Saving the mesh (with %1 textures)...").arg(meshes.begin()->second->tex_materials.size()));
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
bool success =false;
if(QFileInfo(path).suffix() == "")
@@ -1424,7 +1486,8 @@ void ExportCloudsDialog::saveTextureMeshes(
QString fullPath = path+QDir::separator()+currentPrefix+QDir::separator()+info.fileName();
// relative path
mesh.tex_materials[i].tex_file=(currentPrefix+QDir::separator()+info.fileName()).toStdString();
if(!QFile::copy(iter->second->tex_materials[i].tex_file.c_str(), fullPath))
if(!QFile::copy(iter->second->tex_materials[i].tex_file.c_str(), fullPath) &&
info.fileName().compare("occluded.png") != 0)
{
_progressDialog->appendText(tr("Failed copying texture \"%1\" to \"%2\".")
.arg(iter->second->tex_materials[i].tex_file.c_str()).arg(fullPath), Qt::darkRed);

4
guilib/src/MainWindow.cpp
View File

@@ -4978,7 +4978,7 @@ void MainWindow::viewScans()
}
_exportScansDialog->viewScans(
_currentPosesMap,
_ui->widget_mapVisibility->getVisiblePoses(),
_currentMapIds,
_cachedSignatures,
_createdScans,
@@ -4994,7 +4994,7 @@ void MainWindow::exportClouds()
}
_exportCloudsDialog->exportClouds(
_currentPosesMap,
_ui->widget_mapVisibility->getVisiblePoses(),
_currentMapIds,
_cachedSignatures,
_createdClouds,

14
guilib/src/MapVisibilityWidget.cpp
View File

@@ -45,6 +45,10 @@ MapVisibilityWidget::MapVisibilityWidget(QWidget * parent) : QWidget(parent) {
QVBoxLayout * layout2 = new QVBoxLayout(scrollAreaWidgetContent);
scrollAreaWidgetContent->setLayout(layout2);
scrollArea->setWidget(scrollAreaWidgetContent);
QCheckBox * selectAll = new QCheckBox("Select all", this);
connect(selectAll, SIGNAL(toggled(bool)), this, SLOT(selectAll(bool)));
verticalLayout1->addWidget(selectAll);
verticalLayout1->addWidget(scrollArea);
}
@@ -126,4 +130,14 @@ void MapVisibilityWidget::signalVisibility()
emit visibilityChanged(check->text().split('(').first().toInt(), check->isChecked());
}
void MapVisibilityWidget::selectAll(bool checked)
{
QWidget * area = this->findChild<QWidget*>("area");
QList<QCheckBox*> checkboxes = area->findChildren<QCheckBox*>();
for(int i = 0; i<checkboxes.size(); ++i)
{
checkboxes[i]->setChecked(checked);
}
}
} /* namespace rtabmap */

1
guilib/src/MapVisibilityWidget.h
View File

@@ -50,6 +50,7 @@ protected:
private slots:
void signalVisibility();
void selectAll(bool);
private:
void updateCheckBoxes();

80
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -25,13 +25,13 @@
<x>0</x>
<y>0</y>
<width>773</width>
<height>1422</height>
<height>1394</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
<item row="1" column="1">
<item row="2" column="1">
<widget class="QLabel" name="label_binaryFile_2">
<property name="text">
<string>Assemble clouds/meshes to a single output cloud/mesh.</string>
@@ -41,24 +41,7 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Reconstruction flavor.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_111">
<property name="text">
<string>Set the number of k nearest neighbors to use for the normal estimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="minimum">
<number>0</number>
@@ -68,7 +51,7 @@
</property>
</widget>
</item>
<item row="0" column="1">
<item row="1" column="1">
<widget class="QLabel" name="label_binaryFile">
<property name="text">
<string>Binary file.</string>
@@ -78,7 +61,7 @@
</property>
</widget>
</item>
<item row="0" column="0">
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_binary">
<property name="text">
<string/>
@@ -88,29 +71,15 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="comboBox_pipeline">
<item>
<property name="text">
<string>Organized Point Cloud</string>
</property>
</item>
<item>
<property name="text">
<string>Dense Point Cloud</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_assemble">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_109">
<item row="4" column="1">
<widget class="QLabel" name="label_voxel">
<property name="text">
<string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</string>
</property>
@@ -119,7 +88,7 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
<property name="suffix">
<string> m</string>
@@ -138,6 +107,37 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_normal">
<property name="text">
<string>Set the number of k nearest neighbors to use for the normal estimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Reconstruction flavor.</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_pipeline">
<item>
<property name="text">
<string>Organized Point Cloud</string>
</property>
</item>
<item>
<property name="text">
<string>Dense Point Cloud</string>
</property>
</item>
</widget>
</item>
</layout>
</item>
<item>