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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
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@@ -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);