i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Texturing: ignore polygons not facing the camera

Browse Source
This commit is contained in:
matlabbe
2017-02-01 00:29:13 -05:00
parent bfb9feaf07
commit a1ceff8ce8
2 changed files with 47 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

52
guilib/src/ExportCloudsDialog.cpp
View File

@@ -668,33 +668,39 @@ void ExportCloudsDialog::viewClouds(
// be duplicated.
for (unsigned int t = 0; t < mesh->tex_coordinates.size(); ++t)
{
UASSERT(mesh->tex_polygons[t].size());
pcl::PointCloud<pcl::PointXYZ>::Ptr originalCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(mesh->cloud, *originalCloud);
// make a cloud with as many points than polygon vertices
unsigned int nPoints = mesh->tex_coordinates[t].size();
UASSERT(nPoints == mesh->tex_polygons[t].size()*mesh->tex_polygons[t][0].vertices.size()); // assuming polygon size is constant!
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->resize(nPoints);
unsigned int oi = 0;
for (unsigned int i = 0; i < mesh->tex_polygons[t].size(); ++i)
if(mesh->tex_polygons[t].size())
{
pcl::Vertices & vertices = mesh->tex_polygons[t][i];
for(unsigned int j=0; j<vertices.vertices.size(); ++j)
pcl::PointCloud<pcl::PointXYZ>::Ptr originalCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(mesh->cloud, *originalCloud);
// make a cloud with as many points than polygon vertices
unsigned int nPoints = mesh->tex_coordinates[t].size();
UASSERT(nPoints == mesh->tex_polygons[t].size()*mesh->tex_polygons[t][0].vertices.size()); // assuming polygon size is constant!
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->resize(nPoints);
unsigned int oi = 0;
for (unsigned int i = 0; i < mesh->tex_polygons[t].size(); ++i)
{
UASSERT(oi < cloud->size());
UASSERT(vertices.vertices[j] < originalCloud->size());
cloud->at(oi) = originalCloud->at(vertices.vertices[j]);
vertices.vertices[j] = oi; // new vertice index
++oi;
pcl::Vertices & vertices = mesh->tex_polygons[t][i];
for(unsigned int j=0; j<vertices.vertices.size(); ++j)
{
UASSERT(oi < cloud->size());
UASSERT(vertices.vertices[j] < originalCloud->size());
cloud->at(oi) = originalCloud->at(vertices.vertices[j]);
vertices.vertices[j] = oi; // new vertice index
++oi;
}
}
pcl::toPCLPointCloud2(*cloud, mesh->cloud);
}
else
{
UWARN("No polygons for texture %d of mesh %d?!", t, iter->first);
}
pcl::toPCLPointCloud2(*cloud, mesh->cloud);
}
if (globalTexture.empty())
@@ -898,6 +904,7 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->appendText(tr("Gain compensation of %1 clouds...").arg(clouds.size()));
}
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
if(!_ui->checkBox_gainLinkedLocationsOnly->isChecked())
@@ -1011,6 +1018,7 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m voxel=%2m]").arg(_ui->doubleSpinBox_mlsRadius->value()).arg(_ui->doubleSpinBox_voxelSize_assembled->value()));
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
// Adjust view points with local transforms