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GUI/ExportClouds: fixed color of scans having RGB instead of intensity.

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This commit is contained in:
matlabbe
2022-01-19 16:59:43 -05:00
parent 5ec73bee8d
commit a56373f66d
2 changed files with 25 additions and 11 deletions
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4
guilib/include/rtabmap/gui/ExportCloudsDialog.h
View File

@@ -138,7 +138,8 @@ private:
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds, const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
const std::map<int, LaserScan> & cachedScans, const std::map<int, LaserScan> & cachedScans,
const ParametersMap & parameters, const ParametersMap & parameters,
bool & has2dScans) const; bool & has2dScans,
bool & scansHaveRGB) const;
void saveClouds(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true, const std::vector<std::map<int, pcl::PointXY> > & pointToPixels = std::vector<std::map<int, pcl::PointXY> >()); void saveClouds(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true, const std::vector<std::map<int, pcl::PointXY> > & pointToPixels = std::vector<std::map<int, pcl::PointXY> >());
void saveMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true); void saveMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
void saveTextureMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, std::map<int, pcl::TextureMesh::Ptr> & textureMeshes, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels); void saveTextureMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, std::map<int, pcl::TextureMesh::Ptr> & textureMeshes, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
@@ -150,6 +151,7 @@ private:
bool _canceled; bool _canceled;
GainCompensator * _compensator; GainCompensator * _compensator;
const DBDriver * _dbDriver; const DBDriver * _dbDriver;
bool _scansHaveRGB;
}; };
} }

32
guilib/src/ExportCloudsDialog.cpp
View File

@@ -86,7 +86,8 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
QDialog(parent), QDialog(parent),
_canceled(false), _canceled(false),
_compensator(0), _compensator(0),
_dbDriver(0) _dbDriver(0),
_scansHaveRGB(false)
{ {
_ui = new Ui_ExportCloudsDialog(); _ui = new Ui_ExportCloudsDialog();
_ui->setupUi(this); _ui->setupUi(this);
@@ -1323,7 +1324,7 @@ void ExportCloudsDialog::viewClouds(
for(unsigned int j=0; j<vertices.vertices.size(); ++j) for(unsigned int j=0; j<vertices.vertices.size(); ++j)
{ {
UASSERT(oi < cloud->size()); UASSERT(oi < cloud->size());
UASSERT_MSG(vertices.vertices[j] < (int)originalCloud->size(), uFormat("%d vs %d", vertices.vertices[j], (int)originalCloud->size()).c_str()); UASSERT_MSG((int)vertices.vertices[j] < (int)originalCloud->size(), uFormat("%d vs %d", vertices.vertices[j], (int)originalCloud->size()).c_str());
cloud->at(oi) = originalCloud->at(vertices.vertices[j]); cloud->at(oi) = originalCloud->at(vertices.vertices[j]);
vertices.vertices[j] = oi; // new vertice index vertices.vertices[j] = oi; // new vertice index
++oi; ++oi;
@@ -1413,7 +1414,7 @@ void ExportCloudsDialog::viewClouds(
_progressDialog->appendText(tr("Viewing the cloud %1 (%2 points)...").arg(iter->first).arg(iter->second->size())); _progressDialog->appendText(tr("Viewing the cloud %1 (%2 points)...").arg(iter->first).arg(iter->second->size()));
_progressDialog->incrementStep(); _progressDialog->incrementStep();
if(!_ui->checkBox_fromDepth->isChecked() && if(!_ui->checkBox_fromDepth->isChecked() && !_scansHaveRGB &&
!(_ui->checkBox_cameraProjection->isEnabled() && !(_ui->checkBox_cameraProjection->isEnabled() &&
_ui->checkBox_cameraProjection->isChecked() && _ui->checkBox_cameraProjection->isChecked() &&
_ui->checkBox_camProjRecolorPoints->isChecked() && _ui->checkBox_camProjRecolorPoints->isChecked() &&
@@ -1641,7 +1642,8 @@ bool ExportCloudsDialog::getExportedClouds(
cachedClouds, cachedClouds,
cachedScans, cachedScans,
parameters, parameters,
has2dScans); has2dScans,
_scansHaveRGB);
} }
else else
{ {
@@ -2574,7 +2576,7 @@ bool ExportCloudsDialog::getExportedClouds(
{ {
TexturingState texturingState(_progressDialog, false); TexturingState texturingState(_progressDialog, false);
if(!_ui->checkBox_fromDepth->isChecked()) if(!_ui->checkBox_fromDepth->isChecked() && !_scansHaveRGB)
{ {
// When laser scans are exported, convert Intensity to GrayScale // When laser scans are exported, convert Intensity to GrayScale
int maxIntensity = 1; int maxIntensity = 1;
@@ -2812,7 +2814,7 @@ bool ExportCloudsDialog::getExportedClouds(
pcl::PointXYZRGBNormal & pt = assembledCloud->at(i); pcl::PointXYZRGBNormal & pt = assembledCloud->at(i);
if(pointToPixel[i].first.first <=0) if(pointToPixel[i].first.first <=0)
{ {
if(_ui->checkBox_camProjRecolorPoints->isChecked() && !_ui->checkBox_fromDepth->isChecked()) if(_ui->checkBox_camProjRecolorPoints->isChecked() && !_ui->checkBox_fromDepth->isChecked() && !_scansHaveRGB)
{ {
pt.r = 255; pt.r = 255;
pt.g = 0; pt.g = 0;
@@ -3270,7 +3272,7 @@ bool ExportCloudsDialog::getExportedClouds(
for(int k=0; k<polygonSize; ++k) for(int k=0; k<polygonSize; ++k)
{ {
//uv //uv
UASSERT(vertices.vertices[k] < (int)oter->second.size()); UASSERT((int)vertices.vertices[k] < (int)oter->second.size());
int originalVertex = oter->second[vertices.vertices[k]]; int originalVertex = oter->second[vertices.vertices[k]];
textureMesh->tex_coordinates[0][i*polygonSize+k] = Eigen::Vector2f( textureMesh->tex_coordinates[0][i*polygonSize+k] = Eigen::Vector2f(
float(originalVertex % w) / float(w), // u float(originalVertex % w) / float(w), // u
@@ -3455,8 +3457,10 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds, const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & cachedClouds,
const std::map<int, LaserScan> & cachedScans, const std::map<int, LaserScan> & cachedScans,
const ParametersMap & parameters, const ParametersMap & parameters,
bool & has2dScans) const bool & has2dScans,
bool & scansHaveRGB) const
{ {
scansHaveRGB = false;
has2dScans = false; has2dScans = false;
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > clouds; std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > clouds;
int index=1; int index=1;
@@ -3628,6 +3632,10 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
_ui->spinBox_normalKSearch->value(), _ui->spinBox_normalKSearch->value(),
_ui->doubleSpinBox_normalRadiusSearch->value()); _ui->doubleSpinBox_normalRadiusSearch->value());
if(!scan.empty())
{
scansHaveRGB = scan.hasRGB();
}
localTransform = scan.localTransform(); localTransform = scan.localTransform();
cloud = util3d::laserScanToPointCloudRGBNormal(scan, localTransform); // put in base frame by default cloud = util3d::laserScanToPointCloudRGBNormal(scan, localTransform); // put in base frame by default
indices->resize(cloud->size()); indices->resize(cloud->size());
@@ -3732,6 +3740,10 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
_ui->spinBox_normalKSearch->value(), _ui->spinBox_normalKSearch->value(),
_ui->doubleSpinBox_normalRadiusSearch->value()); _ui->doubleSpinBox_normalRadiusSearch->value());
if(!scan.empty())
{
scansHaveRGB = scan.hasRGB();
}
localTransform = scan.localTransform(); localTransform = scan.localTransform();
cloud = util3d::laserScanToPointCloudRGBNormal(scan, localTransform); // put in base frame by default cloud = util3d::laserScanToPointCloudRGBNormal(scan, localTransform); // put in base frame by default
indices->resize(cloud->size()); indices->resize(cloud->size());
@@ -3896,7 +3908,7 @@ void ExportCloudsDialog::saveClouds(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudRGBWithoutNormals; pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudRGBWithoutNormals;
pcl::PointCloud<pcl::PointXYZI>::Ptr cloudIWithoutNormals; pcl::PointCloud<pcl::PointXYZI>::Ptr cloudIWithoutNormals;
pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloudIWithNormals; pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloudIWithNormals;
if(!_ui->checkBox_fromDepth->isChecked() && if(!_ui->checkBox_fromDepth->isChecked() && !_scansHaveRGB &&
!(_ui->checkBox_cameraProjection->isEnabled() && !(_ui->checkBox_cameraProjection->isEnabled() &&
_ui->checkBox_cameraProjection->isChecked() && _ui->checkBox_cameraProjection->isChecked() &&
_ui->checkBox_camProjRecolorPoints->isChecked() && _ui->checkBox_camProjRecolorPoints->isChecked() &&
@@ -4087,7 +4099,7 @@ void ExportCloudsDialog::saveClouds(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudRGBWithoutNormals; pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudRGBWithoutNormals;
pcl::PointCloud<pcl::PointXYZI>::Ptr cloudIWithoutNormals; pcl::PointCloud<pcl::PointXYZI>::Ptr cloudIWithoutNormals;
pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloudIWithNormals; pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloudIWithNormals;
if(!_ui->checkBox_fromDepth->isChecked()) if(!_ui->checkBox_fromDepth->isChecked() && !_scansHaveRGB)
{ {
// When laser scans are exported, convert RGB to Intensity // When laser scans are exported, convert RGB to Intensity
if(_ui->spinBox_normalKSearch->value()>0 || _ui->doubleSpinBox_normalRadiusSearch->value()>0.0) if(_ui->spinBox_normalKSearch->value()>0 || _ui->doubleSpinBox_normalRadiusSearch->value()>0.0)