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Export: Added Poisson auto depth (value=0). CloudViewer: Added measuring tool.

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This commit is contained in:
matlabbe
2018-04-13 18:19:13 -04:00
parent 57a62dbbfd
commit a82261a4df
5 changed files with 517 additions and 125 deletions
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36
guilib/src/ExportCloudsDialog.cpp
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@@ -623,7 +623,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->checkBox_poisson_outputPolygons->setChecked(false);
_ui->checkBox_poisson_manifold->setChecked(true);
_ui->spinBox_poisson_depth->setValue(9);
_ui->spinBox_poisson_depth->setValue(0);
_ui->spinBox_poisson_iso->setValue(8);
_ui->spinBox_poisson_solver->setValue(8);
_ui->spinBox_poisson_minDepth->setValue(5);
@@ -923,6 +923,7 @@ void ExportCloudsDialog::viewClouds(
}
viewer->setLighting(true);
viewer->setDefaultBackgroundColor(QColor(40, 40, 40, 255));
viewer->buildLocator(true);
QVBoxLayout *layout = new QVBoxLayout();
layout->addWidget(viewer);
@@ -939,6 +940,7 @@ void ExportCloudsDialog::viewClouds(
if(textureMeshes.size())
{
viewer->setPolygonPicking(true);
std::map<int, cv::Mat> images;
std::map<int, std::vector<CameraModel> > calibrations;
for(QMap<int, Signature>::const_iterator iter=cachedSignatures.constBegin(); iter!=cachedSignatures.constEnd(); ++iter)
@@ -1095,6 +1097,7 @@ void ExportCloudsDialog::viewClouds(
}
else if(meshes.size())
{
viewer->setPolygonPicking(true);
for(std::map<int, pcl::PolygonMesh::Ptr>::iterator iter = meshes.begin(); iter!=meshes.end(); ++iter)
{
_progressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)...").arg(iter->first).arg(iter->second->polygons.size()));
@@ -1575,6 +1578,11 @@ bool ExportCloudsDialog::getExportedClouds(
(float)_ui->doubleSpinBox_dilationVoxelSize->value(),
_ui->spinBox_dilationSteps->value());
// make sure there are no nans
UDEBUG("NaNs filtering... size before = %d", cloudWithNormals->size());
cloudWithNormals = util3d::removeNaNNormalsFromPointCloud(cloudWithNormals);
UDEBUG("NaNs filtering... size after = %d", cloudWithNormals->size());
if(_ui->checkBox_assemble->isChecked())
{
// Re-voxelize to make sure to have uniform density
@@ -2121,7 +2129,31 @@ bool ExportCloudsDialog::getExportedClouds(
poisson.setOutputPolygons(_ui->checkBox_poisson_outputPolygons->isEnabled()?_ui->checkBox_poisson_outputPolygons->isChecked():false);
poisson.setManifold(_ui->checkBox_poisson_manifold->isChecked());
poisson.setSamplesPerNode(_ui->doubleSpinBox_poisson_samples->value());
poisson.setDepth(_ui->spinBox_poisson_depth->value());
int depth = _ui->spinBox_poisson_depth->value();
if(depth == 0)
{
Eigen::Vector4f min,max;
pcl::getMinMax3D(*iter->second, min, max);
float mapLength = uMax3(max[0]-min[0], max[1]-min[1], max[2]-min[2]);
depth = 12;
for(int i=6; i<12; ++i)
{
if(mapLength/float(1<<i) < 0.03f)
{
depth = i;
break;
}
}
_progressDialog->appendText(tr("Poisson depth resolution chosen is %1, map size (m) = %2x%3x%4")
.arg(depth)
.arg(int(max[0]-min[0]))
.arg(int(max[1]-min[1]))
.arg(int(max[2]-min[2])));
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
}
poisson.setDepth(depth);
poisson.setIsoDivide(_ui->spinBox_poisson_iso->value());
poisson.setSolverDivide(_ui->spinBox_poisson_solver->value());
poisson.setMinDepth(_ui->spinBox_poisson_minDepth->value());