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Mesh reconstruction update: fixed normals computation (with and without MLS)

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This commit is contained in:
Mathieu Labbé
2015-08-11 17:19:12 -04:00
parent 9c653655bd
commit abdd3de773
16 changed files with 580 additions and 204 deletions
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49
guilib/include/rtabmap/gui/CloudViewer.h
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@@ -72,6 +72,12 @@ public:
const std::string & id,
const Transform & pose); //including mesh
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
@@ -84,6 +90,12 @@ public:
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
@@ -101,30 +113,37 @@ public:
const pcl::PCLPointCloud2Ptr & binaryCloud,
const Transform & pose,
bool rgb,
bool haveNormals,
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & pose = Transform::getIdentity(),
const QColor & color = QColor());
bool addCloudMesh(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const Transform & pose = Transform::getIdentity());
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const std::vector<pcl::Vertices> & polygons,
const Transform & pose = Transform::getIdentity());
bool addCloudMesh(
const std::string & id,
const pcl::PolygonMesh::Ptr & mesh,
const Transform & pose = Transform::getIdentity());
const std::string & id,
const pcl::PolygonMesh::Ptr & mesh,
const Transform & pose = Transform::getIdentity());
bool addOccupancyGridMap(
const cv::Mat & map8U,

18
guilib/include/rtabmap/gui/MainWindow.h
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@@ -226,23 +226,19 @@ private:
void exportPoses(int format);
QString captureScreen();
pcl::PointCloud<pcl::PointXYZRGB>::Ptr getAssembledCloud(
const std::map<int, Transform> & poses,
float assembledVoxelSize,
bool regenerateClouds,
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth) const;
std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > getClouds(
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr > getClouds(
const std::map<int, Transform> & poses,
bool regenerateClouds,
int regenerateDecimation,
float regenerateVoxelSize,
float regenerateMaxDepth) const;
float regenerateMaxDepth,
int normalKSearch,
bool mls,
float mlsRadius) const;
bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
bool getExportedClouds(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds, std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool toSave);
void saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds, bool binaryMode = true);
bool getExportedClouds(std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool toSave);
void saveClouds(const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
void saveMeshes(const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds, bool binaryMode = true);

1
guilib/include/rtabmap/gui/PreferencesDialog.h
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@@ -156,6 +156,7 @@ public:
int getMeshNormalKSearch() const;
double getMeshGP3Radius() const;
double getMeshGP3Mu() const;
bool getMeshSmoothing() const;
double getMeshSmoothingRadius() const;