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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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69
guilib/src/CloudViewer.cpp
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@@ -318,6 +318,26 @@ bool CloudViewer::updateCloudPose(
return false;
}
bool CloudViewer::updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Transform & pose,
const QColor & color)
{
if(_addedClouds.contains(id))
{
UDEBUG("Updating %s with %d points", id.c_str(), (int)cloud->size());
int index = _visualizer->getColorHandlerIndex(id);
this->removeCloud(id);
if(this->addCloud(id, cloud, pose, color))
{
_visualizer->updateColorHandlerIndex(id, index);
return true;
}
}
return false;
}
bool CloudViewer::updateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
@@ -358,6 +378,19 @@ bool CloudViewer::updateCloud(
return false;
}
bool CloudViewer::addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Transform & pose,
const QColor & color)
{
if(!updateCloud(id, cloud, pose, color))
{
return addCloud(id, cloud, pose, color);
}
return true;
}
bool CloudViewer::addOrUpdateCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
@@ -389,6 +422,7 @@ bool CloudViewer::addCloud(
const pcl::PCLPointCloud2Ptr & binaryCloud,
const Transform & pose,
bool rgb,
bool haveNormals,
const QColor & color)
{
if(!_addedClouds.contains(id))
@@ -422,7 +456,21 @@ bool CloudViewer::addCloud(
//rgb
colorHandler.reset(new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2>(binaryCloud));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
}
if(haveNormals)
{
//normals
colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_x"));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_y"));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
colorHandler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (binaryCloud, "normal_z"));
_visualizer->addPointCloud (binaryCloud, colorHandler, origin, orientation, id);
}
if(rgb)
{
_visualizer->updateColorHandlerIndex(id, 5);
}
else if(color.isValid())
@@ -437,6 +485,23 @@ bool CloudViewer::addCloud(
return false;
}
bool CloudViewer::addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const Transform & pose,
const QColor & color)
{
if(!_addedClouds.contains(id))
{
UDEBUG("Adding %s with %d points", id.c_str(), (int)cloud->size());
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, true, true, color);
}
return false;
}
bool CloudViewer::addCloud(
const std::string & id,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
@@ -449,7 +514,7 @@ bool CloudViewer::addCloud(
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, true, color);
return addCloud(id, binaryCloud, pose, true, false, color);
}
return false;
}
@@ -466,7 +531,7 @@ bool CloudViewer::addCloud(
pcl::PCLPointCloud2Ptr binaryCloud(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *binaryCloud);
return addCloud(id, binaryCloud, pose, false, color);
return addCloud(id, binaryCloud, pose, false, false, color);
}
return false;
}