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DbViewer: added menu actions to view/update/export optimized mesh saved in database. CloudViewer: cubes can be added for convenience, fixed double-click not always working. util3d: added conversion function from LaserScan to PointCloud2, added conversion functions between polygons format saved in database and PCL polygons format with vertices.

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This commit is contained in:
matlabbe
2018-04-25 12:34:47 -04:00
parent f13e384a1b
commit b044bae304
11 changed files with 617 additions and 24 deletions
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1
corelib/include/rtabmap/core/util3d.h
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@@ -228,6 +228,7 @@ cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXY
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
pcl::PCLPointCloud2::Ptr RTABMAP_EXP laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform = Transform());
// For 2d laserScan, z is set to null.
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());
// For laserScan without normals, normals are set to null.

9
corelib/include/rtabmap/core/util3d_surface.h
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@@ -175,6 +175,15 @@ pcl::TextureMesh::Ptr RTABMAP_EXP concatenateTextureMeshes(
void RTABMAP_EXP concatenateTextureMaterials(
pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept=0);
std::vector<std::vector<unsigned int> > RTABMAP_EXP convertPolygonsFromPCL(
const std::vector<pcl::Vertices> & polygons);
std::vector<std::vector<std::vector<unsigned int> > > RTABMAP_EXP convertPolygonsFromPCL(
const std::vector<std::vector<pcl::Vertices> > & polygons);
std::vector<pcl::Vertices> RTABMAP_EXP convertPolygonsToPCL(
const std::vector<std::vector<unsigned int> > & polygons);
std::vector<std::vector<pcl::Vertices> > RTABMAP_EXP convertPolygonsToPCL(
const std::vector<std::vector<std::vector<unsigned int> > > & tex_polygons);
pcl::TextureMesh::Ptr RTABMAP_EXP assembleTextureMesh(
const cv::Mat & cloudMat,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,