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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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39
corelib/src/util3d.cpp
View File

@@ -2285,6 +2285,45 @@ cv::Mat laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud,
return laserScan(cv::Range::all(), cv::Range(0,oi));
}
pcl::PCLPointCloud2::Ptr laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform)
{
pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2);
if(laserScan.isEmpty())
{
return cloud;
}
if(laserScan.format() == LaserScan::kXY || laserScan.format() == LaserScan::kXYZ)
{
pcl::toPCLPointCloud2(*laserScanToPointCloud(laserScan, transform), *cloud);
}
else if(laserScan.format() == LaserScan::kXYI || laserScan.format() == LaserScan::kXYZI)
{
pcl::toPCLPointCloud2(*laserScanToPointCloudI(laserScan, transform), *cloud);
}
else if(laserScan.format() == LaserScan::kXYNormal || laserScan.format() == LaserScan::kXYZNormal)
{
pcl::toPCLPointCloud2(*laserScanToPointCloudNormal(laserScan, transform), *cloud);
}
else if(laserScan.format() == LaserScan::kXYINormal || laserScan.format() == LaserScan::kXYZINormal)
{
pcl::toPCLPointCloud2(*laserScanToPointCloudINormal(laserScan, transform), *cloud);
}
else if(laserScan.format() == LaserScan::kXYZRGB)
{
pcl::toPCLPointCloud2(*laserScanToPointCloudRGB(laserScan, transform), *cloud);
}
else if(laserScan.format() == LaserScan::kXYZRGBNormal)
{
pcl::toPCLPointCloud2(*laserScanToPointCloudRGBNormal(laserScan, transform), *cloud);
}
else
{
UERROR("Unknown conversion from LaserScan format %d to PointCloud2.", laserScan.format());
}
return cloud;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);

45
corelib/src/util3d_surface.cpp
View File

@@ -1196,6 +1196,51 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
}
}
std::vector<std::vector<unsigned int> > convertPolygonsFromPCL(const std::vector<pcl::Vertices> & polygons)
{
std::vector<std::vector<unsigned int> > polygonsOut(polygons.size());
for(unsigned int p=0; p<polygons.size(); ++p)
{
polygonsOut[p] = polygons[p].vertices;
}
return polygonsOut;
}
std::vector<std::vector<std::vector<unsigned int> > > convertPolygonsFromPCL(const std::vector<std::vector<pcl::Vertices> > & tex_polygons)
{
std::vector<std::vector<std::vector<unsigned int> > > polygonsOut(tex_polygons.size());
for(unsigned int t=0; t<tex_polygons.size(); ++t)
{
polygonsOut[t].resize(tex_polygons[t].size());
for(unsigned int p=0; p<tex_polygons[t].size(); ++p)
{
polygonsOut[t][p] = tex_polygons[t][p].vertices;
}
}
return polygonsOut;
}
std::vector<pcl::Vertices> convertPolygonsToPCL(const std::vector<std::vector<unsigned int> > & polygons)
{
std::vector<pcl::Vertices> polygonsOut(polygons.size());
for(unsigned int p=0; p<polygons.size(); ++p)
{
polygonsOut[p].vertices = polygons[p];
}
return polygonsOut;
}
std::vector<std::vector<pcl::Vertices> > convertPolygonsToPCL(const std::vector<std::vector<std::vector<unsigned int> > > & tex_polygons)
{
std::vector<std::vector<pcl::Vertices> > polygonsOut(tex_polygons.size());
for(unsigned int t=0; t<tex_polygons.size(); ++t)
{
polygonsOut[t].resize(tex_polygons[t].size());
for(unsigned int p=0; p<tex_polygons[t].size(); ++p)
{
polygonsOut[t][p].vertices = tex_polygons[t][p];
}
}
return polygonsOut;
}
pcl::TextureMesh::Ptr assembleTextureMesh(
const cv::Mat & cloudMat,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,