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GUI: Fixed viewpoint including local transform when generating organized mesh

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matlabbe
2016-04-12 16:47:55 -04:00
parent 684e9fb8b9
commit b53b861342
4 changed files with 67 additions and 8 deletions
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20
guilib/src/ExportCloudsDialog.cpp
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@@ -698,11 +698,29 @@ bool ExportCloudsDialog::getExportedClouds(
UASSERT(iter->second->isOrganized());
if(iter->second->size())
{
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(cachedSignatures.contains(iter->first))
{
const SensorData & data = cachedSignatures.find(iter->first)->sensorData();
if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
{
viewpoint[0] = data.cameraModels()[0].localTransform().x();
viewpoint[1] = data.cameraModels()[0].localTransform().y();
viewpoint[2] = data.cameraModels()[0].localTransform().z();
}
else if(!data.stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
}
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
iter->second,
_ui->doubleSpinBox_mesh_angleTolerance->value()*M_PI/180.0,
_ui->checkBox_mesh_quad->isEnabled() && _ui->checkBox_mesh_quad->isChecked(),
_ui->spinBox_mesh_triangleSize->value());
_ui->spinBox_mesh_triangleSize->value(),
viewpoint);
_progressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(polygons.size()).arg(++i).arg(clouds.size()));
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);