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Export: using color transfer radius to limit texturing far polygons from the orignal cloud

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This commit is contained in:
matlabbe
2017-02-27 17:31:02 -05:00
parent 6c9572714f
commit b76952f016
2 changed files with 57 additions and 2 deletions
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57
guilib/src/ExportCloudsDialog.cpp
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@@ -437,7 +437,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_gp3Radius->setValue(0.2);
_ui->doubleSpinBox_gp3Mu->setValue(2.5);
_ui->doubleSpinBox_meshDecimationFactor->setValue(0.0);
_ui->doubleSpinBox_transferColorRadius->setValue(0.0);
_ui->doubleSpinBox_transferColorRadius->setValue(0.05);
_ui->checkBox_cleanMesh->setChecked(true);
_ui->spinBox_mesh_minClusterSize->setValue(0);
@@ -1569,6 +1569,61 @@ bool ExportCloudsDialog::getExportedClouds(
mesh->polygons = filteredPolygons;
}
}
else if(lostColors &&
_ui->doubleSpinBox_transferColorRadius->value() > 0.0 &&
_ui->checkBox_cleanMesh->isChecked() &&
(_ui->checkBox_textureMapping->isEnabled() && _ui->checkBox_textureMapping->isChecked()))
{
_progressDialog->appendText(tr("Removing polygons too far from the cloud..."));
QApplication::processEvents();
// transfer color from point cloud to mesh
pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>(true));
tree->setInputCloud(iter->second);
pcl::PointCloud<pcl::PointXYZ>::Ptr optimizedCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(mesh->cloud, *optimizedCloud);
std::vector<bool> closePts(optimizedCloud->size());
for(unsigned int i=0; i<optimizedCloud->size(); ++i)
{
std::vector<int> kIndices;
std::vector<float> kDistances;
pcl::PointXYZRGBNormal pt;
pt.x = optimizedCloud->at(i).x;
pt.y = optimizedCloud->at(i).y;
pt.z = optimizedCloud->at(i).z;
tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
if(kIndices.size())
{
closePts.at(i) = true;
}
else
{
closePts.at(i) = false;
}
}
// remove far polygons
std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
int oi=0;
for(unsigned int i=0; i<mesh->polygons.size(); ++i)
{
bool keepPolygon = true;
for(unsigned int j=0; j<mesh->polygons[i].vertices.size(); ++j)
{
if(!closePts.at(mesh->polygons[i].vertices[j]))
{
keepPolygon = false;
break;
}
}
if(keepPolygon)
{
filteredPolygons[oi++] = mesh->polygons[i];
}
}
filteredPolygons.resize(oi);
mesh->polygons = filteredPolygons;
}
if(_ui->spinBox_mesh_minClusterSize->value() &&
!(_ui->checkBox_textureMapping->isEnabled() &&

2
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,7 +23,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1879</y>
<y>-1649</y>
<width>773</width>
<height>3158</height>
</rect>