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Tango: Added texture to meshes #57

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matlabbe
2016-03-21 15:45:26 -04:00
parent 1b4539a0df
commit bc78f789eb
6 changed files with 381 additions and 133 deletions
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37
app/android/jni/RTABMapApp.cpp
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@@ -54,6 +54,7 @@ const int meshTrianglePixels = 1;
const bool substractFiltering = false;
const float subtractRadius = 0.02;
const float subtractMaxAngle = M_PI/4.0f;
const bool textureMeshing = true;
const int minNeighborsInRadius = 5;
const float closeVerticesDistance = 0.02f;
@@ -90,7 +91,6 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerVarianceIgnored(), std::string("false")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), std::string("700")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemUseDepthAsMask(), std::string("true")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), std::string("15")));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisRefineIterations(), std::string("5")));
@@ -458,17 +458,34 @@ int RTABMapApp::Render()
std::vector<pcl::Vertices> polygons = rtabmap::util3d::organizedFastMesh(output, meshAngleTolerance, false, meshTrianglePixels);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr outputCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::vector<pcl::Vertices> outputPolygons;
rtabmap::util3d::filterNotUsedVerticesFromMesh(
*output,
polygons,
*outputCloud,
outputPolygons);
if(!textureMeshing)
{
rtabmap::util3d::filterNotUsedVerticesFromMesh(
*output,
polygons,
*outputCloud,
outputPolygons);
}
else
{
outputCloud = output;
outputPolygons = polygons;
}
LOGI("Creating mesh, %d polygons (%fs)", (int)outputPolygons.size(), time.ticks());
if(outputCloud->size())
if(outputCloud->size() && (!textureMeshing || outputPolygons.size()))
{
totalPolygons_ += outputPolygons.size();
main_scene_.addOrUpdateCloud(id, outputCloud, outputPolygons, iter->second);
if(textureMeshing)
{
main_scene_.addCloud(id, outputCloud, outputPolygons, iter->second, data.imageRaw());
}
else
{
main_scene_.addCloud(id, outputCloud, outputPolygons, iter->second);
}
// protect createdMeshes_ used also by exportMesh() method
boost::mutex::scoped_lock lock(meshesMutex_);
@@ -529,7 +546,7 @@ int RTABMapApp::Render()
if(cloud->size())
{
std::vector<pcl::Vertices> polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleTolerance, false, meshTrianglePixels);
main_scene_.addOrUpdateCloud(-1, cloud, polygons, opengl_world_T_rtabmap_world*event.pose());
main_scene_.addCloud(-1, cloud, polygons, opengl_world_T_rtabmap_world*event.pose(), textureMeshing?event.data().imageRaw():cv::Mat());
main_scene_.setCloudVisible(-1, true);
}
else
@@ -751,7 +768,7 @@ void RTABMapApp::handleEvent(UEvent * event)
uValue(rtabmapEvents_.back().data(), rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f);
words = (int)uValue(rtabmapEvents_.back().data(), rtabmap::Statistics::kKeypointDictionary_size(), 0.0f);
updateTime = uValue(rtabmapEvents_.back().data(), rtabmap::Statistics::kTimingTotal(), 0.0f);
loopClosureId = rtabmapEvents_.back().loopClosureId()>0?rtabmapEvents_.back().loopClosureId():rtabmapEvents_.back().localLoopClosureId()>0?rtabmapEvents_.back().localLoopClosureId():0;
loopClosureId = rtabmapEvents_.back().loopClosureId()>0?rtabmapEvents_.back().loopClosureId():rtabmapEvents_.back().proximityDetectionId()>0?rtabmapEvents_.back().proximityDetectionId():0;
databaseMemoryUsed = (int)uValue(rtabmapEvents_.back().data(), rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f);
inliers = (int)uValue(rtabmapEvents_.back().data(), rtabmap::Statistics::kLoopVisual_inliers(), 0.0f);
featuresExtracted = rtabmapEvents_.back().getSignatures().size()?rtabmapEvents_.back().getSignatures().rbegin()->second.getWords().size():0;