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TextureMapping: added maximum camera distance

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This commit is contained in:
matlabbe
2017-01-31 23:26:35 -05:00
parent 8e0e04eae9
commit bfb9feaf07
6 changed files with 1715 additions and 85 deletions
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14
guilib/src/ExportCloudsDialog.cpp
View File

@@ -140,6 +140,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->comboBox_meshingTextureFormat, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_meshingTextureSize, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_meshingTextureMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_poisson_outputPolygons, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_poisson_manifold, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -252,6 +253,8 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mesh_texture", _ui->checkBox_textureMapping->isChecked());
settings.setValue("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex());
settings.setValue("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex());
settings.setValue("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value());
settings.setValue("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value());
settings.setValue("mesh_quad", _ui->checkBox_mesh_quad->isChecked());
@@ -339,6 +342,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", _ui->checkBox_textureMapping->isChecked()).toBool());
_ui->comboBox_meshingTextureFormat->setCurrentIndex(settings.value("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex()).toInt());
_ui->comboBox_meshingTextureSize->setCurrentIndex(settings.value("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex()).toInt());
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(settings.value("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value()).toDouble());
_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
_ui->checkBox_mesh_quad->setChecked(settings.value("mesh_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
@@ -423,6 +427,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->checkBox_textureMapping->setChecked(false);
_ui->comboBox_meshingTextureFormat->setCurrentIndex(0);
_ui->comboBox_meshingTextureSize->setCurrentIndex(4); // 2048
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(3.0);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
_ui->checkBox_mesh_quad->setChecked(false);
@@ -1649,7 +1654,7 @@ bool ExportCloudsDialog::getExportedClouds(
iter->second,
cameraPoses,
cameraModels,
_ui->spinBox_normalKSearch->value());
_ui->doubleSpinBox_meshingTextureMaxDistance->value());
// Remove occluded polygons (polygons with no texture)
if(_ui->checkBox_cleanMesh->isChecked() &&
@@ -2484,7 +2489,8 @@ void ExportCloudsDialog::saveTextureMeshes(
{
fullPath = QFileInfo(path).absoluteDir().absolutePath()+QDir::separator()+QFileInfo(path).baseName()+QDir::separator()+QString(mesh->tex_materials[i].tex_file.c_str())+_ui->comboBox_meshingTextureFormat->currentText();
}
if(!QFileInfo(fullPath).exists())
UDEBUG("Saving %s...", fullPath.toStdString().c_str());
if(singleTexture || !QFileInfo(fullPath).exists())
{
if(uIsInteger(mesh->tex_materials[i].tex_file, false))
{
@@ -2526,6 +2532,10 @@ void ExportCloudsDialog::saveTextureMeshes(
UWARN("Ignored texture %s (no image size set yet)", mesh->tex_materials[i].tex_file.c_str());
}
}
else
{
UWARN("File %s already exists!", fullPath.toStdString().c_str());
}
// relative path
if(singleTexture)
{

192
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1534</y>
<y>-1504</y>
<width>773</width>
<height>2832</height>
<height>2810</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1105,80 +1105,14 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_denseReconstruction">
<property name="text">
<string>Surface reconstruction approach. Can be used only when dense reconstruction flavor is selected. Poisson is available when clouds are assembled.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_meshDecimation_2">
<property name="text">
<string>Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). Negative means disabled, 0 means take the nearest point.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_textureMapping">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>0.990000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_meshClean">
<property name="text">
<string>Clean mesh from polygons without color or texture.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_meshingTextureFormat">
<property name="text">
<string>Texture format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
<property name="maximum">
<number>999</number>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_meshDecimation">
<property name="text">
<string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons). Can be used when dense reconstruction flavor is selected.</string>
@@ -1198,13 +1132,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Minimum polygon cluster size.</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_meshingApproach">
<item>
@@ -1219,7 +1146,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_transferColorRadius">
<property name="suffix">
<string> m</string>
@@ -1241,7 +1168,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_cleanMesh">
<property name="text">
<string/>
@@ -1321,6 +1248,111 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_denseReconstruction">
<property name="text">
<string>Surface reconstruction approach. Can be used only when dense reconstruction flavor is selected. Poisson is available when clouds are assembled.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_meshDecimation_2">
<property name="text">
<string>Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). Negative means disabled, 0 means take the nearest point.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_textureMapping">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>0.990000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_meshClean">
<property name="text">
<string>Clean mesh from polygons without color or texture.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_meshingTextureFormat">
<property name="text">
<string>Texture format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Minimum polygon cluster size.</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_meshingTextureSize_2">
<property name="text">
<string>Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>3.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -1408,7 +1440,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,0">
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_172">
<property name="text">