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Moved clean texture mesh stuff from ExportCloudsDialog to util3d::cleanTextureMesh()

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This commit is contained in:
matlabbe
2017-06-15 14:10:08 -04:00
parent 29ff2c5d0a
commit c3aeae5ed7
3 changed files with 154 additions and 131 deletions
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corelib/include/rtabmap/core/util3d_surface.h
+8 -1
View File
@@ -161,6 +161,13 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
const ProgressState * state = 0,
std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);
/**
* Remove not textured polygon clusters. If minClusterSize<0, only the largest cluster is kept.
*/
void RTABMAP_EXP cleanTextureMesh(
pcl::TextureMesh & textureMesh,
int minClusterSize);
pcl::TextureMesh::Ptr RTABMAP_EXP concatenateTextureMeshes(
const std::list<pcl::TextureMesh::Ptr> & meshes);
@@ -168,7 +175,7 @@ void RTABMAP_EXP concatenateTextureMaterials(
pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept=0);
/*
/**
* Merge all textures in the mesh into "textureCount" textures of size "textureSize".
* @return merged textures corresponding to new materials set in TextureMesh
*/
corelib/src/util3d_surface.cpp
+133
View File
@@ -840,6 +840,139 @@ pcl::TextureMesh::Ptr createTextureMesh(
return textureMesh;
}
void cleanTextureMesh(
pcl::TextureMesh & textureMesh,
int minClusterSize)
{
UDEBUG("minClusterSize=%d", minClusterSize);
// Remove occluded polygons (polygons with no texture)
if(textureMesh.tex_coordinates.size())
{
// assume last texture is the occluded texture
textureMesh.tex_coordinates.pop_back();
textureMesh.tex_polygons.pop_back();
textureMesh.tex_materials.pop_back();
if(minClusterSize!=0)
{
// concatenate all polygons
unsigned int totalSize = 0;
for(unsigned int t=0; t<textureMesh.tex_polygons.size(); ++t)
{
totalSize+=textureMesh.tex_polygons[t].size();
}
std::vector<pcl::Vertices> allPolygons(totalSize);
int oi=0;
for(unsigned int t=0; t<textureMesh.tex_polygons.size(); ++t)
{
for(unsigned int i=0; i<textureMesh.tex_polygons[t].size(); ++i)
{
allPolygons[oi++] = textureMesh.tex_polygons[t][i];
}
}
// filter polygons
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
util3d::createPolygonIndexes(allPolygons,
(int)textureMesh.cloud.data.size()/textureMesh.cloud.point_step,
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
neighbors,
minClusterSize<0?0:minClusterSize);
std::set<int> validPolygons;
if(minClusterSize < 0)
{
// only keep the biggest cluster
std::list<std::list<int> >::iterator biggestClusterIndex = clusters.end();
unsigned int biggestClusterSize = 0;
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
if(iter->size() > biggestClusterSize)
{
biggestClusterIndex = iter;
biggestClusterSize = iter->size();
}
}
if(biggestClusterIndex != clusters.end())
{
for(std::list<int>::iterator jter=biggestClusterIndex->begin(); jter!=biggestClusterIndex->end(); ++jter)
{
validPolygons.insert(*jter);
}
}
}
else
{
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
{
validPolygons.insert(*jter);
}
}
}
if(validPolygons.size() == 0)
{
UWARN("All %d polygons filtered after polygon cluster filtering. Cluster minimum size is %d.",totalSize, minClusterSize);
}
// for each texture
unsigned int allPolygonsIndex = 0;
for(unsigned int t=0; t<textureMesh.tex_polygons.size(); ++t)
{
std::vector<pcl::Vertices> filteredPolygons(textureMesh.tex_polygons[t].size());
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > filteredCoordinates(textureMesh->tex_coordinates[t].size());
#else
std::vector<Eigen::Vector2f> filteredCoordinates(textureMesh.tex_coordinates[t].size());
#endif
if(textureMesh.tex_polygons[t].size())
{
UASSERT_MSG(allPolygonsIndex < allPolygons.size(), uFormat("%d vs %d", (int)allPolygonsIndex, (int)allPolygons.size()).c_str());
// make index polygon to coordinate
std::vector<unsigned int> polygonToCoord(textureMesh.tex_polygons[t].size());
unsigned int totalCoord = 0;
for(unsigned int i=0; i<textureMesh.tex_polygons[t].size(); ++i)
{
polygonToCoord[i] = totalCoord;
totalCoord+=textureMesh.tex_polygons[t][i].vertices.size();
}
UASSERT_MSG(totalCoord == textureMesh.tex_coordinates[t].size(), uFormat("%d vs %d", totalCoord, (int)textureMesh.tex_coordinates[t].size()).c_str());
int oi=0;
int ci=0;
for(unsigned int i=0; i<textureMesh.tex_polygons[t].size(); ++i)
{
if(validPolygons.find(allPolygonsIndex) != validPolygons.end())
{
filteredPolygons[oi] = textureMesh.tex_polygons[t].at(i);
for(unsigned int j=0; j<filteredPolygons[oi].vertices.size(); ++j)
{
UASSERT(polygonToCoord[i] < textureMesh.tex_coordinates[t].size());
filteredCoordinates[ci] = textureMesh.tex_coordinates[t][polygonToCoord[i]+j];
++ci;
}
++oi;
}
++allPolygonsIndex;
}
filteredPolygons.resize(oi);
filteredCoordinates.resize(ci);
textureMesh.tex_polygons[t] = filteredPolygons;
textureMesh.tex_coordinates[t] = filteredCoordinates;
}
}
}
}
}
pcl::TextureMesh::Ptr concatenateTextureMeshes(const std::list<pcl::TextureMesh::Ptr> & meshes)
{
pcl::TextureMesh::Ptr output(new pcl::TextureMesh);
guilib/src/ExportCloudsDialog.cpp
+13 -130
View File
@@ -2241,139 +2241,22 @@ bool ExportCloudsDialog::getExportedClouds(
}
// Remove occluded polygons (polygons with no texture)
if(_ui->checkBox_cleanMesh->isChecked() &&
textureMesh->tex_coordinates.size())
if(_ui->checkBox_cleanMesh->isChecked())
{
// assume last texture is the occluded texture
textureMesh->tex_coordinates.pop_back();
textureMesh->tex_polygons.pop_back();
textureMesh->tex_materials.pop_back();
if(_ui->spinBox_mesh_minClusterSize->value())
unsigned int totalSize = 0;
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{
_progressDialog->appendText(tr("Filter small polygon clusters..."));
QApplication::processEvents();
// concatenate all polygons
unsigned int totalSize = 0;
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{
totalSize+=textureMesh->tex_polygons[t].size();
}
std::vector<pcl::Vertices> allPolygons(totalSize);
int oi=0;
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{
for(unsigned int i=0; i<textureMesh->tex_polygons[t].size(); ++i)
{
allPolygons[oi++] = textureMesh->tex_polygons[t][i];
}
}
// filter polygons
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
util3d::createPolygonIndexes(allPolygons,
(int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step,
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
neighbors,
_ui->spinBox_mesh_minClusterSize->value()<0?0:_ui->spinBox_mesh_minClusterSize->value());
std::set<int> validPolygons;
if(_ui->spinBox_mesh_minClusterSize->value() < 0)
{
// only keep the biggest cluster
std::list<std::list<int> >::iterator biggestClusterIndex = clusters.end();
unsigned int biggestClusterSize = 0;
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
if(iter->size() > biggestClusterSize)
{
biggestClusterIndex = iter;
biggestClusterSize = iter->size();
}
}
if(biggestClusterIndex != clusters.end())
{
for(std::list<int>::iterator jter=biggestClusterIndex->begin(); jter!=biggestClusterIndex->end(); ++jter)
{
validPolygons.insert(*jter);
}
}
}
else
{
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
{
validPolygons.insert(*jter);
}
}
}
if(validPolygons.size() == 0)
{
std::string msg = uFormat("All %d polygons filtered after polygon cluster filtering. Cluster minimum size is %d.",totalSize, _ui->spinBox_mesh_minClusterSize->value());
_progressDialog->appendText(msg.c_str(), Qt::darkYellow);
UWARN(msg.c_str());
}
// for each texture
unsigned int allPolygonsIndex = 0;
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{
std::vector<pcl::Vertices> filteredPolygons(textureMesh->tex_polygons[t].size());
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > filteredCoordinates(textureMesh->tex_coordinates[t].size());
#else
std::vector<Eigen::Vector2f> filteredCoordinates(textureMesh->tex_coordinates[t].size());
#endif
if(textureMesh->tex_polygons[t].size())
{
UASSERT_MSG(allPolygonsIndex < allPolygons.size(), uFormat("%d vs %d", (int)allPolygonsIndex, (int)allPolygons.size()).c_str());
// make index polygon to coordinate
std::vector<unsigned int> polygonToCoord(textureMesh->tex_polygons[t].size());
unsigned int totalCoord = 0;
for(unsigned int i=0; i<textureMesh->tex_polygons[t].size(); ++i)
{
polygonToCoord[i] = totalCoord;
totalCoord+=textureMesh->tex_polygons[t][i].vertices.size();
}
UASSERT_MSG(totalCoord == textureMesh->tex_coordinates[t].size(), uFormat("%d vs %d", totalCoord, (int)textureMesh->tex_coordinates[t].size()).c_str());
int oi=0;
int ci=0;
for(unsigned int i=0; i<textureMesh->tex_polygons[t].size(); ++i)
{
if(validPolygons.find(allPolygonsIndex) != validPolygons.end())
{
filteredPolygons[oi] = textureMesh->tex_polygons[t].at(i);
for(unsigned int j=0; j<filteredPolygons[oi].vertices.size(); ++j)
{
UASSERT(polygonToCoord[i] < textureMesh->tex_coordinates[t].size());
filteredCoordinates[ci] = textureMesh->tex_coordinates[t][polygonToCoord[i]+j];
++ci;
}
++oi;
}
++allPolygonsIndex;
}
filteredPolygons.resize(oi);
filteredCoordinates.resize(ci);
textureMesh->tex_polygons[t] = filteredPolygons;
textureMesh->tex_coordinates[t] = filteredCoordinates;
}
}
_progressDialog->appendText(tr("Filtered %1 polygons.").arg(allPolygons.size()-validPolygons.size()));
QApplication::processEvents();
totalSize+=textureMesh->tex_polygons[t].size();
}
util3d::cleanTextureMesh(*textureMesh, _ui->spinBox_mesh_minClusterSize->value());
unsigned int totalSizeAfter = 0;
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{
totalSizeAfter+=textureMesh->tex_polygons[t].size();
}
_progressDialog->appendText(tr("Cleaned texture mesh: %1 -> %2 polygons").arg(totalSize).arg(totalSizeAfter));
}
}