i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tango: added progression bar when exporting, averaging colors in color radius when exporting without texture

Browse Source
This commit is contained in:
matlabbe
2017-02-28 21:50:50 -05:00
parent b76952f016
commit c9f6dabfc6
20 changed files with 776 additions and 268 deletions
Download Patch File Download Diff File Expand all files Collapse all files

42
guilib/src/ExportCloudsDialog.cpp
View File

@@ -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(0.05);
_ui->doubleSpinBox_transferColorRadius->setValue(0.025);
_ui->checkBox_cleanMesh->setChecked(true);
_ui->spinBox_mesh_minClusterSize->setValue(0);
@@ -1408,10 +1408,22 @@ bool ExportCloudsDialog::getExportedClouds(
}
if(kIndices.size())
{
coloredCloud->at(i).r = mergedClouds->at(kIndices[0]).r;
coloredCloud->at(i).g = mergedClouds->at(kIndices[0]).g;
coloredCloud->at(i).b = mergedClouds->at(kIndices[0]).b;
coloredCloud->at(i).a = mergedClouds->at(kIndices[0]).a;
//compute average color
int r=0;
int g=0;
int b=0;
int a=0;
for(unsigned int j=0; j<kIndices.size(); ++j)
{
r+=(int)mergedClouds->at(kIndices[j]).r;
g+=(int)mergedClouds->at(kIndices[j]).g;
b+=(int)mergedClouds->at(kIndices[j]).b;
a+=(int)mergedClouds->at(kIndices[j]).a;
}
coloredCloud->at(i).r = r/kIndices.size();
coloredCloud->at(i).g = g/kIndices.size();
coloredCloud->at(i).b = b/kIndices.size();
coloredCloud->at(i).a = a/kIndices.size();
}
else
{
@@ -1529,10 +1541,22 @@ bool ExportCloudsDialog::getExportedClouds(
}
if(kIndices.size())
{
coloredCloud->at(i).r = iter->second->at(kIndices[0]).r;
coloredCloud->at(i).g = iter->second->at(kIndices[0]).g;
coloredCloud->at(i).b = iter->second->at(kIndices[0]).b;
coloredCloud->at(i).a = iter->second->at(kIndices[0]).a;
//compute average color
int r=0;
int g=0;
int b=0;
int a=0;
for(unsigned int j=0; j<kIndices.size(); ++j)
{
r+=(int)iter->second->at(kIndices[j]).r;
g+=(int)iter->second->at(kIndices[j]).g;
b+=(int)iter->second->at(kIndices[j]).b;
a+=(int)iter->second->at(kIndices[j]).a;
}
coloredCloud->at(i).r = r/kIndices.size();
coloredCloud->at(i).g = g/kIndices.size();
coloredCloud->at(i).b = b/kIndices.size();
coloredCloud->at(i).a = a/kIndices.size();
coloredPts.at(i) = true;
}
else