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API achange (0.11.8): computeNormals returns only pcl::Normal cloud, not pcl::PointNormal or pcl::PointXYZRGBNormal types. MainWindow: Normals are not kept in cache to save RAM. ProgressDialog: check if auto-close is still checked when close() slot is called.

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This commit is contained in:
matlabbe
2016-06-12 13:51:49 -04:00
parent 9f296c67b2
commit cb7c76889d
19 changed files with 342 additions and 287 deletions
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148
guilib/src/ExportCloudsDialog.cpp
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@@ -243,7 +243,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
void ExportCloudsDialog::restoreDefaults()
{
_ui->checkBox_binary->setChecked(true);
_ui->spinBox_normalKSearch->setValue(6);
_ui->spinBox_normalKSearch->setValue(10);
_ui->groupBox_regenerate->setChecked(false);
_ui->spinBox_decimation->setValue(1);
@@ -259,7 +259,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->groupBox_subtraction->setChecked(false);
_ui->doubleSpinBox_subtractPointFilteringRadius->setValue(0.02);
_ui->doubleSpinBox_subtractPointFilteringAngle->setValue(45.0);
_ui->doubleSpinBox_subtractPointFilteringAngle->setValue(0);
_ui->spinBox_subtractFilteringMinPts->setValue(5);
_ui->groupBox_mls->setChecked(false);
@@ -336,7 +336,7 @@ void ExportCloudsDialog::exportClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters)
{
@@ -388,7 +388,7 @@ void ExportCloudsDialog::viewClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters)
{
@@ -519,7 +519,7 @@ bool ExportCloudsDialog::getExportedClouds(
const std::map<int, Transform> & poses,
const std::map<int, int> & mapIds,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const QString & workingDirectory,
const ParametersMap & parameters,
std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & cloudsWithNormals,
@@ -701,81 +701,87 @@ bool ExportCloudsDialog::getExportedClouds(
iter!= cloudsWithNormals.end();
++iter)
{
UASSERT(iter->second->isOrganized());
if(iter->second->size())
if(iter->second->isOrganized())
{
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(cachedSignatures.contains(iter->first))
if(iter->second->size())
{
const SensorData & data = cachedSignatures.find(iter->first)->sensorData();
if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(cachedSignatures.contains(iter->first))
{
viewpoint[0] = data.cameraModels()[0].localTransform().x();
viewpoint[1] = data.cameraModels()[0].localTransform().y();
viewpoint[2] = data.cameraModels()[0].localTransform().z();
const SensorData & data = cachedSignatures.find(iter->first)->sensorData();
if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
{
viewpoint[0] = data.cameraModels()[0].localTransform().x();
viewpoint[1] = data.cameraModels()[0].localTransform().y();
viewpoint[2] = data.cameraModels()[0].localTransform().z();
}
else if(!data.stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
}
else if(!data.stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
}
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
iter->second,
_ui->doubleSpinBox_mesh_angleTolerance->value()*M_PI/180.0,
_ui->checkBox_mesh_quad->isEnabled() && _ui->checkBox_mesh_quad->isChecked(),
_ui->spinBox_mesh_triangleSize->value(),
viewpoint);
_progressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(polygons.size()).arg(++i).arg(clouds.size()));
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
iter->second,
_ui->doubleSpinBox_mesh_angleTolerance->value()*M_PI/180.0,
_ui->checkBox_mesh_quad->isEnabled() && _ui->checkBox_mesh_quad->isChecked(),
_ui->spinBox_mesh_triangleSize->value(),
viewpoint);
_progressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(polygons.size()).arg(++i).arg(clouds.size()));
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::vector<pcl::Vertices> densePolygons;
std::map<int, int> newToOldIndices = util3d::filterNotUsedVerticesFromMesh(*iter->second, polygons, *denseCloud, densePolygons);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
std::vector<pcl::Vertices> densePolygons;
std::map<int, int> newToOldIndices = util3d::filterNotUsedVerticesFromMesh(*iter->second, polygons, *denseCloud, densePolygons);
if(!_ui->checkBox_assemble->isChecked() ||
(_ui->checkBox_textureMapping->isEnabled() &&
_ui->checkBox_textureMapping->isChecked() &&
_ui->doubleSpinBox_voxelSize_assembled->value() == 0.0)) // don't assemble now if we are texturing
{
if(_ui->checkBox_assemble->isChecked())
if(!_ui->checkBox_assemble->isChecked() ||
(_ui->checkBox_textureMapping->isEnabled() &&
_ui->checkBox_textureMapping->isChecked() &&
_ui->doubleSpinBox_voxelSize_assembled->value() == 0.0)) // don't assemble now if we are texturing
{
denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
}
if(_ui->checkBox_assemble->isChecked())
{
denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
}
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*denseCloud, mesh->cloud);
mesh->polygons = densePolygons;
if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
{
int count = mesh->polygons.size();
mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
pcl::toPCLPointCloud2(*denseCloud, mesh->cloud);
mesh->polygons = densePolygons;
if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
{
int count = mesh->polygons.size();
mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
}
else
{
organizedIndices.insert(std::make_pair(iter->first, std::make_pair(newToOldIndices, std::make_pair(iter->second->width, iter->second->height))));
}
meshes.insert(std::make_pair(iter->first, mesh));
}
else
{
organizedIndices.insert(std::make_pair(iter->first, std::make_pair(newToOldIndices, std::make_pair(iter->second->width, iter->second->height))));
denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
if(mergedClouds->size() == 0)
{
*mergedClouds = *denseCloud;
mergedPolygons = densePolygons;
}
else
{
util3d::appendMesh(*mergedClouds, mergedPolygons, *denseCloud, densePolygons);
}
}
meshes.insert(std::make_pair(iter->first, mesh));
}
else
{
denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
if(mergedClouds->size() == 0)
{
*mergedClouds = *denseCloud;
mergedPolygons = densePolygons;
}
else
{
util3d::appendMesh(*mergedClouds, mergedPolygons, *denseCloud, densePolygons);
}
_progressDialog->appendText(tr("Mesh %1 not created (no valid points) (%2/%3).").arg(iter->first).arg(++i).arg(clouds.size()));
}
}
else
{
_progressDialog->appendText(tr("Mesh %1 not created (no valid points) (%2/%3).").arg(iter->first).arg(++i).arg(clouds.size()));
_progressDialog->appendText(tr("Mesh %1 not created (cloud is not organized). You may want to check cloud regeneration option (%2/%3).").arg(iter->first).arg(++i).arg(clouds.size()));
}
_progressDialog->incrementStep();
@@ -1012,7 +1018,7 @@ bool ExportCloudsDialog::getExportedClouds(
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > ExportCloudsDialog::getClouds(
const std::map<int, Transform> & poses,
const QMap<int, Signature> & cachedSignatures,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & createdClouds,
const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> > & createdClouds,
const ParametersMap & parameters) const
{
std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > clouds;
@@ -1059,9 +1065,8 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
}
}
cloud = util3d::computeNormals(
cloudWithoutNormals,
_ui->spinBox_normalKSearch->value());
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value());
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
if(_ui->groupBox_subtraction->isChecked() &&
_ui->doubleSpinBox_subtractPointFilteringRadius->value() > 0.0)
@@ -1114,24 +1119,29 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
}
else if(uContains(createdClouds, iter->first))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
if(!_ui->groupBox_meshing->isChecked() &&
_ui->doubleSpinBox_voxelSize_assembled->value() > 0.0)
{
cloud = util3d::voxelize(
cloudWithoutNormals = util3d::voxelize(
createdClouds.at(iter->first).first,
createdClouds.at(iter->first).second,
_ui->doubleSpinBox_voxelSize_assembled->value());
//generate indices for all points (they are all valid)
indices->resize(cloud->size());
for(unsigned int i=0; i<cloud->size(); ++i)
indices->resize(cloudWithoutNormals->size());
for(unsigned int i=0; i<cloudWithoutNormals->size(); ++i)
{
indices->at(i) = i;
}
}
else
{
cloud = createdClouds.at(iter->first).first;
cloudWithoutNormals = createdClouds.at(iter->first).first;
indices = createdClouds.at(iter->first).second;
}
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value());
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
}
if(indices->size())