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Export: for min polygon cluster size, added option -1 to just keep the largest cluster

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This commit is contained in:
matlabbe
2017-02-04 18:28:43 -05:00
parent 5c44082c42
commit ce8bd9ac40
4 changed files with 140 additions and 27 deletions
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25
guilib/src/CloudViewer.cpp
View File

@@ -193,6 +193,7 @@ CloudViewer::CloudViewer(QWidget *parent) :
_aSetBackgroundColor(0),
_aSetRenderingRate(0),
_aSetLighting(0),
_aSetFlatShading(0),
_aSetEdgeVisibility(0),
_aBackfaceCulling(0),
_menu(0),
@@ -314,6 +315,9 @@ void CloudViewer::createMenu()
_aSetLighting = new QAction("Lighting", this);
_aSetLighting->setCheckable(true);
_aSetLighting->setChecked(false);
_aSetFlatShading = new QAction("Flat Shading", this);
_aSetFlatShading->setCheckable(true);
_aSetFlatShading->setChecked(true);
_aSetEdgeVisibility = new QAction("Show edges", this);
_aSetEdgeVisibility->setCheckable(true);
_aSetEdgeVisibility->setChecked(false);
@@ -357,6 +361,7 @@ void CloudViewer::createMenu()
_menu->addAction(_aSetBackgroundColor);
_menu->addAction(_aSetRenderingRate);
_menu->addAction(_aSetLighting);
_menu->addAction(_aSetFlatShading);
_menu->addAction(_aSetEdgeVisibility);
_menu->addAction(_aBackfaceCulling);
}
@@ -621,6 +626,7 @@ bool CloudViewer::addCloudMesh(
if(_visualizer->addPolygonMesh<pcl::PointXYZ>(cloud, polygons, id))
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
@@ -646,6 +652,7 @@ bool CloudViewer::addCloudMesh(
if(_visualizer->addPolygonMesh<pcl::PointXYZRGB>(cloud, polygons, id))
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
@@ -671,6 +678,7 @@ bool CloudViewer::addCloudMesh(
if(_visualizer->addPolygonMesh<pcl::PointXYZRGBNormal>(cloud, polygons, id))
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
@@ -721,6 +729,7 @@ bool CloudViewer::addCloudTextureMesh(
if(this->addTextureMesh(*textureMesh, texture, id))
{
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
@@ -1007,6 +1016,7 @@ bool CloudViewer::addTextureMesh (
(*_visualizer->getCloudActorMap())[id].viewpoint_transformation_ = transformation;
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetEdgeVisibility(_aSetEdgeVisibility->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetBackfaceCulling(_aBackfaceCulling->isChecked());
_visualizer->getCloudActorMap()->find(id)->second.actor->GetProperty()->SetFrontfaceCulling(_frontfaceCulling);
@@ -1614,6 +1624,17 @@ void CloudViewer::setLighting(bool on)
this->update();
}
void CloudViewer::setShading(bool on)
{
_aSetFlatShading->setChecked(on);
pcl::visualization::CloudActorMapPtr cloudActorMap = _visualizer->getCloudActorMap();
for(pcl::visualization::CloudActorMap::iterator iter=cloudActorMap->begin(); iter!=cloudActorMap->end(); ++iter)
{
iter->second.actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG); // VTK_FLAT - VTK_GOURAUD - VTK_PHONG
}
this->update();
}
void CloudViewer::setEdgeVisibility(bool visible)
{
_aSetEdgeVisibility->setChecked(visible);
@@ -2363,6 +2384,10 @@ void CloudViewer::handleAction(QAction * a)
{
this->setLighting(_aSetLighting->isChecked());
}
else if(a == _aSetFlatShading)
{
this->setShading(_aSetFlatShading->isChecked());
}
else if(a == _aSetEdgeVisibility)
{
this->setEdgeVisibility(_aSetEdgeVisibility->isChecked());

129
guilib/src/ExportCloudsDialog.cpp
View File

@@ -136,6 +136,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_transferColorRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_cleanMesh, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_mesh_minClusterSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->comboBox_meshingTextureFormat, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
@@ -369,7 +370,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
void ExportCloudsDialog::restoreDefaults()
{
_ui->comboBox_pipeline->setCurrentIndex(0);
_ui->comboBox_pipeline->setCurrentIndex(1);
_ui->checkBox_binary->setChecked(true);
_ui->spinBox_normalKSearch->setValue(10);
@@ -421,12 +422,13 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_meshDecimationFactor->setValue(0.0);
_ui->doubleSpinBox_transferColorRadius->setValue(0.0);
_ui->checkBox_cleanMesh->setChecked(true);
_ui->spinBox_mesh_minClusterSize->setValue(0);
_ui->comboBox_meshingApproach->setCurrentIndex(1);
_ui->checkBox_textureMapping->setChecked(false);
_ui->comboBox_meshingTextureFormat->setCurrentIndex(0);
_ui->comboBox_meshingTextureSize->setCurrentIndex(4); // 2048
_ui->comboBox_meshingTextureSize->setCurrentIndex(5); // 4096
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(3.0);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
@@ -472,7 +474,7 @@ void ExportCloudsDialog::updateReconstructionFlavor()
_ui->doubleSpinBox_meshDecimationFactor->value()!=0.0 ||
_ui->checkBox_textureMapping->isChecked());
_ui->spinBox_mesh_minClusterSize->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->checkBox_cleanMesh->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->label_meshClean->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
}
}
@@ -1173,7 +1175,7 @@ bool ExportCloudsDialog::getExportedClouds(
_ui->spinBox_mesh_triangleSize->value(),
viewpoint);
if(_ui->spinBox_mesh_minClusterSize->value())
if(_ui->spinBox_mesh_minClusterSize->value() != 0)
{
_progressDialog->appendText(tr("Filter small polygon clusters..."));
QApplication::processEvents();
@@ -1187,28 +1189,55 @@ bool ExportCloudsDialog::getExportedClouds(
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
neighbors,
_ui->spinBox_mesh_minClusterSize->value());
_ui->spinBox_mesh_minClusterSize->value()<0?0:_ui->spinBox_mesh_minClusterSize->value());
std::vector<pcl::Vertices> filteredPolygons(polygons.size());
int oi=0;
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
if(_ui->spinBox_mesh_minClusterSize->value() < 0)
{
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
// 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)
{
filteredPolygons[oi++] = polygons.at(*jter);
if(iter->size() > biggestClusterSize)
{
biggestClusterIndex = iter;
biggestClusterSize = iter->size();
}
}
if(biggestClusterIndex != clusters.end())
{
int oi=0;
for(std::list<int>::iterator jter=biggestClusterIndex->begin(); jter!=biggestClusterIndex->end(); ++jter)
{
filteredPolygons[oi++] = polygons.at(*jter);
}
filteredPolygons.resize(oi);
}
}
filteredPolygons.resize(oi);
else
{
int oi=0;
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)
{
filteredPolygons[oi++] = polygons.at(*jter);
}
}
filteredPolygons.resize(oi);
}
int before = (int)polygons.size();
polygons = filteredPolygons;
if(oi == 0)
if(polygons.size() == 0)
{
std::string msg = uFormat("All %d polygons filtered after polygon cluster filtering. Cluster minimum size is %d.", before, _ui->spinBox_mesh_minClusterSize->value());
_progressDialog->appendText(msg.c_str());
UWARN(msg.c_str());
}
_progressDialog->appendText(tr("Filtered %1 polygons.").arg(before-oi));
_progressDialog->appendText(tr("Filtered %1 polygons.").arg(before-(int)polygons.size()));
QApplication::processEvents();
}
@@ -1525,21 +1554,49 @@ bool ExportCloudsDialog::getExportedClouds(
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
neighbors,
_ui->spinBox_mesh_minClusterSize->value());
_ui->spinBox_mesh_minClusterSize->value()<0?0:_ui->spinBox_mesh_minClusterSize->value());
std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
int oi=0;
for(std::list<std::list<int> >::iterator kter=clusters.begin(); kter!=clusters.end(); ++kter)
if(_ui->spinBox_mesh_minClusterSize->value() < 0)
{
for(std::list<int>::iterator jter=kter->begin(); jter!=kter->end(); ++jter)
// 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)
{
filteredPolygons[oi++] = mesh->polygons.at(*jter);
if(iter->size() > biggestClusterSize)
{
biggestClusterIndex = iter;
biggestClusterSize = iter->size();
}
}
if(biggestClusterIndex != clusters.end())
{
int oi=0;
for(std::list<int>::iterator jter=biggestClusterIndex->begin(); jter!=biggestClusterIndex->end(); ++jter)
{
filteredPolygons[oi++] = mesh->polygons.at(*jter);
}
filteredPolygons.resize(oi);
}
}
filteredPolygons.resize(oi);
else
{
int oi=0;
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)
{
filteredPolygons[oi++] = mesh->polygons.at(*jter);
}
}
filteredPolygons.resize(oi);
}
int before = (int)mesh->polygons.size();
mesh->polygons = filteredPolygons;
_progressDialog->appendText(tr("Filtered %1 polygons.").arg(before-oi));
_progressDialog->appendText(tr("Filtered %1 polygons.").arg(before-(int)mesh->polygons.size()));
QApplication::processEvents();
}
@@ -1706,18 +1763,44 @@ bool ExportCloudsDialog::getExportedClouds(
(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());
_ui->spinBox_mesh_minClusterSize->value()<0?0:_ui->spinBox_mesh_minClusterSize->value());
std::set<int> validPolygons;
for(std::list<std::list<int> >::iterator kter=clusters.begin(); kter!=clusters.end(); ++kter)
if(_ui->spinBox_mesh_minClusterSize->value() < 0)
{
for(std::list<int>::iterator jter=kter->begin(); jter!=kter->end(); ++jter)
// 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)
{
validPolygons.insert(*jter);
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());

11
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,7 +23,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1504</y>
<y>-1643</y>
<width>773</width>
<height>2810</height>
</rect>
@@ -1107,8 +1107,11 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>999</number>
<number>99999</number>
</property>
</widget>
</item>
@@ -1261,7 +1264,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<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>
<string>Transferring color radius. 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>
@@ -1317,7 +1320,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<item row="8" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Minimum polygon cluster size.</string>
<string>Minimum polygon cluster size (-1 means that only the biggest cluster is kept).</string>
</property>
</widget>
</item>