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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
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@@ -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());