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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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129
guilib/src/ExportCloudsDialog.cpp
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@@ -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());