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

guilib/include/rtabmap/gui/CloudViewer.h

@@ -247,6 +247,7 @@ public:
 	void setBackfaceCulling(bool enabled, bool frontfaceCulling);
 	void setRenderingRate(double rate);
 	void setLighting(bool on);
+	void setShading(bool on);
 	void setEdgeVisibility(bool visible);
 	double getRenderingRate() const;
 
@@ -318,6 +319,7 @@ private:
     QAction * _aSetBackgroundColor;
     QAction * _aSetRenderingRate;
     QAction * _aSetLighting;
+    QAction * _aSetFlatShading;
     QAction * _aSetEdgeVisibility;
     QAction * _aBackfaceCulling;
     QMenu * _menu;

guilib/src/CloudViewer.cpp

@@ -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());

guilib/src/ExportCloudsDialog.cpp

@@ -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();
@@ -1187,8 +1189,34 @@ 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());
+								if(_ui->spinBox_mesh_minClusterSize->value() < 0)
+								{
+									// 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)
+									{
+										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);
+									}
+								}
+								else
+								{
 									int oi=0;
 									for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
 									{
@@ -1198,17 +1226,18 @@ bool ExportCloudsDialog::getExportedClouds(
 										}
 									}
 									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;
+						if(_ui->spinBox_mesh_minClusterSize->value() < 0)
-						for(std::list<std::list<int> >::iterator kter=clusters.begin(); kter!=clusters.end(); ++kter)
 						{
-							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)
+							{
+								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);
+							}
+						}
+						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)
+									{
+										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());

guilib/src/ui/exportCloudsDialog.ui

@@ -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>