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Tango: Optimized memory for created meshes (keeping dense clouds instead of organized clouds)

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This commit is contained in:
matlabbe
2016-09-07 19:59:25 -04:00
parent 4a072b3dfc
commit d3173d8533
13 changed files with 255 additions and 153 deletions
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18
guilib/src/ExportCloudsDialog.cpp
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@@ -835,7 +835,7 @@ bool ExportCloudsDialog::getExportedClouds(
}
//used for organized texturing below
std::map<int, std::map<int, int> > organizedIndices;
std::map<int, std::vector<int> > organizedIndices;
std::map<int, cv::Size> organizedCloudSizes;
//mesh
@@ -913,7 +913,7 @@ bool ExportCloudsDialog::getExportedClouds(
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);
std::vector<int> denseToOrganizedIndices = util3d::filterNotUsedVerticesFromMesh(*iter->second, polygons, *denseCloud, densePolygons);
if(!_ui->checkBox_assemble->isChecked() ||
(_ui->checkBox_textureMapping->isEnabled() &&
@@ -937,7 +937,7 @@ bool ExportCloudsDialog::getExportedClouds(
}
else
{
organizedIndices.insert(std::make_pair(iter->first, newToOldIndices));
organizedIndices.insert(std::make_pair(iter->first, denseToOrganizedIndices));
organizedCloudSizes.insert(std::make_pair(iter->first, cv::Size(iter->second->width, iter->second->height)));
}
meshes.insert(std::make_pair(iter->first, mesh));
@@ -1136,7 +1136,7 @@ bool ExportCloudsDialog::getExportedClouds(
if(cameraPoses.size())
{
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
std::map<int, std::map<int, int> >::iterator oter = organizedIndices.find(iter->first);
std::map<int, std::vector<int> >::iterator oter = organizedIndices.find(iter->first);
std::map<int, cv::Size>::iterator ster = organizedCloudSizes.find(iter->first);
if(iter->first != 0 && oter != organizedIndices.end())
{
@@ -1162,9 +1162,8 @@ bool ExportCloudsDialog::getExportedClouds(
for(int k=0; k<polygonSize; ++k)
{
//uv
std::map<int, int>::iterator vter = oter->second.find(vertices.vertices[k]);
UASSERT(vter != oter->second.end());
int originalVertex = vter->second;
UASSERT(vertices.vertices[k] < oter->second.size());
int originalVertex = oter->second[vertices.vertices[k]];
textureMesh->tex_coordinates[0][i*polygonSize+k] = Eigen::Vector2f(
float(originalVertex % w) / float(w), // u
float(h - originalVertex / w) / float(h)); // v
@@ -1178,9 +1177,8 @@ bool ExportCloudsDialog::getExportedClouds(
for(int i=0; i<nPoints; ++i)
{
//uv
std::map<int, int>::iterator vter = oter->second.find(i);
UASSERT(vter != oter->second.end());
int originalVertex = vter->second;
UASSERT(i < oter->second.size());
int originalVertex = oter->second[i];
textureMesh->tex_coordinates[0][i] = Eigen::Vector2f(
float(originalVertex % w) / float(w), // u
float(h - originalVertex / w) / float(h)); // v

11
guilib/src/MainWindow.cpp
View File

@@ -2632,7 +2632,7 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
// remove unused vertices to save memory
pcl::PointCloud<pcl::PointXYZRGB>::Ptr outputFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
std::vector<pcl::Vertices> outputPolygons;
std::map<int, int> newToOldIndices = util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons);
std::vector<int> denseToOrganizedIndices = util3d::filterNotUsedVerticesFromMesh(*output, polygons, *outputFiltered, outputPolygons);
if(_preferencesDialog->isCloudMeshingTexture() && !image.empty())
{
@@ -2643,14 +2643,13 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
int h = cloud->height;
UASSERT(w > 1 && h > 1);
textureMesh->tex_coordinates.resize(1);
int nPoints = textureMesh->cloud.data.size()/textureMesh->cloud.point_step;
unsigned int nPoints = outputFiltered->size();
textureMesh->tex_coordinates[0].resize(nPoints);
for(int i=0; i<nPoints; ++i)
for(unsigned int i=0; i<nPoints; ++i)
{
//uv
std::map<int, int>::iterator vter = newToOldIndices.find(i);
UASSERT(vter != newToOldIndices.end());
int originalVertex = vter->second;
UASSERT(i < denseToOrganizedIndices.size());
int originalVertex = denseToOrganizedIndices[i];
textureMesh->tex_coordinates[0][i] = Eigen::Vector2f(
float(originalVertex % w) / float(w), // u
float(h - originalVertex / w) / float(h)); // v