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

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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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11
guilib/src/MainWindow.cpp
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@@ -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