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Tango: added min texture cluster size option

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This commit is contained in:
matlabbe
2017-03-04 19:34:40 -05:00
parent e003fb8d35
commit d927b82020
11 changed files with 92 additions and 55 deletions
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76
corelib/src/pcl18/surface/impl/texture_mapping.hpp
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@@ -1193,51 +1193,49 @@ pcl::TextureMapping<PointInT>::textureMeshwithMultipleCameras2 (
// filter clusters
int clusterFaces = 0;
if(min_cluster_size_>0)
std::vector<pcl::Vertices> polygons(visibleFaces[current_cam].size());
std::vector<int> polygon_to_face_index(visibleFaces[current_cam].size());
oi =0;
for(std::map<int, FaceInfo>::iterator iter=visibleFaces[current_cam].begin(); iter!=visibleFaces[current_cam].end(); ++iter)
{
std::vector<pcl::Vertices> polygons(visibleFaces[current_cam].size());
std::vector<int> polygon_to_face_index(visibleFaces[current_cam].size());
oi =0;
for(std::map<int, FaceInfo>::iterator iter=visibleFaces[current_cam].begin(); iter!=visibleFaces[current_cam].end(); ++iter)
{
polygons[oi].vertices.resize(3);
polygons[oi].vertices[0] = faces[iter->first].vertices[0];
polygons[oi].vertices[1] = faces[iter->first].vertices[1];
polygons[oi].vertices[2] = faces[iter->first].vertices[2];
polygon_to_face_index[oi] = iter->first;
++oi;
}
polygons[oi].vertices.resize(3);
polygons[oi].vertices[0] = faces[iter->first].vertices[0];
polygons[oi].vertices[1] = faces[iter->first].vertices[1];
polygons[oi].vertices[2] = faces[iter->first].vertices[2];
polygon_to_face_index[oi] = iter->first;
++oi;
}
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
rtabmap::util3d::createPolygonIndexes(polygons,
(int)camera_cloud->size(),
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = rtabmap::util3d::clusterPolygons(
neighbors,
min_cluster_size_);
std::set<int> polygonsKept;
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
rtabmap::util3d::createPolygonIndexes(polygons,
(int)camera_cloud->size(),
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = rtabmap::util3d::clusterPolygons(
neighbors,
min_cluster_size_);
std::set<int> polygonsKept;
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)
{
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
{
polygonsKept.insert(polygon_to_face_index[*jter]);
faceCameras[polygon_to_face_index[*jter]].push_back(current_cam);
}
polygonsKept.insert(polygon_to_face_index[*jter]);
faceCameras[polygon_to_face_index[*jter]].push_back(current_cam);
}
}
for(std::map<int, FaceInfo>::iterator iter=visibleFaces[current_cam].begin(); iter!=visibleFaces[current_cam].end();)
for(std::map<int, FaceInfo>::iterator iter=visibleFaces[current_cam].begin(); iter!=visibleFaces[current_cam].end();)
{
if(polygonsKept.find(iter->first) == polygonsKept.end())
{
if(polygonsKept.find(iter->first) == polygonsKept.end())
{
visibleFaces[current_cam].erase(iter++);
++clusterFaces;
}
else
{
++iter;
}
visibleFaces[current_cam].erase(iter++);
++clusterFaces;
}
else
{
++iter;
}
}