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DBViewer: we can now add new links between disconnected maps using only lidar. Export: convert intensity to grayscale when exporting colored mesh.

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matlabbe
2019-11-23 17:58:40 -05:00
parent 85e7c9cf04
commit edee5acdbf
2 changed files with 85 additions and 16 deletions
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37
guilib/src/ExportCloudsDialog.cpp
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@@ -1179,6 +1179,7 @@ void ExportCloudsDialog::viewClouds(
else if(meshes.size())
{
viewer->setPolygonPicking(true);
viewer->setLighting(_ui->doubleSpinBox_transferColorRadius->value() < 0.0);
for(std::map<int, pcl::PolygonMesh::Ptr>::iterator iter = meshes.begin(); iter!=meshes.end(); ++iter)
{
_progressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)...").arg(iter->first).arg(iter->second->polygons.size()));
@@ -1272,7 +1273,7 @@ void ExportCloudsDialog::viewClouds(
viewer->addCloud(uFormat("cloud%d",iter->first), iter->second, iter->first>0?poses.at(iter->first):Transform::getIdentity());
}
viewer->setCloudPointSize(uFormat("cloud%d",iter->first), 2);
viewer->setCloudPointSize(uFormat("cloud%d",iter->first), 1);
_progressDialog->appendText(tr("Viewing the cloud %1 (%2 points)... done.").arg(iter->first).arg(iter->second->size()));
}
}
@@ -2358,6 +2359,40 @@ bool ExportCloudsDialog::getExportedClouds(
if(mesh->polygons.size()>0)
{
TexturingState texturingState(_progressDialog, false);
if(!_ui->checkBox_fromDepth->isChecked())
{
// When laser scans are exported, convert Intensity to GrayScale
int maxIntensity = 1;
// first: get max intensity
for(size_t i=0; i<iter->second->size(); ++i)
{
int intensity =
int(iter->second->points[i].r) |
int(iter->second->points[i].g) << 8 |
int(iter->second->points[i].b) << 16 |
int(iter->second->points[i].a) << 24;
if(intensity > maxIntensity)
{
maxIntensity = intensity;
}
}
// second: convert to grayscale
for(size_t i=0; i<iter->second->size(); ++i)
{
int intensity =
int(iter->second->points[i].r) |
int(iter->second->points[i].g) << 8 |
int(iter->second->points[i].b) << 16 |
int(iter->second->points[i].a) << 24;
intensity = intensity*255/maxIntensity;
iter->second->points[i].r = (unsigned char)intensity;
iter->second->points[i].g = (unsigned char)intensity;
iter->second->points[i].b = (unsigned char)intensity;
iter->second->points[i].a = (unsigned char)255;
}
}
util3d::denseMeshPostProcessing<pcl::PointXYZRGBNormal>(
mesh,
_ui->doubleSpinBox_meshDecimationFactor->isEnabled()?(float)_ui->doubleSpinBox_meshDecimationFactor->value():0.0f,