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Added util3d::fixTextureMeshForVisualization()

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matlabbe
2018-04-16 17:50:00 -04:00
parent bfce5cceb5
commit f13e384a1b
2 changed files with 41 additions and 0 deletions
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2
corelib/include/rtabmap/core/util3d_surface.h
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@@ -231,6 +231,8 @@ cv::Mat RTABMAP_EXP mergeTextures(
bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3 bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
const ProgressState * state = 0); const ProgressState * state = 0);
void RTABMAP_EXP fixTextureMeshForVisualization(pcl::TextureMesh & textureMesh);
cv::Mat RTABMAP_EXP computeNormals( cv::Mat RTABMAP_EXP computeNormals(
const cv::Mat & laserScan, const cv::Mat & laserScan,
int searchK, int searchK,

39
corelib/src/util3d_surface.cpp
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@@ -2043,6 +2043,45 @@ cv::Mat mergeTextures(
return globalTextures; return globalTextures;
} }
void fixTextureMeshForVisualization(pcl::TextureMesh & textureMesh)
{
// VTK issue:
// tex_coordinates should be linked to points, not
// polygon vertices. Points linked to multiple different TCoords (different textures) should
// be duplicated.
for (unsigned int t = 0; t < textureMesh.tex_coordinates.size(); ++t)
{
if(textureMesh.tex_polygons[t].size())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr originalCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(textureMesh.cloud, *originalCloud);
// make a cloud with as many points than polygon vertices
unsigned int nPoints = textureMesh.tex_coordinates[t].size();
UASSERT(nPoints == textureMesh.tex_polygons[t].size()*textureMesh.tex_polygons[t][0].vertices.size()); // assuming polygon size is constant!
pcl::PointCloud<pcl::PointXYZ>::Ptr newCloud(new pcl::PointCloud<pcl::PointXYZ>);
newCloud->resize(nPoints);
unsigned int oi = 0;
for (unsigned int i = 0; i < textureMesh.tex_polygons[t].size(); ++i)
{
pcl::Vertices & vertices = textureMesh.tex_polygons[t][i];
for(unsigned int j=0; j<vertices.vertices.size(); ++j)
{
UASSERT(oi < newCloud->size());
UASSERT_MSG(vertices.vertices[j] < originalCloud->size(), uFormat("%d vs %d", vertices.vertices[j], (int)originalCloud->size()).c_str());
newCloud->at(oi) = originalCloud->at(vertices.vertices[j]);
vertices.vertices[j] = oi; // new vertex index
++oi;
}
}
pcl::toPCLPointCloud2(*newCloud, textureMesh.cloud);
}
}
}
LaserScan computeNormals( LaserScan computeNormals(
const LaserScan & laserScan, const LaserScan & laserScan,
int searchK, int searchK,