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CloudViewer: no need to save texture on disk before rendering TextureMesh (opencv image to vtk texture directly)

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This commit is contained in:
matlabbe
2017-01-30 21:23:56 -05:00
parent 31d8ae08c8
commit f61569622a
8 changed files with 285 additions and 342 deletions
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115
guilib/src/ExportCloudsDialog.cpp
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@@ -621,7 +621,6 @@ void ExportCloudsDialog::viewClouds(
window->resize(QDesktopWidget().availableGeometry(this).size() * 0.7);
CloudViewer * viewer = new CloudViewer(window);
viewer->setCameraLockZ(false);
if(_ui->comboBox_pipeline->currentIndex() == 0)
{
viewer->setBackfaceCulling(true, false);
@@ -644,19 +643,16 @@ void ExportCloudsDialog::viewClouds(
if(textureMeshes.size())
{
QString prefix = "tmp_textures";
removeDirRecursively(workingDirectory+QDir::separator()+prefix);
QDir(workingDirectory).mkdir(prefix);
for(std::map<int, pcl::TextureMesh::Ptr>::iterator iter = textureMeshes.begin(); iter!=textureMeshes.end(); ++iter)
for (std::map<int, pcl::TextureMesh::Ptr>::iterator iter = textureMeshes.begin(); iter != textureMeshes.end(); ++iter)
{
_progressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)...").arg(iter->first).arg(iter->second->tex_polygons.size()?iter->second->tex_polygons[0].size():0));
_progressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)...").arg(iter->first).arg(iter->second->tex_polygons.size() ? iter->second->tex_polygons[0].size() : 0));
_progressDialog->incrementStep();
pcl::TextureMesh::Ptr mesh = iter->second;
// As CloudViewer is not supporting more than one texture per mesh, merge them all by default
cv::Mat globalTexture;
if(mesh->tex_materials.size() > 1)
if (mesh->tex_materials.size() > 1)
{
globalTexture = mergeTextures(*mesh, cachedSignatures);
}
@@ -665,7 +661,7 @@ void ExportCloudsDialog::viewClouds(
// 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<mesh->tex_coordinates.size(); ++t)
for (unsigned int t = 0; t < mesh->tex_coordinates.size(); ++t)
{
UASSERT(mesh->tex_polygons[t].size());
@@ -674,15 +670,16 @@ void ExportCloudsDialog::viewClouds(
// make a cloud with as many points than polygon vertices
unsigned int nPoints = mesh->tex_coordinates[t].size();
UASSERT(nPoints== mesh->tex_polygons[t].size()*mesh->tex_polygons[t][0].vertices.size()); // assuming polygon size is constant!
UASSERT(nPoints == mesh->tex_polygons[t].size()*mesh->tex_polygons[t][0].vertices.size()); // assuming polygon size is constant!
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->resize(nPoints);
unsigned int oi=0;
for(unsigned int i=0; i<mesh->tex_polygons[t].size(); ++i)
unsigned int oi = 0;
for (unsigned int i = 0; i < mesh->tex_polygons[t].size(); ++i)
{
pcl::Vertices & vertices = mesh->tex_polygons[t][i];
for(unsigned int j=0; j<vertices.vertices.size(); ++j)
{
UASSERT(oi < cloud->size());
@@ -695,77 +692,23 @@ void ExportCloudsDialog::viewClouds(
pcl::toPCLPointCloud2(*cloud, mesh->cloud);
}
// save tmp textures
cv::Size imageSize;
for(unsigned int i=0;i<mesh->tex_materials.size(); ++i)
if (globalTexture.empty())
{
if(!mesh->tex_materials[i].tex_file.empty())
{
// absolute path
QString fullPath = workingDirectory+QDir::separator()+prefix+QDir::separator()+QString(mesh->tex_materials[i].tex_file.c_str())+_ui->comboBox_meshingTextureFormat->currentText();
if(!QFileInfo(fullPath).exists())
{
if(uIsInteger(mesh->tex_materials[i].tex_file, false))
{
int textureId = uStr2Int(mesh->tex_materials[i].tex_file);
UASSERT(cachedSignatures.contains(textureId) && !cachedSignatures.value(textureId).sensorData().imageCompressed().empty());
cv::Mat image;
cachedSignatures.value(textureId).sensorData().uncompressDataConst(&image, 0);
UASSERT(!image.empty());
imageSize = image.size();
if(_ui->groupBox_gain->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
{
_compensator->apply(textureId, image);
}
UASSERT(mesh->tex_materials.size()==1 &&
!mesh->tex_materials[0].tex_file.empty() &&
uIsInteger(mesh->tex_materials[0].tex_file, false));
if(!cv::imwrite(fullPath.toStdString(), image))
{
_progressDialog->appendText(tr("Failed saving texture \"%1\" to \"%2\".")
.arg(mesh->tex_materials[i].tex_file.c_str()).arg(fullPath), Qt::darkRed);
_progressDialog->setAutoClose(false);
}
}
else if(imageSize.height && imageSize.width)
{
// make a blank texture
cv::Mat image = cv::Mat::ones(imageSize, CV_8UC1)*255;
cv::imwrite(fullPath.toStdString(), image);
}
else if(!globalTexture.empty())
{
if(!cv::imwrite(fullPath.toStdString(), globalTexture))
{
_progressDialog->appendText(tr("Failed saving texture \"%1\" to \"%2\".")
.arg(mesh->tex_materials[i].tex_file.c_str()).arg(fullPath), Qt::darkRed);
_progressDialog->setAutoClose(false);
}
}
else
{
UWARN("Ignored texture %s (no image size set yet)", mesh->tex_materials[i].tex_file.c_str());
}
}
mesh->tex_materials[i].tex_file=fullPath.toStdString();
int textureId = uStr2Int(mesh->tex_materials[0].tex_file);
UASSERT(cachedSignatures.contains(textureId) && !cachedSignatures.value(textureId).sensorData().imageCompressed().empty());
cachedSignatures.value(textureId).sensorData().uncompressDataConst(&globalTexture, 0);
UASSERT(!globalTexture.empty());
if (_ui->groupBox_gain->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
{
_compensator->apply(textureId, globalTexture);
}
}
bool isRGB = false;
for(unsigned int i=0; i<mesh->cloud.fields.size(); ++i)
{
if(mesh->cloud.fields[i].name.compare("rgb") == 0)
{
isRGB=true;
break;
}
}
if(isRGB)
{
viewer->addCloudTextureMesh(uFormat("mesh%d",iter->first), mesh, iter->first>0?poses.at(iter->first):Transform::getIdentity());
}
else
{
viewer->addCloudTextureMesh(uFormat("mesh%d",iter->first), mesh, iter->first>0?poses.at(iter->first):Transform::getIdentity());
}
viewer->addCloudTextureMesh(uFormat("mesh%d",iter->first), mesh, globalTexture, iter->first>0?poses.at(iter->first):Transform::getIdentity());
_progressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)... done.").arg(iter->first).arg(mesh->tex_polygons.size()?mesh->tex_polygons[0].size():0));
QApplication::processEvents();
}
@@ -1038,7 +981,7 @@ bool ExportCloudsDialog::getExportedClouds(
.arg(assembledCloud->size())
.arg(_ui->doubleSpinBox_voxelSize_assembled->value()));
QApplication::processEvents();
int before = assembledCloud->size();
unsigned int before = assembledCloud->size();
assembledCloud = util3d::voxelize(
assembledCloud,
_ui->doubleSpinBox_voxelSize_assembled->value());
@@ -1221,7 +1164,7 @@ bool ExportCloudsDialog::getExportedClouds(
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
util3d::createPolygonIndexes(polygons,
iter->second->size(),
(int)iter->second->size(),
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
@@ -1237,7 +1180,7 @@ bool ExportCloudsDialog::getExportedClouds(
}
}
filteredPolygons.resize(oi);
int before = polygons.size();
int before = (int)polygons.size();
polygons = filteredPolygons;
if(oi == 0)
@@ -1575,7 +1518,7 @@ bool ExportCloudsDialog::getExportedClouds(
}
}
filteredPolygons.resize(oi);
int before = mesh->polygons.size();
int before = (int)mesh->polygons.size();
mesh->polygons = filteredPolygons;
_progressDialog->appendText(tr("Filtered %1 polygons.").arg(before-oi));
@@ -1665,7 +1608,7 @@ bool ExportCloudsDialog::getExportedClouds(
textureMesh->tex_coordinates.resize(1);
//tex_coordinates should be linked to polygon vertices
int polygonSize = textureMesh->tex_polygons[0][0].vertices.size();
int polygonSize = (int)textureMesh->tex_polygons[0][0].vertices.size();
textureMesh->tex_coordinates[0].resize(polygonSize*textureMesh->tex_polygons[0].size());
for(unsigned int i=0; i<textureMesh->tex_polygons[0].size(); ++i)
{
@@ -1723,7 +1666,7 @@ bool ExportCloudsDialog::getExportedClouds(
QApplication::processEvents();
// concatenate all polygons
int totalSize = 0;
unsigned int totalSize = 0;
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{
totalSize+=textureMesh->tex_polygons[t].size();
@@ -1742,7 +1685,7 @@ bool ExportCloudsDialog::getExportedClouds(
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
util3d::createPolygonIndexes(allPolygons,
textureMesh->cloud.data.size()/textureMesh->cloud.point_step,
(int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step,
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
@@ -2066,8 +2009,8 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
}
clouds.insert(std::make_pair(iter->first, std::make_pair(cloud, indices)));
points = cloud->size();
totalIndices = indices->size();
points = (int)cloud->size();
totalIndices = (int)indices->size();
}
}
else