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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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38
guilib/src/MainWindow.cpp
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@@ -519,7 +519,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->statsToolBox->setNewFigureMaxItems(50);
_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_cloudViewer->setBackfaceCulling(true, false);
_preferencesDialog->loadWidgetState(_cloudViewer);
@@ -1017,25 +1016,10 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
mesh_material.tex_illum = 1;
mesh_material.tex_name = "material_odom";
QDir dir(_preferencesDialog->getWorkingDirectory());
ExportCloudsDialog::removeDirRecursively(_preferencesDialog->getWorkingDirectory()+QDir::separator()+"tmp_textures");
dir.mkdir("tmp_textures");
std::string tmpDirectory = dir.filePath("tmp_textures").toStdString();
mesh_material.tex_file = uFormat("%s/%s.png", tmpDirectory.c_str(), "texture_odom");
if(!cv::imwrite(mesh_material.tex_file, odom.data().imageRaw()))
{
UERROR("Cannot save texture of image odom");
}
else
{
UINFO("Saved temporary texture: \"%s\"", mesh_material.tex_file.c_str());
}
mesh_material.tex_file = "";
textureMesh->tex_materials.push_back(mesh_material);
if(!_cloudViewer->addCloudTextureMesh("cloudOdom", textureMesh, _odometryCorrection))
if(!_cloudViewer->addCloudTextureMesh("cloudOdom", textureMesh, odom.data().imageRaw(), _odometryCorrection))
{
UERROR("Adding cloudOdom to viewer failed!");
}
@@ -2613,28 +2597,15 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
tex_name << "material_" << nodeId;
tex_name >> mesh_material.tex_name;
QDir dir(_preferencesDialog->getWorkingDirectory());
ExportCloudsDialog::removeDirRecursively(_preferencesDialog->getWorkingDirectory()+QDir::separator()+"tmp_textures");
dir.mkdir("tmp_textures");
std::string tmpDirectory = dir.filePath("tmp_textures").toStdString();
mesh_material.tex_file = uFormat("%s/%s%d.png", tmpDirectory.c_str(), "texture_", nodeId);
mesh_material.tex_file = "";
if(_preferencesDialog->gainCompensation() && compensator.getIndex(0) >= 0)
{
compensator.apply(0, image);
}
if(!cv::imwrite(mesh_material.tex_file, image))
{
UERROR("Cannot save texture of image %d", nodeId);
}
else
{
UINFO("Saved temporary texture: \"%s\"", mesh_material.tex_file.c_str());
}
textureMesh->tex_materials.push_back(mesh_material);
if(!_cloudViewer->addCloudTextureMesh(cloudName, textureMesh, pose))
if(!_cloudViewer->addCloudTextureMesh(cloudName, textureMesh, image, pose))
{
UERROR("Adding texture mesh %d to viewer failed!", nodeId);
}
@@ -3528,7 +3499,6 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bo
{
_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
_cloudViewer->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
}
if(_state != kIdle && parametersModified.size())