mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Added Poisson surface reconstruction in export options
This commit is contained in:
matlabbe
@@ -50,6 +50,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <pcl/io/vtk_io.h>
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#include <pcl/io/obj_io.h>
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#include <pcl/pcl_config.h>
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#include <pcl/surface/poisson.h>
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#include <QPushButton>
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#include <QDir>
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@@ -77,6 +78,8 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
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connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->comboBox_pipeline, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->comboBox_pipeline, SIGNAL(currentIndexChanged(int)), this, SLOT(updateReconstructionFlavor()));
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connect(_ui->comboBox_meshingApproach, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->comboBox_meshingApproach, SIGNAL(currentIndexChanged(int)), this, SLOT(updateDenseReconstruction()));
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connect(_ui->groupBox_regenerate, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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@@ -125,9 +128,20 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
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connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_transferColorRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SLOT(updateTexturingAvailability()));
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connect(_ui->checkBox_poisson_outputPolygons, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->checkBox_poisson_manifold, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_poisson_depth, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_poisson_iso, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_poisson_solver, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_poisson_minDepth, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_poisson_samples, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_poisson_pointWeight, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_poisson_scale, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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_progressDialog = new ProgressDialog(this);
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_progressDialog->setVisible(false);
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_progressDialog->setAutoClose(true, 2);
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@@ -161,8 +175,8 @@ void ExportCloudsDialog::updateTexturingAvailability(bool isExporting)
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{
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_ui->checkBox_textureMapping->setEnabled(!_ui->checkBox_assemble->isChecked() || isExporting);
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_ui->label_textureMapping->setEnabled(_ui->checkBox_textureMapping->isEnabled());
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_ui->doubleSpinBox_meshDecimationFactor->setEnabled(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked() || _ui->comboBox_pipeline->currentIndex() == 1);
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_ui->label_meshDecimation->setEnabled(_ui->doubleSpinBox_meshDecimationFactor->isEnabled());
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_ui->comboBox_meshingApproach->setCurrentIndex(_ui->checkBox_assemble->isChecked()?1:0);
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_ui->comboBox_meshingApproach->setItemData(1, _ui->checkBox_assemble->isChecked()?1 | 32:0,Qt::UserRole - 1);
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}
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void ExportCloudsDialog::cancel()
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@@ -224,14 +238,27 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
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settings.setValue("mesh_radius", _ui->doubleSpinBox_gp3Radius->value());
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settings.setValue("mesh_mu", _ui->doubleSpinBox_gp3Mu->value());
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settings.setValue("mesh_decimation_factor", _ui->doubleSpinBox_meshDecimationFactor->value());
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settings.setValue("mesh_color_radius", _ui->doubleSpinBox_transferColorRadius->value());
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settings.setValue("mesh_min_cluster_size", _ui->spinBox_mesh_minClusterSize->value());
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settings.setValue("mesh_dense_strategy", _ui->comboBox_meshingApproach->currentIndex());
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settings.setValue("mesh_texture", _ui->checkBox_textureMapping->isChecked());
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settings.setValue("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value());
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settings.setValue("mesh_quad", _ui->checkBox_mesh_quad->isChecked());
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settings.setValue("mesh_triangle_size", _ui->spinBox_mesh_triangleSize->value());
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settings.setValue("poisson_outputPolygons", _ui->checkBox_poisson_outputPolygons->isChecked());
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settings.setValue("poisson_manifold", _ui->checkBox_poisson_manifold->isChecked());
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settings.setValue("poisson_depth", _ui->spinBox_poisson_depth->value());
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settings.setValue("poisson_iso", _ui->spinBox_poisson_iso->value());
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settings.setValue("poisson_solver", _ui->spinBox_poisson_solver->value());
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settings.setValue("poisson_minDepth", _ui->spinBox_poisson_minDepth->value());
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settings.setValue("poisson_samples", _ui->doubleSpinBox_poisson_samples->value());
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settings.setValue("poisson_pointWeight", _ui->doubleSpinBox_poisson_pointWeight->value());
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settings.setValue("poisson_scale", _ui->doubleSpinBox_poisson_scale->value());
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if(!group.isEmpty())
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{
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settings.endGroup();
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@@ -292,14 +319,27 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
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_ui->doubleSpinBox_gp3Radius->setValue(settings.value("mesh_radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
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_ui->doubleSpinBox_gp3Mu->setValue(settings.value("mesh_mu", _ui->doubleSpinBox_gp3Mu->value()).toDouble());
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_ui->doubleSpinBox_meshDecimationFactor->setValue(settings.value("mesh_decimation_factor",_ui->doubleSpinBox_meshDecimationFactor->value()).toDouble());
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_ui->doubleSpinBox_transferColorRadius->setValue(settings.value("mesh_color_radius",_ui->doubleSpinBox_transferColorRadius->value()).toDouble());
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_ui->spinBox_mesh_minClusterSize->setValue(settings.value("mesh_min_cluster_size", _ui->spinBox_mesh_minClusterSize->value()).toInt());
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_ui->comboBox_meshingApproach->setCurrentIndex(settings.value("mesh_dense_strategy", _ui->comboBox_meshingApproach->currentIndex()).toInt());
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_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", _ui->checkBox_textureMapping->isChecked()).toBool());
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_ui->doubleSpinBox_mesh_angleTolerance->setValue(settings.value("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
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_ui->checkBox_mesh_quad->setChecked(settings.value("mesh_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
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_ui->spinBox_mesh_triangleSize->setValue(settings.value("mesh_triangle_size", _ui->spinBox_mesh_triangleSize->value()).toInt());
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_ui->checkBox_poisson_outputPolygons->setChecked(settings.value("poisson_outputPolygons", _ui->checkBox_poisson_outputPolygons->isChecked()).toBool());
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_ui->checkBox_poisson_manifold->setChecked(settings.value("poisson_manifold", _ui->checkBox_poisson_manifold->isChecked()).toBool());
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_ui->spinBox_poisson_depth->setValue(settings.value("poisson_depth", _ui->spinBox_poisson_depth->value()).toInt());
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_ui->spinBox_poisson_iso->setValue(settings.value("poisson_iso", _ui->spinBox_poisson_iso->value()).toInt());
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_ui->spinBox_poisson_solver->setValue(settings.value("poisson_solver", _ui->spinBox_poisson_solver->value()).toInt());
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_ui->spinBox_poisson_minDepth->setValue(settings.value("poisson_minDepth", _ui->spinBox_poisson_minDepth->value()).toInt());
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_ui->doubleSpinBox_poisson_samples->setValue(settings.value("poisson_samples", _ui->doubleSpinBox_poisson_samples->value()).toDouble());
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_ui->doubleSpinBox_poisson_pointWeight->setValue(settings.value("poisson_pointWeight", _ui->doubleSpinBox_poisson_pointWeight->value()).toDouble());
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_ui->doubleSpinBox_poisson_scale->setValue(settings.value("poisson_scale", _ui->doubleSpinBox_poisson_scale->value()).toDouble());
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updateReconstructionFlavor();
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updateTexturingAvailability();
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updateMLSGrpVisibility();
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@@ -359,6 +399,9 @@ void ExportCloudsDialog::restoreDefaults()
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_ui->doubleSpinBox_gp3Radius->setValue(0.04);
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_ui->doubleSpinBox_gp3Mu->setValue(2.5);
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_ui->doubleSpinBox_meshDecimationFactor->setValue(0.0);
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_ui->doubleSpinBox_transferColorRadius->setValue(0.05);
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_ui->comboBox_meshingApproach->setCurrentIndex(1);
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_ui->checkBox_textureMapping->setChecked(false);
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@@ -366,6 +409,16 @@ void ExportCloudsDialog::restoreDefaults()
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_ui->checkBox_mesh_quad->setChecked(false);
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_ui->spinBox_mesh_triangleSize->setValue(1);
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_ui->checkBox_poisson_outputPolygons->setChecked(false);
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_ui->checkBox_poisson_manifold->setChecked(true);
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_ui->spinBox_poisson_depth->setValue(9);
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_ui->spinBox_poisson_iso->setValue(8);
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_ui->spinBox_poisson_solver->setValue(8);
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_ui->spinBox_poisson_minDepth->setValue(5);
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_ui->doubleSpinBox_poisson_samples->setValue(1.0);
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_ui->doubleSpinBox_poisson_pointWeight->setValue(4.0);
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_ui->doubleSpinBox_poisson_scale->setValue(1.1);
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updateReconstructionFlavor();
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updateTexturingAvailability();
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updateMLSGrpVisibility();
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@@ -377,8 +430,16 @@ void ExportCloudsDialog::updateReconstructionFlavor()
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{
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_ui->groupBox_mls->setVisible(_ui->comboBox_pipeline->currentIndex() == 1);
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_ui->groupBox_mls->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
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_ui->groupBox_gp3->setVisible(_ui->comboBox_pipeline->currentIndex() == 1);
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_ui->comboBox_meshingApproach->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
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_ui->label_denseReconstruction->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
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_ui->groupBox_organized->setVisible(_ui->comboBox_pipeline->currentIndex() == 0);
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updateDenseReconstruction();
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}
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void ExportCloudsDialog::updateDenseReconstruction()
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{
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_ui->groupBox_gp3->setVisible(_ui->comboBox_pipeline->currentIndex() == 1 && _ui->comboBox_meshingApproach->currentIndex()==0);
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_ui->groupBox_poisson->setVisible(_ui->comboBox_pipeline->currentIndex() == 1 && _ui->comboBox_meshingApproach->currentIndex()==1);
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}
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void ExportCloudsDialog::selectDistortionModel()
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@@ -535,6 +596,8 @@ void ExportCloudsDialog::viewClouds(
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{
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viewer->setBackfaceCulling(true, false);
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}
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viewer->setLighting(true);
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viewer->setBackgroundColor(Qt::darkGray);
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QVBoxLayout *layout = new QVBoxLayout();
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layout->addWidget(viewer);
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@@ -618,6 +681,7 @@ void ExportCloudsDialog::viewClouds(
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color = (Qt::GlobalColor)(mapId % 12 + 7 );
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}
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viewer->addCloud(uFormat("cloud%d",iter->first), iter->second, iter->first>0?poses.at(iter->first):Transform::getIdentity());
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viewer->setCloudPointSize(uFormat("cloud%d",iter->first), 2);
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_progressDialog->appendText(tr("Viewing the cloud %1 (%2 points)... done.").arg(iter->first).arg(iter->second->size()));
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}
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}
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@@ -1047,8 +1111,53 @@ bool ExportCloudsDialog::getExportedClouds(
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_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
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{
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int count = mesh->polygons.size();
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_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 polygons...").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count));
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QApplication::processEvents();
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mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
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_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
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_progressDialog->appendText(tr("Mesh decimated (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
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if(count < mesh->polygons.size())
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{
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_progressDialog->appendText(tr("Decimated mesh %1 has more polygons than before!").arg(iter->first), Qt::darkYellow);
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_progressDialog->setAutoClose(false);
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}
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QApplication::processEvents();
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if(_ui->doubleSpinBox_transferColorRadius->value() > 0.0 &&
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(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked()))
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{
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_progressDialog->appendText(tr("Transfering color from point cloud to mesh..."));
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QApplication::processEvents();
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// transfer color from point cloud to mesh
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pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>(true));
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tree->setInputCloud(denseCloud);
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr coloredCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
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pcl::fromPCLPointCloud2(mesh->cloud, *coloredCloud);
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for(unsigned int i=0; i<coloredCloud->size(); ++i)
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{
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std::vector<int> kIndices;
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std::vector<float> kDistances;
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pcl::PointXYZRGBNormal pt;
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pt.x = coloredCloud->at(i).x;
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pt.y = coloredCloud->at(i).y;
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pt.z = coloredCloud->at(i).z;
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tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
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if(kIndices.size())
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{
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coloredCloud->at(i).r = denseCloud->at(kIndices[0]).r;
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coloredCloud->at(i).g = denseCloud->at(kIndices[0]).g;
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coloredCloud->at(i).b = denseCloud->at(kIndices[0]).b;
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coloredCloud->at(i).a = denseCloud->at(kIndices[0]).a;
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}
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else
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{
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//white
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coloredCloud->at(i).r = coloredCloud->at(i).g = coloredCloud->at(i).b = 255;
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}
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}
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pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
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}
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}
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else
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{
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@@ -1125,8 +1234,53 @@ bool ExportCloudsDialog::getExportedClouds(
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_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
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{
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int count = mesh->polygons.size();
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_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 polygons...").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count));
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QApplication::processEvents();
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mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
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_progressDialog->appendText(tr("Assembled mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
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_progressDialog->appendText(tr("Mesh decimated (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
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if(count < mesh->polygons.size())
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{
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_progressDialog->appendText(tr("Decimated mesh has more polygons than before!"), Qt::darkYellow);
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_progressDialog->setAutoClose(false);
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}
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QApplication::processEvents();
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if(_ui->doubleSpinBox_transferColorRadius->value() > 0.0 &&
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(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked()))
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{
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_progressDialog->appendText(tr("Transfering color from point cloud to mesh..."));
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QApplication::processEvents();
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// transfer color from point cloud to mesh
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pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>(true));
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tree->setInputCloud(mergedClouds);
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr coloredCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
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pcl::fromPCLPointCloud2(mesh->cloud, *coloredCloud);
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for(unsigned int i=0; i<coloredCloud->size(); ++i)
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{
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std::vector<int> kIndices;
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std::vector<float> kDistances;
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pcl::PointXYZRGBNormal pt;
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pt.x = coloredCloud->at(i).x;
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pt.y = coloredCloud->at(i).y;
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pt.z = coloredCloud->at(i).z;
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tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
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if(kIndices.size())
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{
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coloredCloud->at(i).r = mergedClouds->at(kIndices[0]).r;
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coloredCloud->at(i).g = mergedClouds->at(kIndices[0]).g;
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coloredCloud->at(i).b = mergedClouds->at(kIndices[0]).b;
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coloredCloud->at(i).a = mergedClouds->at(kIndices[0]).a;
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}
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else
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{
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//white
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coloredCloud->at(i).r = coloredCloud->at(i).g = coloredCloud->at(i).b = 255;
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}
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}
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pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
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}
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}
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meshes.insert(std::make_pair(0, mesh));
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@@ -1137,7 +1291,14 @@ bool ExportCloudsDialog::getExportedClouds(
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}
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else
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{
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_progressDialog->appendText(tr("Greedy projection triangulation... [radius=%1m]").arg(_ui->doubleSpinBox_gp3Radius->value()));
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if(_ui->comboBox_meshingApproach->currentIndex() == 0)
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{
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_progressDialog->appendText(tr("Greedy projection triangulation... [radius=%1m]").arg(_ui->doubleSpinBox_gp3Radius->value()));
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}
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else
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{
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_progressDialog->appendText(tr("Poisson surface reconstruction..."));
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}
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QApplication::processEvents();
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QApplication::processEvents();
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@@ -1146,10 +1307,32 @@ bool ExportCloudsDialog::getExportedClouds(
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iter!= cloudsWithNormals.end();
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++iter)
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{
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pcl::PolygonMesh::Ptr mesh = util3d::createMesh(
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iter->second,
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_ui->doubleSpinBox_gp3Radius->value(),
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_ui->doubleSpinBox_gp3Mu->value());
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bool lostColors = false;
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pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
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if(_ui->comboBox_meshingApproach->currentIndex() == 0)
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{
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mesh = util3d::createMesh(
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iter->second,
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_ui->doubleSpinBox_gp3Radius->value(),
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_ui->doubleSpinBox_gp3Mu->value());
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}
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else
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{
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pcl::Poisson<pcl::PointXYZRGBNormal> poisson;
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poisson.setOutputPolygons(_ui->checkBox_poisson_outputPolygons->isChecked());
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poisson.setManifold(_ui->checkBox_poisson_manifold->isChecked());
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poisson.setSamplesPerNode(_ui->doubleSpinBox_poisson_samples->value());
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poisson.setDepth(_ui->spinBox_poisson_depth->value());
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poisson.setIsoDivide(_ui->spinBox_poisson_iso->value());
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poisson.setSolverDivide(_ui->spinBox_poisson_solver->value());
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poisson.setMinDepth(_ui->spinBox_poisson_minDepth->value());
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poisson.setPointWeight(_ui->doubleSpinBox_poisson_pointWeight->value());
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poisson.setScale(_ui->doubleSpinBox_poisson_scale->value());
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poisson.setInputCloud(iter->second);
|
||||
poisson.reconstruct(*mesh);
|
||||
|
||||
lostColors = true;
|
||||
}
|
||||
|
||||
if(_ui->spinBox_mesh_minClusterSize->value())
|
||||
{
|
||||
@@ -1183,8 +1366,55 @@ bool ExportCloudsDialog::getExportedClouds(
|
||||
_ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
|
||||
{
|
||||
int count = mesh->polygons.size();
|
||||
_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 polygons...").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count));
|
||||
QApplication::processEvents();
|
||||
|
||||
mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
|
||||
_progressDialog->appendText(tr("Assembled mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
|
||||
_progressDialog->appendText(tr("Mesh decimated (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
|
||||
if(count < mesh->polygons.size())
|
||||
{
|
||||
_progressDialog->appendText(tr("Decimated mesh %1 has more polygons than before!").arg(iter->first), Qt::darkYellow);
|
||||
_progressDialog->setAutoClose(false);
|
||||
}
|
||||
QApplication::processEvents();
|
||||
lostColors = true;
|
||||
}
|
||||
|
||||
if(lostColors &&
|
||||
_ui->doubleSpinBox_transferColorRadius->value() > 0.0 &&
|
||||
(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked()))
|
||||
{
|
||||
_progressDialog->appendText(tr("Transfering color from point cloud to mesh..."));
|
||||
QApplication::processEvents();
|
||||
|
||||
// transfer color from point cloud to mesh
|
||||
pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>(true));
|
||||
tree->setInputCloud(iter->second);
|
||||
pcl::PointCloud<pcl::PointXYZRGB>::Ptr coloredCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
|
||||
pcl::fromPCLPointCloud2(mesh->cloud, *coloredCloud);
|
||||
for(unsigned int i=0; i<coloredCloud->size(); ++i)
|
||||
{
|
||||
std::vector<int> kIndices;
|
||||
std::vector<float> kDistances;
|
||||
pcl::PointXYZRGBNormal pt;
|
||||
pt.x = coloredCloud->at(i).x;
|
||||
pt.y = coloredCloud->at(i).y;
|
||||
pt.z = coloredCloud->at(i).z;
|
||||
tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
|
||||
if(kIndices.size())
|
||||
{
|
||||
coloredCloud->at(i).r = iter->second->at(kIndices[0]).r;
|
||||
coloredCloud->at(i).g = iter->second->at(kIndices[0]).g;
|
||||
coloredCloud->at(i).b = iter->second->at(kIndices[0]).b;
|
||||
coloredCloud->at(i).a = iter->second->at(kIndices[0]).a;
|
||||
}
|
||||
else
|
||||
{
|
||||
//white
|
||||
coloredCloud->at(i).r = coloredCloud->at(i).g = coloredCloud->at(i).b = 255;
|
||||
}
|
||||
}
|
||||
pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
|
||||
}
|
||||
|
||||
meshes.insert(std::make_pair(iter->first, mesh));
|
||||
|
||||
Reference in New Issue
Block a user