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Added Poisson surface reconstruction in export options

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This commit is contained in:
matlabbe
2017-01-15 19:09:37 -05:00
parent ea5f0fadb8
commit f8ec338fa3
4 changed files with 494 additions and 24 deletions
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4
corelib/src/util3d_surface.cpp
View File

@@ -675,11 +675,11 @@ pcl::TextureMesh::Ptr createTextureMesh(
cv::Mat emptyImage; cv::Mat emptyImage;
if(i>0) if(i>0)
{ {
emptyImage = cv::Mat::zeros(cameras[i-1].height,cameras[i-1].width, CV_8UC1); emptyImage = cv::Mat::ones(cameras[i-1].height,cameras[i-1].width, CV_8UC1)*255;
} }
else else
{ {
emptyImage = cv::Mat::zeros(480, 640, CV_8UC1); emptyImage = cv::Mat::ones(480, 640, CV_8UC1)*255;
} }
cv::imwrite(mesh_material.tex_file, emptyImage); cv::imwrite(mesh_material.tex_file, emptyImage);
} }

252
guilib/src/ExportCloudsDialog.cpp
View File

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

1
guilib/src/ExportCloudsDialog.h
View File

@@ -87,6 +87,7 @@ public slots:
private slots: private slots:
void updateReconstructionFlavor(); void updateReconstructionFlavor();
void updateDenseReconstruction();
void selectDistortionModel(); void selectDistortionModel();
void updateMLSGrpVisibility(); void updateMLSGrpVisibility();
void updateTexturingAvailability(); void updateTexturingAvailability();

261
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -7,7 +7,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>814</width> <width>814</width>
<height>667</height> <height>680</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@@ -23,9 +23,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-1311</y> <y>-1525</y>
<width>773</width> <width>773</width>
<height>1902</height> <height>2568</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_13"> <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1052,7 +1052,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<layout class="QVBoxLayout" name="verticalLayout_15"> <layout class="QVBoxLayout" name="verticalLayout_15">
<item> <item>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="1" column="0"> <item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor"> <widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
<property name="decimals"> <property name="decimals">
<number>2</number> <number>2</number>
@@ -1071,47 +1071,103 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="1" column="1">
<widget class="QLabel" name="label_textureMapping">
<property name="text">
<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Only available on Export or when clouds are not assembled.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_16"> <widget class="QLabel" name="label_16">
<property name="text"> <property name="text">
<string>Min polygon cluster size</string> <string>Min polygon cluster size</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="4" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize"> <widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
<property name="maximum"> <property name="maximum">
<number>999</number> <number>999</number>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="2" column="1">
<widget class="QLabel" name="label_meshDecimation"> <widget class="QLabel" name="label_meshDecimation">
<property name="text"> <property name="text">
<string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Cannot be used if texturing is on and organized mesh flavor is selected.</string> <string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons).</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="0"> <item row="1" column="0">
<widget class="QCheckBox" name="checkBox_textureMapping"> <widget class="QCheckBox" name="checkBox_textureMapping">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_meshingApproach">
<item>
<property name="text">
<string>Fast GP3</string>
</property>
</item>
<item>
<property name="text">
<string>Poisson</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QLabel" name="label_textureMapping"> <widget class="QLabel" name="label_denseReconstruction">
<property name="text"> <property name="text">
<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format.</string> <string>Surface reconstruction approach. Can be used only when dense reconstruction flavor is selected. Poisson is available only when clouds are assembled.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1">
<widget class="QLabel" name="label_meshDecimation_2">
<property name="text">
<string>Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). 0 means disabled.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_transferColorRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.050000000000000</double>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>
@@ -1188,6 +1244,189 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</layout> </layout>
</widget> </widget>
</item> </item>
<item>
<widget class="QGroupBox" name="groupBox_poisson">
<property name="title">
<string>Poisson Surface Reconstruction</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,0">
<item row="0" column="1">
<widget class="QLabel" name="label_172">
<property name="text">
<string>Depth. Increasing the depth increase the output mesh size but it would be more precise (also longer to compute).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_177">
<property name="text">
<string>Samples per node. Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density. Note for noise-free samples, small values in the range [1.0 - 5.0] can be used. For more noisy samples, larger values in the range [15.0 - 20.0] may be needed to provide a smoother, noise-reduced, reconstruction.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_poisson_iso">
<property name="minimum">
<number>1</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_176">
<property name="text">
<string>Manifold flag. Enabling this flag tells the reconstructor to add the polygon barycenter when triangulating polygons with more than three vertices.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_poisson_samples">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>30.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_poisson_scale">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="maximum">
<double>2.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_181">
<property name="text">
<string>Point weight.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_182">
<property name="text">
<string>Min depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_poisson_depth">
<property name="minimum">
<number>1</number>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_178">
<property name="text">
<string>Iso divide. Set the depth at which a block iso-surface extractor should be used to extract the iso-surface note Using this parameter helps reduce the memory overhead at the cost of a small increase in extraction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_179">
<property name="text">
<string>Solver divide. Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. Note that using this parameter helps reduce the memory overhead at the cost of a small increase in reconstruction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_180">
<property name="text">
<string>Scale. Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_poisson_manifold">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="spinBox_poisson_solver">
<property name="minimum">
<number>1</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_173">
<property name="text">
<string>Output polygons flag. Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating of the results of Marching Cubes).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_poisson_outputPolygons">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_poisson_pointWeight">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_poisson_minDepth">
<property name="minimum">
<number>1</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item> <item>
<widget class="QGroupBox" name="groupBox_organized"> <widget class="QGroupBox" name="groupBox_organized">
<property name="title"> <property name="title">