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ExportClouds: set minimum K (for normal estimation) to 3. Also added a check if the created cloud is empty.

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This commit is contained in:
matlabbe
2016-10-31 11:29:07 -04:00
parent e3c290269b
commit 2529952982
2 changed files with 51 additions and 48 deletions
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guilib/src/ExportCloudsDialog.cpp
+50 -47
View File
@@ -1434,59 +1434,62 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
indices.get(), indices.get(),
parameters); parameters);
// Don't voxelize if we create organized mesh if(cloudWithoutNormals->size())
if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()) && _ui->doubleSpinBox_voxelSize_assembled->value()>0.0)
{ {
cloudWithoutNormals = util3d::voxelize(cloudWithoutNormals, indices, _ui->doubleSpinBox_voxelSize_assembled->value()); // Don't voxelize if we create organized mesh
indices->resize(cloudWithoutNormals->size()); if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()) && _ui->doubleSpinBox_voxelSize_assembled->value()>0.0)
for(unsigned int i=0; i<indices->size(); ++i)
{ {
indices->at(i) = i; cloudWithoutNormals = util3d::voxelize(cloudWithoutNormals, indices, _ui->doubleSpinBox_voxelSize_assembled->value());
indices->resize(cloudWithoutNormals->size());
for(unsigned int i=0; i<indices->size(); ++i)
{
indices->at(i) = i;
}
} }
}
// view point // view point
Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f); Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
if(d.cameraModels().size() && !d.cameraModels()[0].localTransform().isNull()) if(d.cameraModels().size() && !d.cameraModels()[0].localTransform().isNull())
{
viewPoint[0] = d.cameraModels()[0].localTransform().x();
viewPoint[1] = d.cameraModels()[0].localTransform().y();
viewPoint[2] = d.cameraModels()[0].localTransform().z();
}
else if(!d.stereoCameraModel().localTransform().isNull())
{
viewPoint[0] = d.stereoCameraModel().localTransform().x();
viewPoint[1] = d.stereoCameraModel().localTransform().y();
viewPoint[2] = d.stereoCameraModel().localTransform().z();
}
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value(), viewPoint);
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
if(_ui->groupBox_subtraction->isChecked() &&
_ui->doubleSpinBox_subtractPointFilteringRadius->value() > 0.0)
{
pcl::IndicesPtr beforeSubtractionIndices = indices;
if( cloud->size() &&
previousCloud.get() != 0 &&
previousIndices.get() != 0 &&
previousIndices->size() &&
!previousPose.isNull())
{ {
rtabmap::Transform t = iter->second.inverse() * previousPose; viewPoint[0] = d.cameraModels()[0].localTransform().x();
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(previousCloud, t); viewPoint[1] = d.cameraModels()[0].localTransform().y();
indices = rtabmap::util3d::subtractFiltering( viewPoint[2] = d.cameraModels()[0].localTransform().z();
cloud, }
indices, else if(!d.stereoCameraModel().localTransform().isNull())
transformedCloud, {
previousIndices, viewPoint[0] = d.stereoCameraModel().localTransform().x();
_ui->doubleSpinBox_subtractPointFilteringRadius->value(), viewPoint[1] = d.stereoCameraModel().localTransform().y();
_ui->doubleSpinBox_subtractPointFilteringAngle->value(), viewPoint[2] = d.stereoCameraModel().localTransform().z();
_ui->spinBox_subtractFilteringMinPts->value()); }
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value(), viewPoint);
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
if(_ui->groupBox_subtraction->isChecked() &&
_ui->doubleSpinBox_subtractPointFilteringRadius->value() > 0.0)
{
pcl::IndicesPtr beforeSubtractionIndices = indices;
if( cloud->size() &&
previousCloud.get() != 0 &&
previousIndices.get() != 0 &&
previousIndices->size() &&
!previousPose.isNull())
{
rtabmap::Transform t = iter->second.inverse() * previousPose;
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(previousCloud, t);
indices = rtabmap::util3d::subtractFiltering(
cloud,
indices,
transformedCloud,
previousIndices,
_ui->doubleSpinBox_subtractPointFilteringRadius->value(),
_ui->doubleSpinBox_subtractPointFilteringAngle->value(),
_ui->spinBox_subtractFilteringMinPts->value());
}
previousCloud = cloud;
previousIndices = beforeSubtractionIndices;
previousPose = iter->second;
} }
previousCloud = cloud;
previousIndices = beforeSubtractionIndices;
previousPose = iter->second;
} }
} }
} }
guilib/src/ui/exportCloudsDialog.ui
+1 -1
View File
@@ -34,7 +34,7 @@
<item row="3" column="0"> <item row="3" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch"> <widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="minimum"> <property name="minimum">
<number>0</number> <number>3</number>
</property> </property>
<property name="value"> <property name="value">
<number>20</number> <number>20</number>