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Export: fixed white squares in exported texture (shifting next tex coords to wrong sub texture). Transfer color radius option use nearest point when =0. Fixed a crash on export dense with texture when last materials are not used (they have no polygons associated).

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This commit is contained in:
matlabbe
2017-01-26 09:42:52 -05:00
parent 496319a2b0
commit 66ee792e8c
3 changed files with 55 additions and 34 deletions
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corelib/src/util3d.cpp
+1 -1
View File
@@ -1824,7 +1824,7 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
UDEBUG("scaledWidth=%f scaledHeight=%f lowerBorderSize=%f", scaledWidth, scaledHeight, lowerBorderSize); UDEBUG("scaledWidth=%f scaledHeight=%f lowerBorderSize=%f", scaledWidth, scaledHeight, lowerBorderSize);
if(materialsKept) if(materialsKept)
{ {
materialsKept->resize(mesh.tex_materials.size(), 0); materialsKept->resize(mesh.tex_materials.size(), false);
} }
for(unsigned int t=0; t<mesh.tex_materials.size(); ++t) for(unsigned int t=0; t<mesh.tex_materials.size(); ++t)
{ {
guilib/src/ExportCloudsDialog.cpp
+51 -30
View File
@@ -415,7 +415,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_gp3Radius->setValue(0.2); _ui->doubleSpinBox_gp3Radius->setValue(0.2);
_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(0.2); _ui->doubleSpinBox_transferColorRadius->setValue(0.0);
_ui->checkBox_cleanMesh->setChecked(true); _ui->checkBox_cleanMesh->setChecked(true);
_ui->comboBox_meshingApproach->setCurrentIndex(1); _ui->comboBox_meshingApproach->setCurrentIndex(1);
@@ -1356,10 +1356,10 @@ bool ExportCloudsDialog::getExportedClouds(
} }
QApplication::processEvents(); QApplication::processEvents();
if(_ui->doubleSpinBox_transferColorRadius->value() > 0.0 && if(_ui->doubleSpinBox_transferColorRadius->value() >= 0.0 &&
(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked())) (!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked()))
{ {
_progressDialog->appendText(tr("Transfering color from point cloud to mesh...")); _progressDialog->appendText(tr("Transferring color from point cloud to mesh..."));
QApplication::processEvents(); QApplication::processEvents();
// transfer color from point cloud to mesh // transfer color from point cloud to mesh
@@ -1375,7 +1375,14 @@ bool ExportCloudsDialog::getExportedClouds(
pt.x = coloredCloud->at(i).x; pt.x = coloredCloud->at(i).x;
pt.y = coloredCloud->at(i).y; pt.y = coloredCloud->at(i).y;
pt.z = coloredCloud->at(i).z; pt.z = coloredCloud->at(i).z;
tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances); if(_ui->doubleSpinBox_transferColorRadius->value() > 0.0)
{
tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
}
else
{
tree->nearestKSearch(pt, 1, kIndices, kDistances);
}
if(kIndices.size()) if(kIndices.size())
{ {
coloredCloud->at(i).r = mergedClouds->at(kIndices[0]).r; coloredCloud->at(i).r = mergedClouds->at(kIndices[0]).r;
@@ -1469,10 +1476,10 @@ bool ExportCloudsDialog::getExportedClouds(
} }
if(lostColors && if(lostColors &&
_ui->doubleSpinBox_transferColorRadius->value() > 0.0 && _ui->doubleSpinBox_transferColorRadius->value() >= 0.0 &&
(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked())) (!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked()))
{ {
_progressDialog->appendText(tr("Transfering color from point cloud to mesh...")); _progressDialog->appendText(tr("Transferring color from point cloud to mesh..."));
QApplication::processEvents(); QApplication::processEvents();
// transfer color from point cloud to mesh // transfer color from point cloud to mesh
@@ -1489,7 +1496,14 @@ bool ExportCloudsDialog::getExportedClouds(
pt.x = coloredCloud->at(i).x; pt.x = coloredCloud->at(i).x;
pt.y = coloredCloud->at(i).y; pt.y = coloredCloud->at(i).y;
pt.z = coloredCloud->at(i).z; pt.z = coloredCloud->at(i).z;
tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances); if(_ui->doubleSpinBox_transferColorRadius->value() > 0.0)
{
tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
}
else
{
tree->nearestKSearch(pt, 1, kIndices, kDistances);
}
if(kIndices.size()) if(kIndices.size())
{ {
coloredCloud->at(i).r = iter->second->at(kIndices[0]).r; coloredCloud->at(i).r = iter->second->at(kIndices[0]).r;
@@ -1754,7 +1768,6 @@ bool ExportCloudsDialog::getExportedClouds(
unsigned int allPolygonsIndex = 0; unsigned int allPolygonsIndex = 0;
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t) for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{ {
UASSERT(allPolygonsIndex < allPolygons.size());
std::vector<pcl::Vertices> filteredPolygons(textureMesh->tex_polygons[t].size()); std::vector<pcl::Vertices> filteredPolygons(textureMesh->tex_polygons[t].size());
#if PCL_VERSION_COMPARE(>=, 1, 8, 0) #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > filteredCoordinates(textureMesh->tex_coordinates[t].size()); std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > filteredCoordinates(textureMesh->tex_coordinates[t].size());
@@ -1764,6 +1777,8 @@ bool ExportCloudsDialog::getExportedClouds(
if(textureMesh->tex_polygons[t].size()) if(textureMesh->tex_polygons[t].size())
{ {
UASSERT_MSG(allPolygonsIndex < allPolygons.size(), uFormat("%d vs %d", (int)allPolygonsIndex, (int)allPolygons.size()).c_str());
// make index polygon to coordinate // make index polygon to coordinate
std::vector<unsigned int> polygonToCoord(textureMesh->tex_polygons[t].size()); std::vector<unsigned int> polygonToCoord(textureMesh->tex_polygons[t].size());
unsigned int totalCoord = 0; unsigned int totalCoord = 0;
@@ -2420,7 +2435,8 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
{ {
float scale = 0.0f; float scale = 0.0f;
UDEBUG(""); UDEBUG("");
util3d::concatenateTextureMaterials(mesh, imageSize, textureSize, scale); std::vector<bool> materialsKept;
util3d::concatenateTextureMaterials(mesh, imageSize, textureSize, scale, &materialsKept);
if(scale && mesh.tex_materials.size()==1) if(scale && mesh.tex_materials.size()==1)
{ {
int cols = float(textureSize)/(scale*imageSize.width); int cols = float(textureSize)/(scale*imageSize.width);
@@ -2429,31 +2445,36 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
// make a blank texture // make a blank texture
cv::Mat emptyImage(int(imageSize.height*scale), int(imageSize.width*scale), imageType, cv::Scalar::all(255)); cv::Mat emptyImage(int(imageSize.height*scale), int(imageSize.width*scale), imageType, cv::Scalar::all(255));
for(int i=0; i<(int)textures.size(); ++i) int oi=0;
for(int t=0; t<(int)textures.size(); ++t)
{ {
int u = i%cols * emptyImage.cols; if(materialsKept.at(t))
int v = i/cols * emptyImage.rows;
UASSERT(u < textureSize-emptyImage.cols);
UASSERT(v < textureSize-emptyImage.rows);
if(textures[i]>=0)
{ {
QMap<int, Signature>::const_iterator iter = cachedSignatures.find(textures[i]); int u = oi%cols * emptyImage.cols;
UASSERT(iter!=cachedSignatures.end() && !iter->sensorData().imageCompressed().empty()); int v = oi/cols * emptyImage.rows;
cv::Mat image; UASSERT(u < textureSize-emptyImage.cols);
iter->sensorData().uncompressDataConst(&image, 0); UASSERT(v < textureSize-emptyImage.rows);
UASSERT(!image.empty()); if(textures[t]>=0)
cv::Mat resizedImage;
cv::resize(image, resizedImage, emptyImage.size(), 0.0f, 0.0f, cv::INTER_AREA);
if(_ui->groupBox_gain->isChecked() && _compensator && _compensator->getIndex(textures[i]) >= 0)
{ {
_compensator->apply(textures[i], resizedImage); QMap<int, Signature>::const_iterator iter = cachedSignatures.find(textures[t]);
UASSERT(iter!=cachedSignatures.end() && !iter->sensorData().imageCompressed().empty());
cv::Mat image;
iter->sensorData().uncompressDataConst(&image, 0);
UASSERT(!image.empty());
cv::Mat resizedImage;
cv::resize(image, resizedImage, emptyImage.size(), 0.0f, 0.0f, cv::INTER_AREA);
if(_ui->groupBox_gain->isChecked() && _compensator && _compensator->getIndex(textures[t]) >= 0)
{
_compensator->apply(textures[t], resizedImage);
}
UASSERT(resizedImage.type() == globalTexture.type());
resizedImage.copyTo(globalTexture(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
} }
UASSERT(resizedImage.type() == globalTexture.type()); else
resizedImage.copyTo(globalTexture(cv::Rect(u, v, resizedImage.cols, resizedImage.rows))); {
} emptyImage.copyTo(globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
else }
{ ++oi;
emptyImage.copyTo(globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
} }
} }
} }
guilib/src/ui/exportCloudsDialog.ui
+3 -3
View File
@@ -23,7 +23,7 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-1356</y> <y>-1534</y>
<width>773</width> <width>773</width>
<height>2832</height> <height>2832</height>
</rect> </rect>
@@ -1118,7 +1118,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<item row="5" column="1"> <item row="5" column="1">
<widget class="QLabel" name="label_meshDecimation_2"> <widget class="QLabel" name="label_meshDecimation_2">
<property name="text"> <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> <string>Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). Negative means disabled, 0 means take the nearest point.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -1228,7 +1228,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<number>2</number> <number>2</number>
</property> </property>
<property name="minimum"> <property name="minimum">
<double>0.000000000000000</double> <double>-1.000000000000000</double>
</property> </property>
<property name="maximum"> <property name="maximum">
<double>10.000000000000000</double> <double>10.000000000000000</double>