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Fixed #137

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This commit is contained in:
matlabbe
2016-11-01 12:04:10 -04:00
parent 0a06648c02
commit 8718bb4ff1
2 changed files with 15 additions and 6 deletions
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corelib/src/util3d_surface.cpp
+2 -1
View File
@@ -626,8 +626,9 @@ pcl::TextureMesh::Ptr createTextureMesh(
pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud); pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
pcl::PointCloud<pcl::Normal>::Ptr normals = computeNormals(cloud, kNormalSearch); pcl::PointCloud<pcl::Normal>::Ptr normals = computeNormals(cloud, kNormalSearch);
// Concatenate the XYZ and normal fields // Concatenate the XYZ and normal fields
pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals; pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields (*cloud, *normals, *cloudWithNormals); pcl::concatenateFields (*cloud, *normals, *cloudWithNormals);
textureMesh->cloud = pcl::PCLPointCloud2();
pcl::toPCLPointCloud2 (*cloudWithNormals, textureMesh->cloud); pcl::toPCLPointCloud2 (*cloudWithNormals, textureMesh->cloud);
} }
guilib/src/ExportCloudsDialog.cpp
+13 -5
View File
@@ -149,13 +149,13 @@ void ExportCloudsDialog::updateMLSGrpVisibility()
} }
void ExportCloudsDialog::updateTexturingAvailability() void ExportCloudsDialog::updateTexturingAvailability()
{ {
updateTexturingAvailability(_ui->checkBox_binary->isVisible()); updateTexturingAvailability(_ui->checkBox_binary->isEnabled());
} }
void ExportCloudsDialog::updateTexturingAvailability(bool isExporting) 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->doubleSpinBox_meshDecimationFactor->setEnabled(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked() || _ui->comboBox_pipeline->currentIndex() == 1);
_ui->label_meshDecimation->setEnabled(_ui->doubleSpinBox_meshDecimationFactor->isEnabled()); _ui->label_meshDecimation->setEnabled(_ui->doubleSpinBox_meshDecimationFactor->isEnabled());
} }
@@ -299,6 +299,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
void ExportCloudsDialog::restoreDefaults() void ExportCloudsDialog::restoreDefaults()
{ {
_ui->comboBox_pipeline->setCurrentIndex(0);
_ui->checkBox_binary->setChecked(true); _ui->checkBox_binary->setChecked(true);
_ui->spinBox_normalKSearch->setValue(10); _ui->spinBox_normalKSearch->setValue(10);
@@ -382,6 +383,7 @@ void ExportCloudsDialog::setSaveButton()
_ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(false); _ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(false);
_ui->buttonBox->button(QDialogButtonBox::Save)->setVisible(true); _ui->buttonBox->button(QDialogButtonBox::Save)->setVisible(true);
_ui->checkBox_binary->setVisible(true); _ui->checkBox_binary->setVisible(true);
_ui->checkBox_binary->setEnabled(true);
_ui->label_binaryFile->setVisible(true); _ui->label_binaryFile->setVisible(true);
_ui->checkBox_mesh_quad->setVisible(false); _ui->checkBox_mesh_quad->setVisible(false);
_ui->checkBox_mesh_quad->setEnabled(false); _ui->checkBox_mesh_quad->setEnabled(false);
@@ -394,6 +396,7 @@ void ExportCloudsDialog::setOkButton()
_ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(true); _ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(true);
_ui->buttonBox->button(QDialogButtonBox::Save)->setVisible(false); _ui->buttonBox->button(QDialogButtonBox::Save)->setVisible(false);
_ui->checkBox_binary->setVisible(false); _ui->checkBox_binary->setVisible(false);
_ui->checkBox_binary->setEnabled(false);
_ui->label_binaryFile->setVisible(false); _ui->label_binaryFile->setVisible(false);
_ui->checkBox_mesh_quad->setVisible(true); _ui->checkBox_mesh_quad->setVisible(true);
_ui->checkBox_mesh_quad->setEnabled(true); _ui->checkBox_mesh_quad->setEnabled(true);
@@ -1250,6 +1253,7 @@ bool ExportCloudsDialog::getExportedClouds(
textureMesh->tex_coordinates.resize(1); textureMesh->tex_coordinates.resize(1);
if(!_ui->checkBox_mesh_quad->isEnabled()) // disabled -> we are exporting to file if(!_ui->checkBox_mesh_quad->isEnabled()) // disabled -> we are exporting to file
{ {
UDEBUG("");
// When saving to file, tex_coordinates should be linked to polygon vertices, not points // When saving to file, tex_coordinates should be linked to polygon vertices, not points
int polygonSize = textureMesh->tex_polygons[0][0].vertices.size(); int polygonSize = textureMesh->tex_polygons[0][0].vertices.size();
textureMesh->tex_coordinates[0].resize(polygonSize*textureMesh->tex_polygons[0].size()); textureMesh->tex_coordinates[0].resize(polygonSize*textureMesh->tex_polygons[0].size());
@@ -1270,6 +1274,7 @@ bool ExportCloudsDialog::getExportedClouds(
} }
else else
{ {
UDEBUG("");
int nPoints = textureMesh->cloud.data.size()/textureMesh->cloud.point_step; int nPoints = textureMesh->cloud.data.size()/textureMesh->cloud.point_step;
textureMesh->tex_coordinates[0].resize(nPoints); textureMesh->tex_coordinates[0].resize(nPoints);
for(int i=0; i<nPoints; ++i) for(int i=0; i<nPoints; ++i)
@@ -1318,12 +1323,14 @@ bool ExportCloudsDialog::getExportedClouds(
cameraPoses, cameraPoses,
cameraModels, cameraModels,
images, images,
dir.filePath("tmp_textures").toStdString()); dir.filePath("tmp_textures").toStdString(),
_ui->spinBox_normalKSearch->value());
if(!_ui->checkBox_binary->isVisible() && // not visible -> we are not exporting to file if(!_ui->checkBox_binary->isEnabled() && // not enabled -> we are not exporting to file
textureMesh->tex_coordinates.size() && textureMesh->tex_coordinates.size() &&
textureMesh->tex_coordinates[0].size()) // assume first is the texture, second is occluded texture textureMesh->tex_coordinates[0].size()) // assume first is the texture, second is occluded texture
{ {
UDEBUG("");
// When not saving to file, tex_coordinates should be linked to points, not polygon vertices // When not saving to file, tex_coordinates should be linked to points, not polygon vertices
int nPoints = textureMesh->cloud.data.size()/textureMesh->cloud.point_step; int nPoints = textureMesh->cloud.data.size()/textureMesh->cloud.point_step;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0) #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
@@ -1368,6 +1375,7 @@ bool ExportCloudsDialog::getExportedClouds(
if(textureMeshes.size() > 1 && _ui->checkBox_assemble->isChecked()) if(textureMeshes.size() > 1 && _ui->checkBox_assemble->isChecked())
{ {
UDEBUG("Concatenate texture meshes");
_progressDialog->appendText(tr("Assembling %1 meshes...").arg(textureMeshes.size())); _progressDialog->appendText(tr("Assembling %1 meshes...").arg(textureMeshes.size()));
QApplication::processEvents(); QApplication::processEvents();
uSleep(100); uSleep(100);
@@ -1379,7 +1387,7 @@ bool ExportCloudsDialog::getExportedClouds(
} }
} }
UDEBUG("");
return true; return true;
} }
return false; return false;