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fixes for texture mesh export for pcl > 1.13.0 #1039

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merged 1 commit into from
May 30, 2023
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fixes for texture mesh export for pcl > 1.13.0 #1039

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4 changes: 4 additions & 0 deletions guilib/include/rtabmap/gui/ExportCloudsDialog.h
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Original file line number Diff line number Diff line change
Expand Up @@ -153,6 +153,10 @@ private Q_SLOTS:
GainCompensator * _compensator;
const DBDriver * _dbDriver;
bool _scansHaveRGB;

bool saveOBJFile(const QString &path, pcl::TextureMesh::Ptr &mesh) const;
bool saveOBJFile(const QString &path, pcl::PolygonMesh &mesh) const;

};

}
Expand Down
37 changes: 30 additions & 7 deletions guilib/src/ExportCloudsDialog.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2844,7 +2844,7 @@ bool ExportCloudsDialog::getExportedClouds(
}
if(!image.empty())
{

if(_ui->spinBox_camProjDecimation->value()>1)
{
image = util2d::decimate(image, _ui->spinBox_camProjDecimation->value());
Expand Down Expand Up @@ -4369,11 +4369,11 @@ void ExportCloudsDialog::saveMeshes(
}
else if(QFileInfo(path).suffix() == "obj")
{
success = pcl::io::saveOBJFile(path.toStdString(), *meshes.begin()->second) == 0;
success = saveOBJFile(path, *meshes.begin()->second);
}
else
{
UERROR("Extension not recognized! (%s) Should be (*.ply).", QFileInfo(path).suffix().toStdString().c_str());
UERROR("Extension not recognized! (%s) Should be (*.ply) or (*.obj).", QFileInfo(path).suffix().toStdString().c_str());
}
if(success)
{
Expand Down Expand Up @@ -4455,7 +4455,7 @@ void ExportCloudsDialog::saveMeshes(
}
else if(suffix == "obj")
{
success = pcl::io::saveOBJFile(pathFile.toStdString(), mesh) == 0;
success = saveOBJFile(pathFile, mesh);
}
else
{
Expand Down Expand Up @@ -4779,8 +4779,7 @@ void ExportCloudsDialog::saveTextureMeshes(
}
}

success = pcl::io::saveOBJFile(path.toStdString(), *mesh) == 0;
if(success)
if(saveOBJFile(path, mesh))
{
_progressDialog->incrementStep();
_progressDialog->appendText(tr("Saving the mesh (with %1 textures)... done.").arg(mesh->tex_materials.size()));
Expand Down Expand Up @@ -4976,7 +4975,7 @@ void ExportCloudsDialog::saveTextureMeshes(
bool success =false;
if(suffix == "obj")
{
success = pcl::io::saveOBJFile(pathFile.toStdString(), *mesh) == 0;
success = saveOBJFile(pathFile, mesh);
}
else
{
Expand Down Expand Up @@ -5010,4 +5009,28 @@ void ExportCloudsDialog::saveTextureMeshes(
}
}

bool ExportCloudsDialog::saveOBJFile(const QString &path, pcl::TextureMesh::Ptr &mesh) const {
#if PCL_VERSION_COMPARE(>=, 1, 13, 0)
mesh->tex_coord_indices = std::vector<std::vector<pcl::Vertices>>();
auto nr_meshes = static_cast<unsigned>(mesh->tex_polygons.size());
unsigned f_idx = 0;
for (unsigned m = 0; m < nr_meshes; m++) {
std::vector<pcl::Vertices> ci = mesh->tex_polygons[m];
for(std::size_t i = 0; i < ci.size(); i++) {
for (std::size_t j = 0; j < ci[i].vertices.size(); j++) {
ci[i].vertices[j] = ci[i].vertices.size() * (i + f_idx) + j;
}
}
mesh->tex_coord_indices.push_back(ci);
f_idx += static_cast<unsigned>(mesh->tex_polygons[m].size());
}
#endif
return pcl::io::saveOBJFile(path.toStdString(), *mesh) == 0;
}

bool ExportCloudsDialog::saveOBJFile(const QString &path, pcl::PolygonMesh &mesh) const {
return pcl::io::saveOBJFile(path.toStdString(), mesh) == 0;
}


}