kopia lustrzana https://github.com/OpenDroneMap/ODM
Proper mesh scaling, alignment. Enabled smoothing
Piero Toffanin
rodzic
a927da0772
commit
222f8356e2
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@ -81,12 +81,12 @@ void Odm25dMeshing::loadPointCloud() {
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if (posX->datatype == pcl::PCLPointField::FLOAT64) {
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points->InsertNextPoint(*(reinterpret_cast<double *>(point + posX->offset)),
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*(reinterpret_cast<double *>(point + posY->offset)),
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0.0f);
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0.0);
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elevation->InsertNextValue(*(reinterpret_cast<double *>(point + posZ->offset)));
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} else if (posX->datatype == pcl::PCLPointField::FLOAT32) {
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points->InsertNextPoint(*(reinterpret_cast<float *>(point + posX->offset)),
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*(reinterpret_cast<float *>(point + posY->offset)),
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0.0f);
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0.0);
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elevation->InsertNextValue(*(reinterpret_cast<float *>(point + posZ->offset)));
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}
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}
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@ -95,41 +95,34 @@ void Odm25dMeshing::loadPointCloud() {
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}
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void Odm25dMeshing::buildMesh(){
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// double bounds[6];
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// reader->GetOutput()->GetBounds(bounds);
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// vtkSmartPointer<vtkElevationFilter> elevationFilter =
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// vtkSmartPointer<vtkElevationFilter>::New();
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// elevationFilter->SetInputConnection(reader->GetOutputPort());
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// elevationFilter->SetLowPoint(0.0, 0.0, bounds[4]);
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// elevationFilter->SetHighPoint(0.0, 0.0, bounds[5]);
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// elevationFilter->SetScalarRange(0.0f, 1.0f);
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// elevationFilter->Update();
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vtkSmartPointer<vtkPolyData> polydataToProcess =
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vtkSmartPointer<vtkPolyData>::New();
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polydataToProcess->SetPoints(points);
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polydataToProcess->GetPointData()->SetScalars(elevation);
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const float RESOLUTION = 10.0f; // pixels per meter
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const float RADIUS = 1.0f;
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const double RESOLUTION = 10.0; // pixels per meter
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const double RADIUS = 1.0;
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double *bounds = polydataToProcess->GetBounds();
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double *center = polydataToProcess->GetCenter();
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float extentX = bounds[1] - bounds[0];
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float extentY = bounds[3] - bounds[2];
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double extentX = bounds[1] - bounds[0];
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double extentY = bounds[3] - bounds[2];
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int width = ceil(extentX * RESOLUTION);
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int height = ceil(extentY * RESOLUTION);
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log << "Plane extentX: " << extentX <<
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", extentY: " << extentY << "\n";
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vtkSmartPointer<vtkPlaneSource> plane =
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vtkSmartPointer<vtkPlaneSource>::New();
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plane->SetResolution(width, height);
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plane->SetOrigin(0.0f, 0.0f, 0.0f);
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plane->SetPoint1(extentX, 0.0f, 0.0f);
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plane->SetPoint2(0.0f, extentY, 0);
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plane->SetCenter(polydataToProcess->GetCenter());
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plane->SetNormal(0.0f, 0.0f, 1.0f);
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plane->SetOrigin(0.0, 0.0, 0.0);
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plane->SetPoint1(extentX, 0.0, 0.0);
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plane->SetPoint2(0.0, extentY, 0);
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plane->SetCenter(center);
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plane->SetNormal(0.0, 0.0, 1.0);
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vtkSmartPointer<vtkStaticPointLocator> locator =
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vtkSmartPointer<vtkStaticPointLocator>::New();
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@ -141,6 +134,8 @@ void Odm25dMeshing::buildMesh(){
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shepardKernel->SetRadius(RADIUS);
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shepardKernel->SetPowerParameter(2.0);
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log << "Begin point interpolation using shepard's kernel...";
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vtkSmartPointer<vtkPointInterpolator> interpolator =
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vtkSmartPointer<vtkPointInterpolator>::New();
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interpolator->SetInputConnection(plane->GetOutputPort());
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@ -150,16 +145,19 @@ void Odm25dMeshing::buildMesh(){
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interpolator->SetNullPointsStrategyToClosestPoint();
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interpolator->Update();
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log << "OK\n";
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vtkSmartPointer<vtkPolyData> interpolatedPoly =
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interpolator->GetPolyDataOutput();
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vtkSmartPointer<vtkFloatArray> interpolatedElevation =
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vtkFloatArray::SafeDownCast(interpolatedPoly->GetPointData()->GetArray("elevation"));
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vtkSmartPointer<vtkImageData> image =
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vtkSmartPointer<vtkImageData>::New();
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image->SetDimensions(width, height, 1);
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log << "DSM size is " << width << "x" << height << " (" << ceil(width * height * sizeof(float) * 1e-6) << " MB) \n";
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image->AllocateScalars(VTK_FLOAT, 1);
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for (int i = 0; i < width; i++){
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for (int j = 0; j < height; j++){
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@ -184,31 +182,60 @@ void Odm25dMeshing::buildMesh(){
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decimation->SetInputData(image);
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decimation->Update();
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log << "Transform...";
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vtkSmartPointer<vtkTransform> transform =
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vtkSmartPointer<vtkTransform>::New();
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transform->Translate(-extentX / 2.0 + center[0],
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-extentY / 2.0 + center[1], 0);
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transform->Scale(extentX / width, extentY / height, 1);
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vtkSmartPointer<vtkTransformFilter> transformFilter =
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vtkSmartPointer<vtkTransformFilter>::New();
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transformFilter->SetInputConnection(decimation->GetOutputPort());
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transformFilter->SetTransform(transform);
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log << "OK\n";
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vtkSmartPointer<vtkWindowedSincPolyDataFilter> smoother =
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vtkSmartPointer<vtkWindowedSincPolyDataFilter>::New();
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smoother->SetInputConnection(transformFilter->GetOutputPort());
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smoother->SetNumberOfIterations(15);
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// smoother->BoundarySmoothingOff();
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// smoother->FeatureEdgeSmoothingOff();
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smoother->SetFeatureAngle(30.0);
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smoother->SetPassBand(.001);
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// smoother->NonManifoldSmoothingOn();
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// smoother->NormalizeCoordinatesOn();
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smoother->Update();
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log << "Saving mesh to file...";
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vtkSmartPointer<vtkPLYWriter> plyWriter =
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vtkSmartPointer<vtkPLYWriter>::New();
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plyWriter->SetFileName(outputFile.c_str());
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plyWriter->SetInputConnection(decimation->GetOutputPort());
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plyWriter->SetInputConnection(smoother->GetOutputPort());
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plyWriter->SetFileTypeToASCII();
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plyWriter->Write();
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vtkSmartPointer<vtkPolyDataMapper> mapper =
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vtkSmartPointer<vtkPolyDataMapper>::New();
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mapper->SetInputConnection(decimation->GetOutputPort());
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// mapper->SetInputConnection(interpolator->GetOutputPort());
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// mapper->SetInputData(polydataToShow);
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mapper->SetScalarRange(150, 170);
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log << "OK\n";
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// vtkSmartPointer<vtkDataSetMapper> mapper =
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// vtkSmartPointer<vtkDataSetMapper>::New();
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// mapper->SetInputData(image);
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// mapper->SetScalarRange(150, 170);
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#ifdef SHOWDEBUGWINDOW
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// vtkSmartPointer<vtkPolyDataMapper> mapper =
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// vtkSmartPointer<vtkPolyDataMapper>::New();
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// mapper->SetInputConnection(smoother->GetOutputPort());
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//// mapper->SetInputConnection(interpolator->GetOutputPort());
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//// mapper->SetInputData(polydataToShow);
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// mapper->SetScalarRange(150, 170);
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vtkSmartPointer<vtkDataSetMapper> mapper =
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vtkSmartPointer<vtkDataSetMapper>::New();
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mapper->SetInputData(image);
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mapper->SetScalarRange(150, 170);
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vtkSmartPointer<vtkActor> actor =
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vtkSmartPointer<vtkActor>::New();
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actor->SetMapper(mapper);
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actor->GetProperty()->SetPointSize(5);
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actor->GetProperty()->SetInterpolationToFlat();
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// actor->GetProperty()->EdgeVisibilityOn();
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// actor->GetProperty()->SetEdgeColor(1,0,0);
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vtkSmartPointer<vtkRenderer> renderer =
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vtkSmartPointer<vtkRenderer>::New();
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@ -224,151 +251,7 @@ void Odm25dMeshing::buildMesh(){
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renderWindow->Render();
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renderWindowInteractor->Start();
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// // Create a set of vertices (polydata)
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// vtkSmartPointer<vtkPoints> points =
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// vtkSmartPointer<vtkPoints>::New();
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// points->InsertNextPoint(100.0, 0.0, 0.0);
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// points->InsertNextPoint(300.0, 0.0, 0.0);
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//
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// // Setup colors
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// unsigned char white[3] = {255, 255, 255};
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// unsigned char black[3] = {0, 0, 0};
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//
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// vtkSmartPointer<vtkUnsignedCharArray> vertexColors =
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// vtkSmartPointer<vtkUnsignedCharArray>::New();
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// vertexColors->SetNumberOfComponents(3);
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// vertexColors->SetName("Colors");
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// vertexColors->InsertNextTupleValue(black);
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// vertexColors->InsertNextTupleValue(white);
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//
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// // Create a scalar array for the pointdata, each value represents the distance
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// // of the vertices from the first vertex
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// vtkSmartPointer<vtkFloatArray> values =
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// vtkSmartPointer<vtkFloatArray>::New();
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// values->SetNumberOfComponents(1);
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// values->SetName("Values");
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// values->InsertNextValue(0.0);
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// values->InsertNextValue(1.0);
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//
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// // We must make two objects, because the ShepardMethod uses the ActiveScalars, as does the renderer!
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// vtkSmartPointer<vtkPolyData> polydataToProcess =
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// vtkSmartPointer<vtkPolyData>::New();
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// polydataToProcess->SetPoints(points);
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// polydataToProcess->GetPointData()->SetScalars(values);
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//
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// vtkSmartPointer<vtkPolyData> polydataToVisualize =
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// vtkSmartPointer<vtkPolyData>::New();
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// polydataToVisualize->SetPoints(points);
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// polydataToVisualize->GetPointData()->SetScalars(vertexColors);
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//
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// vtkSmartPointer<vtkVertexGlyphFilter> vertexGlyphFilter =
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// vtkSmartPointer<vtkVertexGlyphFilter>::New();
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// #if VTK_MAJOR_VERSION <= 5
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// vertexGlyphFilter->AddInputConnection(polydataToVisualize->GetProducerPort());
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// #else
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// vertexGlyphFilter->AddInputData(polydataToVisualize);
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// #endif
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// vertexGlyphFilter->Update();
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//
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// //Create a mapper and actor
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// vtkSmartPointer<vtkPolyDataMapper> vertsMapper =
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// vtkSmartPointer<vtkPolyDataMapper>::New();
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// //vertsMapper->ScalarVisibilityOff();
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// vertsMapper->SetInputConnection(vertexGlyphFilter->GetOutputPort());
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//
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// vtkSmartPointer<vtkActor> vertsActor =
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// vtkSmartPointer<vtkActor>::New();
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// vertsActor->SetMapper(vertsMapper);
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// vertsActor->GetProperty()->SetColor(1,0,0);
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// vertsActor->GetProperty()->SetPointSize(3);
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//
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// // Create a shepard filter to interpolate the vertices over a regularized image grid
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// vtkSmartPointer<vtkShepardMethod> shepard = vtkSmartPointer<vtkShepardMethod>::New();
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// #if VTK_MAJOR_VERSION <= 5
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// shepard->SetInputConnection(polydataToProcess->GetProducerPort());
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// #else
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// shepard->SetInputData(polydataToProcess);
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// #endif
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// shepard->SetSampleDimensions(2,2,2);
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// shepard->SetModelBounds(100,300,-10,10,-10,10);
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// shepard->SetMaximumDistance(1);
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//
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// // Contour the shepard generated image at 3 isovalues
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// // The accuracy of the results are highly dependent on how the shepard filter is set up
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// vtkSmartPointer<vtkContourFilter> contourFilter = vtkSmartPointer<vtkContourFilter>::New();
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// contourFilter->SetNumberOfContours(3);
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// contourFilter->SetValue(0, 0.25);
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// contourFilter->SetValue(1, 0.50);
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// contourFilter->SetValue(2, 0.75);
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// contourFilter->SetInputConnection(shepard->GetOutputPort());
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// contourFilter->Update();
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//
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// //Create a mapper and actor for the resulting isosurfaces
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// vtkSmartPointer<vtkPolyDataMapper> contourMapper =
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// vtkSmartPointer<vtkPolyDataMapper>::New();
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// contourMapper->SetInputConnection(contourFilter->GetOutputPort());
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// contourMapper->ScalarVisibilityOn();
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// contourMapper->SetColorModeToMapScalars();
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//
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// vtkSmartPointer<vtkActor> contourActor =
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// vtkSmartPointer<vtkActor>::New();
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// contourActor->SetMapper(contourMapper);
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// contourActor->GetProperty()->SetAmbient(1);
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// contourActor->GetProperty()->SetSpecular(0);
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// contourActor->GetProperty()->SetDiffuse(0);
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//
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// // Report the results of the interpolation
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// double *range = contourFilter->GetOutput()->GetScalarRange();
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//
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// std::cout << "Shepard interpolation:" << std::endl;
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// std::cout << "contour output scalar range: " << range[0] << ", " << range[1] << std::endl;
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//
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// vtkIdType nCells = contourFilter->GetOutput()->GetNumberOfCells();
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// double bounds[6];
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// for( vtkIdType i = 0; i < nCells; ++i )
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// {
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// if(i%2) // each isosurface value only has 2 cells to report on the odd ones
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// {
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// contourFilter->GetOutput()->GetCellBounds(i,bounds);
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// std::cout << "cell " << i << ", x position: " << bounds[0] << std::endl;
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// }
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// }
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//
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// // Create a transfer function to color the isosurfaces
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// vtkSmartPointer<vtkColorTransferFunction> lut =
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// vtkSmartPointer<vtkColorTransferFunction>::New();
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// lut->SetColorSpaceToRGB();
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// lut->AddRGBPoint(range[0],0,0,0);//black
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// lut->AddRGBPoint(range[1],1,1,1);//white
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// lut->SetScaleToLinear();
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//
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// contourMapper->SetLookupTable( lut );
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//
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// // Create a renderer, render window and interactor
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// vtkSmartPointer<vtkRenderer> renderer =
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// vtkSmartPointer<vtkRenderer>::New();
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// renderer->GradientBackgroundOn();
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// renderer->SetBackground(0,0,1);
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// renderer->SetBackground2(1,0,1);
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//
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// vtkSmartPointer<vtkRenderWindow> renderWindow =
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// vtkSmartPointer<vtkRenderWindow>::New();
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// renderWindow->AddRenderer(renderer);
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// renderer->AddActor(contourActor);
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// renderer->AddActor(vertsActor);
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//
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// vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor =
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// vtkSmartPointer<vtkRenderWindowInteractor>::New();
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// renderWindowInteractor->SetRenderWindow(renderWindow);
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//
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// // Position the camera so that the image produced is viewable
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// vtkCamera* camera = renderer->GetActiveCamera();
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// camera->SetPosition(450, 100, 100);
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// camera->SetFocalPoint(200, 0, 0);
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// camera->SetViewUp(0, 0, 1);
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//
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// renderWindowInteractor->Start();
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#endif
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}
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void Odm25dMeshing::parseArguments(int argc, char **argv) {
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@ -1,38 +1,33 @@
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#pragma once
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#include <vtkVersion.h>
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//#define SHOWDEBUGWINDOW
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#ifdef SHOWDEBUGWINDOW
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#include <vtkActor.h>
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#include <vtkCamera.h>
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#include <vtkCellArray.h>
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#include <vtkColorTransferFunction.h>
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#include <vtkContourFilter.h>
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#include <vtkFloatArray.h>
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#include <vtkPointData.h>
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#include <vtkPolyDataMapper.h>
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#include <vtkProperty.h>
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#include <vtkRenderer.h>
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#include <vtkRenderWindow.h>
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#include <vtkRenderWindowInteractor.h>
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#include <vtkShepardMethod.h>
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#include <vtkSmartPointer.h>
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#include <vtkVertexGlyphFilter.h>
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#include <vtkDataSetMapper.h>
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#endif
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#include <vtkPLYReader.h>
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#include <vtkVertexGlyphFilter.h>
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#include <vtkStaticPointLocator.h>
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#include <vtkShepardKernel.h>
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#include <vtkPointInterpolator.h>
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#include <vtkPlaneSource.h>
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#include <vtkStructuredGridOutlineFilter.h>
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#include <vtkPointData.h>
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#include <vtkImageData.h>
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#include <vtkGreedyTerrainDecimation.h>
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#include <vtkPLYWriter.h>
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#include <vtkElevationFilter.h>
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#include <vtkSmartPointer.h>
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#include <vtkFloatArray.h>
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#include <vtkStaticPointLocator.h>
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#include <vtkPointInterpolator.h>
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#include <vtkPlaneSource.h>
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#include <vtkTransform.h>
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#include <vtkTransformFilter.h>
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#include <vtkWindowedSincPolyDataFilter.h>
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#include <vtkPointInterpolator.h>
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#include <vtkImageMapToColors.h>
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#include <vtkImageActor.h>
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#include <vtkDataSetMapper.h>
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#include <pcl/io/ply_io.h>
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#include <pcl/PCLPointCloud2.h>
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