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OdometryEvent: fixed velocity() returning always empty. Export: added options to filter blurred cameras based on laplacian threshold or velocity (#225).

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matlabbe
2017-08-07 16:31:49 -04:00
parent 75854fc026
commit 1e335e53ba
12 changed files with 753 additions and 66 deletions
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80
guilib/src/ui/exportCloudsDialog.ui
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@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-2146</y>
<y>-2684</y>
<width>773</width>
<height>4045</height>
<height>4103</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1778,7 +1778,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<item row="8" column="1">
<widget class="QLabel" name="label_meshingTextureSize_3">
<property name="text">
<string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
<string>Camera filtering. Some criteria to select which cameras are used for texturing.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1876,24 +1876,24 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<property name="title">
<string>Camera Filtering</string>
</property>
<layout class="QGridLayout" name="gridLayout_16" columnstretch="0,1">
<layout class="QGridLayout" name="gridLayout_16" columnstretch="0,0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.010000000000000</double>
<double>0.000000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<item row="0" column="2">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Radius.</string>
<string>Only one camera in a fixed radius and angle is used for texturing. Radius of 0 m means disabled.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1903,7 +1903,26 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="1" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_laplacianVariance">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterAngle">
<property name="suffix">
<string> deg</string>
@@ -1919,10 +1938,49 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_48">
<item row="1" column="2">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Angle.</string>
<string>Laplacian variance threshold. Below this threshold, the image is considered blurred. 0 means disabled. 50 can be good default.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterVelRad">
<property name="suffix">
<string> rad/s</string>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterVel">
<property name="suffix">
<string> m/s</string>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_39">
<property name="text">
<string>Maximum speed to keep a camera view for texturing. Images taken on fast motions would be more blurry. 0 means disabled. 0.1 m/s and 0.4 rad/s can be good defaults.</string>
</property>
<property name="wordWrap">
<bool>true</bool>