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

app/android/AndroidManifest.xml.in

@@ -2,7 +2,7 @@
 <!-- BEGIN_INCLUDE(manifest) -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
         package="com.introlab.rtabmap"
-        android:versionCode="55"
+        android:versionCode="56"
         android:versionName="@RTABMAP_VERSION@">
 
     <uses-permission android:name="android.permission.CAMERA" />

corelib/include/rtabmap/core/OdometryEvent.h

@@ -82,6 +82,7 @@ public:
 			velocity[3] = roll/_info.interval;
 			velocity[4] = pitch/_info.interval;
 			velocity[5] = yaw/_info.interval;
+			return velocity;
 		}
 		return std::vector<float>();
 	}

guilib/include/rtabmap/gui/MainWindow.h

@@ -67,6 +67,7 @@ class StatsToolBox;
 class ProgressDialog;
 class TwistGridWidget;
 class ExportCloudsDialog;
+class ExportBundlerDialog;
 class PostProcessingDialog;
 class DepthCalibrationDialog;
 class DataRecorder;
@@ -265,6 +266,7 @@ private:
 	PreferencesDialog * _preferencesDialog;
 	AboutDialog * _aboutDialog;
 	ExportCloudsDialog * _exportCloudsDialog;
+	ExportBundlerDialog * _exportBundlerDialog;
 	PostProcessingDialog * _postProcessingDialog;
 	DepthCalibrationDialog * _depthCalibrationDialog;
 	DataRecorder * _dataRecorder;

guilib/src/CMakeLists.txt

@@ -22,6 +22,7 @@ SET(headers_ui
 	./ExportDialog.h
 	./PostProcessingDialog.h
 	./ExportCloudsDialog.h
+	./ExportBundlerDialog.h
 	./MapVisibilityWidget.h
 	../include/${PROJECT_PREFIX}/gui/GraphViewer.h
 	./CreateSimpleCalibrationDialog.h
@@ -45,6 +46,7 @@ SET(uis
     ./ui/calibrationDialog.ui
     ./ui/createSimpleCalibrationDialog.ui
     ./ui/depthCalibrationDialog.ui
+    ./ui/exportBundlerDialog.ui
 )
 
 SET(qrc 
@@ -87,6 +89,7 @@ SET(SRC_FILES
 	./CameraViewer.cpp
 	./CalibrationDialog.cpp
 	./ExportDialog.cpp
+	./ExportBundlerDialog.cpp
 	./PostProcessingDialog.cpp
 	./ExportCloudsDialog.cpp
 	./MapVisibilityWidget.cpp

guilib/src/ExportBundlerDialog.cpp

@@ -0,0 +1,128 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "ExportBundlerDialog.h"
+#include "ui_exportBundlerDialog.h"
+
+#include <QFileDialog>
+#include <QPushButton>
+
+namespace rtabmap {
+
+ExportBundlerDialog::ExportBundlerDialog(QWidget * parent) :
+	QDialog(parent)
+{
+	_ui = new Ui_ExportBundlerDialog();
+	_ui->setupUi(this);
+
+	connect(_ui->toolButton_path, SIGNAL(clicked()), this, SLOT(getPath()));
+
+	restoreDefaults();
+	connect(_ui->buttonBox->button(QDialogButtonBox::RestoreDefaults), SIGNAL(clicked()), this, SLOT(restoreDefaults()));
+
+	connect(_ui->doubleSpinBox_laplacianVariance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_linearSpeed, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_angularSpeed, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
+	_ui->lineEdit_path->setText(QDir::currentPath());
+}
+
+ExportBundlerDialog::~ExportBundlerDialog()
+{
+	delete _ui;
+}
+
+void ExportBundlerDialog::saveSettings(QSettings & settings, const QString & group) const
+{
+	if(!group.isEmpty())
+	{
+		settings.beginGroup(group);
+	}
+	settings.setValue("maxLinearSpeed", this->maxLinearSpeed());
+	settings.setValue("maxAngularSpeed", this->maxAngularSpeed());
+	settings.setValue("laplacianThr", this->laplacianThreshold());
+	if(!group.isEmpty())
+	{
+		settings.endGroup();
+	}
+}
+
+void ExportBundlerDialog::loadSettings(QSettings & settings, const QString & group)
+{
+	if(!group.isEmpty())
+	{
+		settings.beginGroup(group);
+	}
+	_ui->doubleSpinBox_linearSpeed->setValue(settings.value("maxLinearSpeed", this->maxLinearSpeed()).toDouble());
+	_ui->doubleSpinBox_angularSpeed->setValue(settings.value("maxAngularSpeed", this->maxAngularSpeed()).toDouble());
+	_ui->doubleSpinBox_laplacianVariance->setValue(settings.value("laplacianThr", this->laplacianThreshold()).toDouble());
+	if(!group.isEmpty())
+	{
+		settings.endGroup();
+	}
+}
+
+void ExportBundlerDialog::setWorkingDirectory(const QString & path)
+{
+	_ui->lineEdit_path->setText((path.isEmpty()?QDir::currentPath():path) + "/bundler");
+}
+
+void ExportBundlerDialog::restoreDefaults()
+{
+	_ui->doubleSpinBox_linearSpeed->setValue(0);
+	_ui->doubleSpinBox_angularSpeed->setValue(0);
+	_ui->doubleSpinBox_laplacianVariance->setValue(0);
+}
+
+void ExportBundlerDialog::getPath()
+{
+	QString path = QFileDialog::getExistingDirectory(this, tr("Exporting cameras in Bundler format..."), _ui->lineEdit_path->text());
+	if(!path.isEmpty())
+	{
+		_ui->lineEdit_path->setText(path);
+	}
+}
+
+QString ExportBundlerDialog::outputPath() const
+{
+	return _ui->lineEdit_path->text();
+}
+
+double ExportBundlerDialog::maxLinearSpeed() const
+{
+	return _ui->doubleSpinBox_linearSpeed->value();
+}
+double ExportBundlerDialog::maxAngularSpeed() const
+{
+	return _ui->doubleSpinBox_angularSpeed->value();
+}
+double ExportBundlerDialog::laplacianThreshold() const
+{
+	return _ui->doubleSpinBox_laplacianVariance->value();
+}
+
+}

guilib/src/ExportBundlerDialog.h

@@ -0,0 +1,71 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef EXPORTBUNDLERDIALOG_H_
+#define EXPORTBUNDLERDIALOG_H_
+
+#include <QDialog>
+#include <QSettings>
+
+class Ui_ExportBundlerDialog;
+
+namespace rtabmap {
+
+class ExportBundlerDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	ExportBundlerDialog(QWidget * parent = 0);
+
+	virtual ~ExportBundlerDialog();
+
+	void saveSettings(QSettings & settings, const QString & group = "") const;
+	void loadSettings(QSettings & settings, const QString & group = "");
+
+	void setWorkingDirectory(const QString & path);
+
+	QString outputPath() const;
+
+	double maxLinearSpeed() const;
+	double maxAngularSpeed() const;
+	double laplacianThreshold() const;
+
+signals:
+	void configChanged();
+
+private slots:
+	void getPath();
+	void restoreDefaults();
+
+private:
+	Ui_ExportBundlerDialog * _ui;
+};
+
+}
+
+#endif /* EXPORTBUNDLERDIALOG_H_ */

guilib/src/ExportCloudsDialog.cpp

@@ -178,6 +178,9 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->checkBox_cameraFilter, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
 	connect(_ui->doubleSpinBox_cameraFilterRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_cameraFilterAngle, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_cameraFilterVel, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_cameraFilterVelRad, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_laplacianVariance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 
 	connect(_ui->checkBox_poisson_outputPolygons, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_poisson_manifold, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -319,6 +322,9 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked());
 	settings.setValue("mesh_textureCameraFilteringRadius", _ui->doubleSpinBox_cameraFilterRadius->value());
 	settings.setValue("mesh_textureCameraFilteringAngle", _ui->doubleSpinBox_cameraFilterAngle->value());
+	settings.setValue("mesh_textureCameraFilteringVel", _ui->doubleSpinBox_cameraFilterVel->value());
+	settings.setValue("mesh_textureCameraFilteringVelRad", _ui->doubleSpinBox_cameraFilterVelRad->value());
+	settings.setValue("mesh_textureCameraFilteringLaplacian", _ui->doubleSpinBox_laplacianVariance->value());
 	settings.setValue("mesh_textureBrightnessConstrastRatioLow", _ui->spinBox_textureBrightnessContrastRatioLow->value());
 	settings.setValue("mesh_textureBrightnessConstrastRatioHigh", _ui->spinBox_textureBrightnessContrastRatioHigh->value());
 	settings.setValue("mesh_textureExposureFusion", _ui->checkBox_exposureFusion->isChecked());
@@ -432,6 +438,9 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_ui->checkBox_cameraFilter->setChecked(settings.value("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked()).toBool());
 	_ui->doubleSpinBox_cameraFilterRadius->setValue(settings.value("mesh_textureCameraFilteringRadius", _ui->doubleSpinBox_cameraFilterRadius->value()).toDouble());
 	_ui->doubleSpinBox_cameraFilterAngle->setValue(settings.value("mesh_textureCameraFilteringAngle", _ui->doubleSpinBox_cameraFilterAngle->value()).toDouble());
+	_ui->doubleSpinBox_cameraFilterVel->setValue(settings.value("mesh_textureCameraFilteringVel", _ui->doubleSpinBox_cameraFilterVel->value()).toDouble());
+	_ui->doubleSpinBox_cameraFilterVelRad->setValue(settings.value("mesh_textureCameraFilteringVelRad", _ui->doubleSpinBox_cameraFilterVelRad->value()).toDouble());
+	_ui->doubleSpinBox_laplacianVariance->setValue(settings.value("mesh_textureCameraFilteringLaplacian", _ui->doubleSpinBox_laplacianVariance->value()).toDouble());
 	_ui->spinBox_textureBrightnessContrastRatioLow->setValue(settings.value("mesh_textureBrightnessConstrastRatioLow", _ui->spinBox_textureBrightnessContrastRatioLow->value()).toDouble());
 	_ui->spinBox_textureBrightnessContrastRatioHigh->setValue(settings.value("mesh_textureBrightnessConstrastRatioHigh", _ui->spinBox_textureBrightnessContrastRatioHigh->value()).toDouble());
 	if(_ui->checkBox_exposureFusion->isEnabled())
@@ -543,8 +552,11 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->spinBox_mesh_minTextureClusterSize->setValue(50);
 	_ui->lineEdit_meshingTextureRoiRatios->setText("0.0 0.0 0.0 0.0");
 	_ui->checkBox_cameraFilter->setChecked(false);
-	_ui->doubleSpinBox_cameraFilterRadius->setValue(0.1);
+	_ui->doubleSpinBox_cameraFilterRadius->setValue(0);
 	_ui->doubleSpinBox_cameraFilterAngle->setValue(30);
+	_ui->doubleSpinBox_cameraFilterVel->setValue(0);
+	_ui->doubleSpinBox_cameraFilterVelRad->setValue(0);
+	_ui->doubleSpinBox_laplacianVariance->setValue(0);
 	_ui->spinBox_textureBrightnessContrastRatioLow->setValue(0);
 	_ui->spinBox_textureBrightnessContrastRatioHigh->setValue(0);
 	_ui->checkBox_exposureFusion->setChecked(false);
@@ -2012,6 +2024,7 @@ bool ExportCloudsDialog::getExportedClouds(
 				std::map<int, Transform> cameraPoses;
 				std::map<int, std::vector<CameraModel> > cameraModels;
 				std::map<int, cv::Mat > cameraDepths;
+				int ignoredCameras = 0;
 				for(std::map<int, Transform>::iterator jter=cameras.begin(); jter!=cameras.end(); ++jter)
 				{
 					if(validCameras.find(jter->first) != validCameras.end())
@@ -2046,21 +2059,34 @@ bool ExportCloudsDialog::getExportedClouds(
 						if(!jter->second.isNull() && models.size())
 						{
 							cv::Mat depth;
+							bool blurryImage = false;
 							bool getDepth = !stereo && _ui->doubleSpinBox_meshingTextureMaxDepthError->value() >= 0.0f;
+							cv::Mat img;
+							std::vector<float> velocity;
 							if(models[0].imageWidth() == 0 || models[0].imageHeight() == 0)
 							{
 								// we are using an old database format (image size not saved in calibrations), we should
 								// uncompress images to get their size
-								cv::Mat img;
 								if(cacheHasCompressedImage)
 								{
 									cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(&img, getDepth?&depth:0);
+									velocity = cachedSignatures.find(jter->first)->getVelocity();
 								}
 								else if(_dbDriver)
 								{
 									SensorData data;
 									_dbDriver->getNodeData(jter->first, data, true, false, false, false);
 									data.uncompressDataConst(&img, getDepth?&depth:0);
+
+									if(_ui->checkBox_cameraFilter->isChecked() &&
+										(_ui->doubleSpinBox_cameraFilterVel->value()>0.0 || _ui->doubleSpinBox_cameraFilterVelRad->value()>0.0))
+									{
+										Transform p,gt;
+										int m,w;
+										std::string l;
+										double s;
+										_dbDriver->getNodeInfo(jter->first, p, m, w, l, s, gt, velocity);
+									}
 								}
 								cv::Size imageSize = img.size();
 								imageSize.width /= models.size();
@@ -2071,20 +2097,80 @@ bool ExportCloudsDialog::getExportedClouds(
 							}
 							else
 							{
+								bool getImg = _ui->checkBox_cameraFilter->isChecked() && _ui->doubleSpinBox_laplacianVariance->value()>0.0;
 								// get just the depth
 								if(cacheHasCompressedImage)
 								{
-									cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(0, getDepth?&depth:0);
+									cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(getImg?&img:0, getDepth?&depth:0);
+									velocity = cachedSignatures.find(jter->first)->getVelocity();
 								}
 								else if(_dbDriver)
 								{
 									SensorData data;
 									_dbDriver->getNodeData(jter->first, data, true, false, false, false);
-									data.uncompressDataConst(0, getDepth?&depth:0);
+									data.uncompressDataConst(getImg?&img:0, getDepth?&depth:0);
+
+									if(_ui->checkBox_cameraFilter->isChecked() &&
+										(_ui->doubleSpinBox_cameraFilterVel->value()>0.0 || _ui->doubleSpinBox_cameraFilterVelRad->value()>0.0))
+									{
+										Transform p,gt;
+										int m,w;
+										std::string l;
+										double s;
+										_dbDriver->getNodeInfo(jter->first, p, m, w, l, s, gt, velocity);
+									}
+								}
+							}
+							if(_ui->checkBox_cameraFilter->isChecked())
+							{
+								std::string msg;
+								if(!blurryImage &&
+									(_ui->doubleSpinBox_cameraFilterVel->value()>0.0 || _ui->doubleSpinBox_cameraFilterVelRad->value()>0.0))
+								{
+									if(velocity.size() == 6)
+									{
+										float transVel = uMax3(fabs(velocity[0]), fabs(velocity[1]), fabs(velocity[2]));
+										float rotVel = uMax3(fabs(velocity[3]), fabs(velocity[4]), fabs(velocity[5]));
+										if(_ui->doubleSpinBox_cameraFilterVel->value()>0.0 && transVel > _ui->doubleSpinBox_cameraFilterVel->value())
+										{
+											msg = uFormat("Fast motion detected for camera %d (speed=%f m/s > thr=%f m/s), camera is ignored for texturing.", jter->first, transVel, _ui->doubleSpinBox_cameraFilterVel->value());
+											blurryImage = true;
+										}
+										else if(_ui->doubleSpinBox_cameraFilterVelRad->value()>0.0 && rotVel > _ui->doubleSpinBox_cameraFilterVelRad->value())
+										{
+											msg = uFormat("Fast motion detected for camera %d (speed=%f rad/s > thr=%f rad/s), camera is ignored for texturing.", jter->first, rotVel, _ui->doubleSpinBox_cameraFilterVelRad->value());
+											blurryImage = true;
+										}
+									}
+									else
+									{
+										UWARN("Camera motion filtering is set, but velocity of camera %d is not available.", jter->first);
+									}
+								}
+
+								if(!blurryImage && !img.empty() && _ui->doubleSpinBox_laplacianVariance->value()>0.0)
+								{
+									cv::Mat imgLaplacian;
+									cv::Laplacian(img, imgLaplacian, CV_16S);
+									cv::Mat m, s;
+									cv::meanStdDev(imgLaplacian, m, s);
+									double stddev_pxl = s.at<double>(0);
+									double var = stddev_pxl*stddev_pxl;
+									if(var < _ui->doubleSpinBox_laplacianVariance->value())
+									{
+										blurryImage = true;
+										msg = uFormat("Camera's image %d is detected as blurry (var=%f < thr=%f), camera is ignored for texturing.", jter->first, var, _ui->doubleSpinBox_laplacianVariance->value());
+									}
+								}
+								if(blurryImage)
+								{
+									_progressDialog->appendText(msg.c_str());
+									QApplication::processEvents();
+									++ignoredCameras;
 								}
 							}
 
-							if(models[0].imageWidth() != 0 && models[0].imageHeight() != 0)
+							if(!blurryImage && models[0].imageWidth() != 0 && models[0].imageHeight() != 0)
 							{
 								cameraPoses.insert(std::make_pair(jter->first, jter->second));
 								cameraModels.insert(std::make_pair(jter->first, models));
@@ -2096,6 +2182,17 @@ bool ExportCloudsDialog::getExportedClouds(
 						}
 					}
 				}
+				if(ignoredCameras > validCameras.size()/2)
+				{
+					std::string msg = uFormat("More than 50%% of the cameras (%d/%d) have been filtered for "
+							"too fast motion and/or blur level. You may adjust the corresponding thresholds.",
+							ignoredCameras, (int)validCameras.size());
+					UWARN(msg.c_str());
+					_progressDialog->appendText(msg.c_str(), Qt::darkYellow);
+					_progressDialog->setAutoClose(false);
+					QApplication::processEvents();
+				}
+
 				if(cameraPoses.size() && iter->second->polygons.size())
 				{
 					pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);

guilib/src/MainWindow.cpp

@@ -62,6 +62,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UCv2Qt.h"
 
 #include "ExportCloudsDialog.h"
+#include "ExportBundlerDialog.h"
 #include "AboutDialog.h"
 #include "PostProcessingDialog.h"
 #include "DepthCalibrationDialog.h"
@@ -136,6 +137,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_preferencesDialog(0),
 	_aboutDialog(0),
 	_exportCloudsDialog(0),
+	_exportBundlerDialog(0),
 	_dataRecorder(0),
 	_lastId(0),
 	_firstStamp(0.0f),
@@ -183,6 +185,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_aboutDialog->setObjectName("AboutDialog");
 	_exportCloudsDialog = new ExportCloudsDialog(this);
 	_exportCloudsDialog->setObjectName("ExportCloudsDialog");
+	_exportBundlerDialog = new ExportBundlerDialog(this);
+	_exportBundlerDialog->setObjectName("ExportBundlerDialog");
 	_postProcessingDialog = new PostProcessingDialog(this);
 	_postProcessingDialog->setObjectName("PostProcessingDialog");
 	_depthCalibrationDialog = new DepthCalibrationDialog(this);
@@ -234,6 +238,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_preferencesDialog->loadMainWindowState(this, _savedMaximized, statusBarShown);
 	_preferencesDialog->loadWindowGeometry(_preferencesDialog);
 	_preferencesDialog->loadWindowGeometry(_exportCloudsDialog);
+	_preferencesDialog->loadWindowGeometry(_exportBundlerDialog);
 	_preferencesDialog->loadWindowGeometry(_postProcessingDialog);
 	_preferencesDialog->loadWindowGeometry(_depthCalibrationDialog);
 	_preferencesDialog->loadWindowGeometry(_aboutDialog);
@@ -460,6 +465,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->graphicsView_graphView, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_exportCloudsDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
+	connect(_exportBundlerDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_postProcessingDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_depthCalibrationDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_ui->toolBar->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
@@ -515,11 +521,13 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_ui->statsToolBox->setNewFigureMaxItems(50);
 	_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
 	_ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
+	_exportBundlerDialog->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
 	_cloudViewer->setBackfaceCulling(true, false);
 	_preferencesDialog->loadWidgetState(_cloudViewer);
 
 	//dialog states
 	_preferencesDialog->loadWidgetState(_exportCloudsDialog);
+	_preferencesDialog->loadWidgetState(_exportBundlerDialog);
 	_preferencesDialog->loadWidgetState(_postProcessingDialog);
 	_preferencesDialog->loadWidgetState(_depthCalibrationDialog);
 
@@ -3740,6 +3748,7 @@ void MainWindow::applyPrefSettings(const rtabmap::ParametersMap & parameters, bo
 		{
 			_ui->statsToolBox->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
 			_ui->graphicsView_graphView->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
+			_exportBundlerDialog->setWorkingDirectory(_preferencesDialog->getWorkingDirectory());
 		}
 
 		if(_state != kIdle && parametersModified.size())
@@ -4126,6 +4135,7 @@ void MainWindow::saveConfigGUI()
 	_preferencesDialog->saveWidgetState(_ui->imageView_loopClosure);
 	_preferencesDialog->saveWidgetState(_ui->imageView_odometry);
 	_preferencesDialog->saveWidgetState(_exportCloudsDialog);
+	_preferencesDialog->saveWidgetState(_exportBundlerDialog);
 	_preferencesDialog->saveWidgetState(_postProcessingDialog);
 	_preferencesDialog->saveWidgetState(_depthCalibrationDialog);
 	_preferencesDialog->saveWidgetState(_ui->graphicsView_graphView);
@@ -6497,6 +6507,11 @@ void MainWindow::exportImages()
 
 void MainWindow::exportBundlerFormat()
 {
+	if(_exportBundlerDialog->isVisible())
+	{
+		return;
+	}
+
 	std::map<int, Transform> posesIn = _ui->widget_mapVisibility->getVisiblePoses();
 
 	// Use ground truth poses if current clouds are using them
@@ -6544,9 +6559,18 @@ void MainWindow::exportBundlerFormat()
 
 	if(poses.size())
 	{
-		QString path = QFileDialog::getExistingDirectory(this, tr("Exporting cameras in Bundler format..."), _preferencesDialog->getWorkingDirectory());
+		if(_exportBundlerDialog->exec() != QDialog::Accepted)
+		{
+			return;
+		}
+		QString path = _exportBundlerDialog->outputPath();
 		if(!path.isEmpty())
 		{
+			if(!QDir(path).mkpath("."))
+			{
+				QMessageBox::warning(this, tr("Exporting cameras..."), tr("Failed creating directory %1.").arg(path));
+				return;
+			}
 			// export cameras and images
 			QFile fileOut(path+QDir::separator()+"cameras.out");
 			QFile fileList(path+QDir::separator()+"list.txt");
@@ -6555,15 +6579,10 @@ void MainWindow::exportBundlerFormat()
 			{
 				if(fileList.open(QIODevice::WriteOnly | QIODevice::Text))
 				{
-					QTextStream out(&fileOut);
+					std::set<int> ignoredCameras;
-					QTextStream list(&fileList);
-					out << "# Bundle file v0.3\n";
-					out << poses.size() << " 0\n";
-
 					for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
 					{
 						QString p = QString("images")+QDir::separator()+tr("%1.jpg").arg(iter->first);
-						list << p << "\n";
 						p = path+QDir::separator()+p;
 						cv::Mat image = _cachedSignatures[iter->first].sensorData().imageRaw();
 						if(image.empty())
@@ -6571,56 +6590,133 @@ void MainWindow::exportBundlerFormat()
 							_cachedSignatures[iter->first].sensorData().uncompressDataConst(&image, 0, 0, 0);
 						}
 
-						if(cv::imwrite(p.toStdString(), image))
+						double maxLinearVel = _exportBundlerDialog->maxLinearSpeed();
+						double maxAngularVel = _exportBundlerDialog->maxAngularSpeed();
+						double laplacianThr = _exportBundlerDialog->laplacianThreshold();
+						bool blurryImage = false;
+						const std::vector<float> & velocity = _cachedSignatures[iter->first].getVelocity();
+						if(maxLinearVel>0.0 || maxAngularVel>0.0)
 						{
-							UINFO("saved image %s", p.toStdString().c_str());
+							if(velocity.size() == 6)
+							{
+								float transVel = uMax3(fabs(velocity[0]), fabs(velocity[1]), fabs(velocity[2]));
+								float rotVel = uMax3(fabs(velocity[3]), fabs(velocity[4]), fabs(velocity[5]));
+								if(maxLinearVel>0.0 && transVel > maxLinearVel)
+								{
+									UWARN("Fast motion detected for camera %d (speed=%f m/s > thr=%f m/s), camera is ignored for texturing.", iter->first, transVel, maxLinearVel);
+									blurryImage = true;
+								}
+								else if(maxAngularVel>0.0 && rotVel > maxAngularVel)
+								{
+									UWARN("Fast motion detected for camera %d (speed=%f rad/s > thr=%f rad/s), camera is ignored for texturing.", iter->first, rotVel, maxAngularVel);
+									blurryImage = true;
+								}
+							}
+							else
+							{
+								UWARN("Camera motion filtering is set, but velocity of camera %d is not available.", iter->first);
+							}
+						}
+
+						if(!blurryImage && !image.empty() && laplacianThr>0.0)
+						{
+							cv::Mat imgLaplacian;
+							cv::Laplacian(image, imgLaplacian, CV_16S);
+							cv::Mat m, s;
+							cv::meanStdDev(imgLaplacian, m, s);
+							double stddev_pxl = s.at<double>(0);
+							double var = stddev_pxl*stddev_pxl;
+							if(var < laplacianThr)
+							{
+								blurryImage = true;
+								UWARN("Camera's image %d is detected as blurry (var=%f < thr=%f), camera is ignored for texturing.", iter->first, var, laplacianThr);
+							}
+						}
+						if(blurryImage)
+						{
+							ignoredCameras.insert(iter->first);
 						}
 						else
 						{
-							UERROR("Failed to save image %s", p.toStdString().c_str());
+							if(cv::imwrite(p.toStdString(), image))
+							{
+								UINFO("saved image %s", p.toStdString().c_str());
+							}
+							else
+							{
+								UERROR("Failed to save image %s", p.toStdString().c_str());
+							}
+						}
+					}
+
+					QTextStream out(&fileOut);
+					QTextStream list(&fileList);
+					out << "# Bundle file v0.3\n";
+					out << poses.size()-ignoredCameras.size() << " 0\n";
+
+					for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
+					{
+						if(ignoredCameras.find(iter->first) == ignoredCameras.end())
+						{
+							QString p = QString("images")+QDir::separator()+tr("%1.jpg").arg(iter->first);
+							list << p << "\n";
+
+							Transform localTransform;
+							if(_cachedSignatures[iter->first].sensorData().cameraModels().size())
+							{
+								out << _cachedSignatures[iter->first].sensorData().cameraModels().at(0).fx() << " 0 0\n";
+								localTransform = _cachedSignatures[iter->first].sensorData().cameraModels().at(0).localTransform();
+							}
+							else
+							{
+								out << _cachedSignatures[iter->first].sensorData().stereoCameraModel().left().fx() << " 0 0\n";
+								localTransform = _cachedSignatures[iter->first].sensorData().stereoCameraModel().left().localTransform();
+							}
+
+							static const Transform opengl_world_T_rtabmap_world(
+									 0.0f, -1.0f, 0.0f, 0.0f,
+									 0.0f,  0.0f, 1.0f, 0.0f,
+									-1.0f,  0.0f, 0.0f, 0.0f);
+
+							static const Transform optical_rotation_inv(
+									 0.0f, -1.0f,  0.0f, 0.0f,
+									 0.0f,  0.0f, -1.0f, 0.0f,
+									 1.0f,  0.0f,  0.0f, 0.0f);
+
+							Transform pose = iter->second;
+							if(!localTransform.isNull())
+							{
+								pose*=localTransform*optical_rotation_inv;
+							}
+							Transform poseGL = opengl_world_T_rtabmap_world*pose.inverse();
+
+							out << poseGL.r11() << " " << poseGL.r12() << " " << poseGL.r13() << "\n";
+							out << poseGL.r21() << " " << poseGL.r22() << " " << poseGL.r23() << "\n";
+							out << poseGL.r31() << " " << poseGL.r32() << " " << poseGL.r33() << "\n";
+							out << poseGL.x()   << " " << poseGL.y()   << " " << poseGL.z()   << "\n";
+
 						}
-
-						Transform localTransform;
-						if(_cachedSignatures[iter->first].sensorData().cameraModels().size())
-						{
-							out << _cachedSignatures[iter->first].sensorData().cameraModels().at(0).fx() << " 0 0\n";
-							localTransform = _cachedSignatures[iter->first].sensorData().cameraModels().at(0).localTransform();
-						}
-						else
-						{
-							out << _cachedSignatures[iter->first].sensorData().stereoCameraModel().left().fx() << " 0 0\n";
-							localTransform = _cachedSignatures[iter->first].sensorData().stereoCameraModel().left().localTransform();
-						}
-
-						static const Transform opengl_world_T_rtabmap_world(
-								 0.0f, -1.0f, 0.0f, 0.0f,
-								 0.0f,  0.0f, 1.0f, 0.0f,
-								-1.0f,  0.0f, 0.0f, 0.0f);
-
-						static const Transform optical_rotation_inv(
-								 0.0f, -1.0f,  0.0f, 0.0f,
-								 0.0f,  0.0f, -1.0f, 0.0f,
-							     1.0f,  0.0f,  0.0f, 0.0f);
-
-						Transform pose = iter->second;
-						if(!localTransform.isNull())
-						{
-							pose*=localTransform*optical_rotation_inv;
-						}
-						Transform poseGL = opengl_world_T_rtabmap_world*pose.inverse();
-
-						out << poseGL.r11() << " " << poseGL.r12() << " " << poseGL.r13() << "\n";
-						out << poseGL.r21() << " " << poseGL.r22() << " " << poseGL.r23() << "\n";
-						out << poseGL.r31() << " " << poseGL.r32() << " " << poseGL.r33() << "\n";
-						out << poseGL.x()   << " " << poseGL.y()   << " " << poseGL.z()   << "\n";
 					}
 
-					QMessageBox::question(this,
-							tr("Exporting cameras in Bundler format..."),
-							tr("%1 cameras/images exported to directory \"%2\".").arg(poses.size()).arg(path));
 					fileList.close();
+					fileOut.close();
+
+					QMessageBox::information(this,
+							tr("Exporting cameras in Bundler format..."),
+							tr("%1 cameras/images exported to directory \"%2\".%3")
+							.arg(poses.size())
+							.arg(path)
+							.arg(ignoredCameras.size()>0?tr(" %1/%2 cameras ignored for too fast motion and/or blur level.").arg(ignoredCameras.size()).arg(poses.size()):""));
 				}
-				fileOut.close();
+				else
+				{
+					fileOut.close();
+					QMessageBox::warning(this, tr("Exporting cameras..."), tr("Failed opening file %1 for writing.").arg(path+QDir::separator()+"list.txt"));
+				}
+			}
+			else
+			{
+				QMessageBox::warning(this, tr("Exporting cameras..."), tr("Failed opening file %1 for writing.").arg(path+QDir::separator()+"cameras.out"));
 			}
 		}
 	}

guilib/src/PreferencesDialog.cpp

@@ -69,6 +69,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/gui/ImageView.h"
 #include "rtabmap/gui/GraphViewer.h"
 #include "ExportCloudsDialog.h"
+#include "ExportBundlerDialog.h"
 #include "PostProcessingDialog.h"
 #include "CreateSimpleCalibrationDialog.h"
 #include "DepthCalibrationDialog.h"
@@ -2789,6 +2790,7 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
 		const CloudViewer * cloudViewer = qobject_cast<const CloudViewer*>(widget);
 		const ImageView * imageView = qobject_cast<const ImageView*>(widget);
 		const ExportCloudsDialog * exportCloudsDialog = qobject_cast<const ExportCloudsDialog*>(widget);
+		const ExportBundlerDialog * exportBundlerDialog = qobject_cast<const ExportBundlerDialog*>(widget);
 		const PostProcessingDialog * postProcessingDialog = qobject_cast<const PostProcessingDialog *>(widget);
 		const GraphViewer * graphViewer = qobject_cast<const GraphViewer *>(widget);
 		const CalibrationDialog * calibrationDialog = qobject_cast<const CalibrationDialog *>(widget);
@@ -2809,6 +2811,11 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
 			exportCloudsDialog->saveSettings(settings);
 			exportCloudsDialog->saveSettings(settingsTmp);
 		}
+		else if(exportBundlerDialog)
+		{
+			exportBundlerDialog->saveSettings(settings);
+			exportBundlerDialog->saveSettings(settingsTmp);
+		}
 		else if(postProcessingDialog)
 		{
 			postProcessingDialog->saveSettings(settings);
@@ -2857,6 +2864,7 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
 		CloudViewer * cloudViewer = qobject_cast<CloudViewer*>(widget);
 		ImageView * imageView = qobject_cast<ImageView*>(widget);
 		ExportCloudsDialog * exportCloudsDialog = qobject_cast<ExportCloudsDialog*>(widget);
+		ExportBundlerDialog * exportBundlerDialog = qobject_cast<ExportBundlerDialog*>(widget);
 		PostProcessingDialog * postProcessingDialog = qobject_cast<PostProcessingDialog *>(widget);
 		GraphViewer * graphViewer = qobject_cast<GraphViewer *>(widget);
 		CalibrationDialog * calibrationDialog = qobject_cast<CalibrationDialog *>(widget);
@@ -2877,6 +2885,11 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
 			exportCloudsDialog->loadSettings(settings);
 			exportCloudsDialog->saveSettings(settingsTmp);
 		}
+		else if(exportBundlerDialog)
+		{
+			exportBundlerDialog->loadSettings(settings);
+			exportBundlerDialog->saveSettings(settingsTmp);
+		}
 		else if(postProcessingDialog)
 		{
 			postProcessingDialog->loadSettings(settings);

guilib/src/ui/exportBundlerDialog.ui

@@ -0,0 +1,218 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ExportBundlerDialog</class>
+ <widget class="QDialog" name="ExportBundlerDialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>521</width>
+    <height>320</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Export Bundler</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Motion Blur Filtering</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <item>
+       <widget class="QLabel" name="label_40">
+        <property name="text">
+         <string>These optional parameters can be used to avoid exporting blurred images. 0 means not used.</string>
+        </property>
+        <property name="wordWrap">
+         <bool>true</bool>
+        </property>
+        <property name="textInteractionFlags">
+         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
+        <item row="0" column="0">
+         <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="QLabel" name="label_38">
+          <property name="text">
+           <string>Laplacian variance threshold. Below this threshold, the image is considered blurred. 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="1" column="0">
+         <widget class="QDoubleSpinBox" name="doubleSpinBox_linearSpeed">
+          <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="1" column="1">
+         <widget class="QLabel" name="label_39">
+          <property name="text">
+           <string>Maximum linear speed. Images taken on fast motions would be more blurry. 0.1 m/s 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="0">
+         <widget class="QDoubleSpinBox" name="doubleSpinBox_angularSpeed">
+          <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="1">
+         <widget class="QLabel" name="label_41">
+          <property name="text">
+           <string>Maximum angular speed. Images taken on fast motions would be more blurry. 0.4 rad/s 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>
+       </layout>
+      </item>
+     </layout>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QLabel" name="label_42">
+       <property name="text">
+        <string>Output folder:</string>
+       </property>
+       <property name="wordWrap">
+        <bool>true</bool>
+       </property>
+       <property name="textInteractionFlags">
+        <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QLineEdit" name="lineEdit_path">
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QToolButton" name="toolButton_path">
+       <property name="text">
+        <string>...</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>accepted()</signal>
+   <receiver>ExportBundlerDialog</receiver>
+   <slot>accept()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>248</x>
+     <y>254</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>157</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>rejected()</signal>
+   <receiver>ExportBundlerDialog</receiver>
+   <slot>reject()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>316</x>
+     <y>260</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>286</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

guilib/src/ui/exportCloudsDialog.ui

@@ -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">
+                <item row="1" column="2">
-                 <widget class="QLabel" name="label_48">
+                 <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>

guilib/src/ui/exportDialog.ui

@@ -142,7 +142,7 @@
    <item>
     <widget class="QCheckBox" name="checkBox_depth2d">
      <property name="text">
-      <string>Depth 2D (laser scans)</string>
+      <string>Laser scans</string>
      </property>
      <property name="checked">
       <bool>true</bool>