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Code Issues Packages Projects Releases Wiki Activity

Export dialog: hiding not used options, exporting can be now canceled on texturing phase

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This commit is contained in:
matlabbe
2017-02-26 18:17:00 -05:00
parent 8ab609471a
commit 2565239a1b
11 changed files with 863 additions and 436 deletions
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1
guilib/src/CMakeLists.txt
View File

@@ -29,6 +29,7 @@ SET(headers_ui
./ParametersToolBox.h
./DepthCalibrationDialog.h
./3rdParty/QMultiComboBox.h
./TexturingState.h
)
SET(uis

189
guilib/src/ExportCloudsDialog.cpp
View File

@@ -28,8 +28,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "ExportCloudsDialog.h"
#include "ui_exportCloudsDialog.h"
#include "rtabmap/gui/ProgressDialog.h"
#include "rtabmap/gui/CloudViewer.h"
#include "TexturingState.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UConversion.h"
#include "rtabmap/utilite/UThread.h"
@@ -82,7 +82,8 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->comboBox_meshingApproach, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_meshingApproach, SIGNAL(currentIndexChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->groupBox_regenerate, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_regenerate, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_regenerate, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_minDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -92,11 +93,13 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->lineEdit_distortionModel, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(selectDistortionModel()));
connect(_ui->groupBox_bilateral, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_bilateral, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_bilateral, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_bilateral_sigmaR, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_filtering, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_filtering, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_filtering, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_filteringRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_filteringMinNeighbors, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
@@ -104,12 +107,14 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->checkBox_assemble, SIGNAL(clicked(bool)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_voxelSize_assembled, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_subtraction, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_subtraction, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_subtraction, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_subtractPointFilteringRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_subtractPointFilteringAngle, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_subtractFilteringMinPts, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_mls, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_smoothing, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_smoothing, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_mlsRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_polygonialOrder, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
@@ -121,15 +126,17 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_upsampling, SLOT(setCurrentIndex(int)));
connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), this, SLOT(updateMLSGrpVisibility()));
connect(_ui->groupBox_gain, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_gainCompensation, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_gainCompensation, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_gainRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_gainOverlap, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_gainAlpha, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_gainBeta, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_gainLinkedLocationsOnly, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_meshing, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
connect(_ui->groupBox_meshing, SIGNAL(toggled(bool)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -142,6 +149,10 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->comboBox_meshingTextureFormat, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_meshingTextureSize, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_meshingTextureMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_cameraFilter, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
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->checkBox_poisson_outputPolygons, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_poisson_manifold, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -199,7 +210,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("binary", _ui->checkBox_binary->isChecked());
settings.setValue("normals_k", _ui->spinBox_normalKSearch->value());
settings.setValue("regenerate", _ui->groupBox_regenerate->isChecked());
settings.setValue("regenerate", _ui->checkBox_regenerate->isChecked());
settings.setValue("regenerate_decimation", _ui->spinBox_decimation->value());
settings.setValue("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value());
settings.setValue("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value());
@@ -208,23 +219,23 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("regenerate_roi", _ui->lineEdit_roiRatios->text());
settings.setValue("regenerate_distortion_model", _ui->lineEdit_distortionModel->text());
settings.setValue("bilateral", _ui->groupBox_bilateral->isChecked());
settings.setValue("bilateral", _ui->checkBox_bilateral->isChecked());
settings.setValue("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value());
settings.setValue("bilateral_sigma_r", _ui->doubleSpinBox_bilateral_sigmaR->value());
settings.setValue("filtering", _ui->groupBox_filtering->isChecked());
settings.setValue("filtering", _ui->checkBox_filtering->isChecked());
settings.setValue("filtering_radius", _ui->doubleSpinBox_filteringRadius->value());
settings.setValue("filtering_min_neighbors", _ui->spinBox_filteringMinNeighbors->value());
settings.setValue("assemble", _ui->checkBox_assemble->isChecked());
settings.setValue("assemble_voxel",_ui->doubleSpinBox_voxelSize_assembled->value());
settings.setValue("subtract",_ui->groupBox_subtraction->isChecked());
settings.setValue("subtract",_ui->checkBox_subtraction->isChecked());
settings.setValue("subtract_point_radius",_ui->doubleSpinBox_subtractPointFilteringRadius->value());
settings.setValue("subtract_point_angle",_ui->doubleSpinBox_subtractPointFilteringAngle->value());
settings.setValue("subtract_min_neighbors",_ui->spinBox_subtractFilteringMinPts->value());
settings.setValue("mls", _ui->groupBox_mls->isChecked());
settings.setValue("mls", _ui->checkBox_smoothing->isChecked());
settings.setValue("mls_radius", _ui->doubleSpinBox_mlsRadius->value());
settings.setValue("mls_polygonial_order", _ui->spinBox_polygonialOrder->value());
settings.setValue("mls_upsampling_method", _ui->comboBox_upsamplingMethod->currentIndex());
@@ -234,14 +245,14 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mls_dilation_voxel_size", _ui->doubleSpinBox_dilationVoxelSize->value());
settings.setValue("mls_dilation_iterations", _ui->spinBox_dilationSteps->value());
settings.setValue("gain", _ui->groupBox_gain->isChecked());
settings.setValue("gain", _ui->checkBox_gainCompensation->isChecked());
settings.setValue("gain_radius", _ui->doubleSpinBox_gainRadius->value());
settings.setValue("gain_overlap", _ui->doubleSpinBox_gainOverlap->value());
settings.setValue("gain_alpha", _ui->doubleSpinBox_gainAlpha->value());
settings.setValue("gain_beta", _ui->doubleSpinBox_gainBeta->value());
settings.setValue("gain_linked_locations", _ui->checkBox_gainLinkedLocationsOnly->isChecked());
settings.setValue("mesh", _ui->groupBox_meshing->isChecked());
settings.setValue("mesh", _ui->checkBox_meshing->isChecked());
settings.setValue("mesh_radius", _ui->doubleSpinBox_gp3Radius->value());
settings.setValue("mesh_mu", _ui->doubleSpinBox_gp3Mu->value());
settings.setValue("mesh_decimation_factor", _ui->doubleSpinBox_meshDecimationFactor->value());
@@ -255,6 +266,9 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex());
settings.setValue("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex());
settings.setValue("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value());
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_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value());
@@ -288,7 +302,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->checkBox_binary->setChecked(settings.value("binary", _ui->checkBox_binary->isChecked()).toBool());
_ui->spinBox_normalKSearch->setValue(settings.value("normals_k", _ui->spinBox_normalKSearch->value()).toInt());
_ui->groupBox_regenerate->setChecked(settings.value("regenerate", _ui->groupBox_regenerate->isChecked()).toBool());
_ui->checkBox_regenerate->setChecked(settings.value("regenerate", _ui->checkBox_regenerate->isChecked()).toBool());
_ui->spinBox_decimation->setValue(settings.value("regenerate_decimation", _ui->spinBox_decimation->value()).toInt());
_ui->doubleSpinBox_maxDepth->setValue(settings.value("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value()).toDouble());
_ui->doubleSpinBox_minDepth->setValue(settings.value("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value()).toDouble());
@@ -297,23 +311,23 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->lineEdit_roiRatios->setText(settings.value("regenerate_roi", _ui->lineEdit_roiRatios->text()).toString());
_ui->lineEdit_distortionModel->setText(settings.value("regenerate_distortion_model", _ui->lineEdit_distortionModel->text()).toString());
_ui->groupBox_bilateral->setChecked(settings.value("bilateral", _ui->groupBox_bilateral->isChecked()).toBool());
_ui->checkBox_bilateral->setChecked(settings.value("bilateral", _ui->checkBox_bilateral->isChecked()).toBool());
_ui->doubleSpinBox_bilateral_sigmaS->setValue(settings.value("bilateral_sigma_s", _ui->doubleSpinBox_bilateral_sigmaS->value()).toDouble());
_ui->doubleSpinBox_bilateral_sigmaR->setValue(settings.value("bilateral_sigma_r", _ui->doubleSpinBox_bilateral_sigmaR->value()).toDouble());
_ui->groupBox_filtering->setChecked(settings.value("filtering", _ui->groupBox_filtering->isChecked()).toBool());
_ui->checkBox_filtering->setChecked(settings.value("filtering", _ui->checkBox_filtering->isChecked()).toBool());
_ui->doubleSpinBox_filteringRadius->setValue(settings.value("filtering_radius", _ui->doubleSpinBox_filteringRadius->value()).toDouble());
_ui->spinBox_filteringMinNeighbors->setValue(settings.value("filtering_min_neighbors", _ui->spinBox_filteringMinNeighbors->value()).toInt());
_ui->checkBox_assemble->setChecked(settings.value("assemble", _ui->checkBox_assemble->isChecked()).toBool());
_ui->doubleSpinBox_voxelSize_assembled->setValue(settings.value("assemble_voxel", _ui->doubleSpinBox_voxelSize_assembled->value()).toDouble());
_ui->groupBox_subtraction->setChecked(settings.value("subtract",_ui->groupBox_subtraction->isChecked()).toBool());
_ui->checkBox_subtraction->setChecked(settings.value("subtract",_ui->checkBox_subtraction->isChecked()).toBool());
_ui->doubleSpinBox_subtractPointFilteringRadius->setValue(settings.value("subtract_point_radius",_ui->doubleSpinBox_subtractPointFilteringRadius->value()).toDouble());
_ui->doubleSpinBox_subtractPointFilteringAngle->setValue(settings.value("subtract_point_angle",_ui->doubleSpinBox_subtractPointFilteringAngle->value()).toDouble());
_ui->spinBox_subtractFilteringMinPts->setValue(settings.value("subtract_min_neighbors",_ui->spinBox_subtractFilteringMinPts->value()).toInt());
_ui->groupBox_mls->setChecked(settings.value("mls", _ui->groupBox_mls->isChecked()).toBool());
_ui->checkBox_smoothing->setChecked(settings.value("mls", _ui->checkBox_smoothing->isChecked()).toBool());
_ui->doubleSpinBox_mlsRadius->setValue(settings.value("mls_radius", _ui->doubleSpinBox_mlsRadius->value()).toDouble());
_ui->spinBox_polygonialOrder->setValue(settings.value("mls_polygonial_order", _ui->spinBox_polygonialOrder->value()).toInt());
_ui->comboBox_upsamplingMethod->setCurrentIndex(settings.value("mls_upsampling_method", _ui->comboBox_upsamplingMethod->currentIndex()).toInt());
@@ -323,14 +337,14 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->doubleSpinBox_dilationVoxelSize->setValue(settings.value("mls_dilation_voxel_size", _ui->doubleSpinBox_dilationVoxelSize->value()).toDouble());
_ui->spinBox_dilationSteps->setValue(settings.value("mls_dilation_iterations", _ui->spinBox_dilationSteps->value()).toInt());
_ui->groupBox_gain->setChecked(settings.value("gain", _ui->groupBox_gain->isChecked()).toBool());
_ui->checkBox_gainCompensation->setChecked(settings.value("gain", _ui->checkBox_gainCompensation->isChecked()).toBool());
_ui->doubleSpinBox_gainRadius->setValue(settings.value("gain_radius", _ui->doubleSpinBox_gainRadius->value()).toDouble());
_ui->doubleSpinBox_gainOverlap->setValue(settings.value("gain_overlap", _ui->doubleSpinBox_gainOverlap->value()).toDouble());
_ui->doubleSpinBox_gainAlpha->setValue(settings.value("gain_alpha", _ui->doubleSpinBox_gainAlpha->value()).toDouble());
_ui->doubleSpinBox_gainBeta->setValue(settings.value("gain_beta", _ui->doubleSpinBox_gainBeta->value()).toDouble());
_ui->checkBox_gainLinkedLocationsOnly->setChecked(settings.value("gain_linked_locations", _ui->checkBox_gainLinkedLocationsOnly->isChecked()).toBool());
_ui->groupBox_meshing->setChecked(settings.value("mesh", _ui->groupBox_meshing->isChecked()).toBool());
_ui->checkBox_meshing->setChecked(settings.value("mesh", _ui->checkBox_meshing->isChecked()).toBool());
_ui->doubleSpinBox_gp3Radius->setValue(settings.value("mesh_radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
_ui->doubleSpinBox_gp3Mu->setValue(settings.value("mesh_mu", _ui->doubleSpinBox_gp3Mu->value()).toDouble());
_ui->doubleSpinBox_meshDecimationFactor->setValue(settings.value("mesh_decimation_factor",_ui->doubleSpinBox_meshDecimationFactor->value()).toDouble());
@@ -344,6 +358,9 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->comboBox_meshingTextureFormat->setCurrentIndex(settings.value("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex()).toInt());
_ui->comboBox_meshingTextureSize->setCurrentIndex(settings.value("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex()).toInt());
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(settings.value("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value()).toDouble());
_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_mesh_angleTolerance->setValue(settings.value("mesh_angle_tolerance", _ui->doubleSpinBox_mesh_angleTolerance->value()).toDouble());
_ui->checkBox_mesh_quad->setChecked(settings.value("mesh_quad", _ui->checkBox_mesh_quad->isChecked()).toBool());
@@ -374,7 +391,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->checkBox_binary->setChecked(true);
_ui->spinBox_normalKSearch->setValue(10);
_ui->groupBox_regenerate->setChecked(false);
_ui->checkBox_regenerate->setChecked(false);
_ui->spinBox_decimation->setValue(1);
_ui->doubleSpinBox_maxDepth->setValue(4);
_ui->doubleSpinBox_minDepth->setValue(0);
@@ -383,23 +400,23 @@ void ExportCloudsDialog::restoreDefaults()
_ui->lineEdit_roiRatios->setText("0.0 0.0 0.0 0.0");
_ui->lineEdit_distortionModel->setText("");
_ui->groupBox_bilateral->setChecked(false);
_ui->checkBox_bilateral->setChecked(false);
_ui->doubleSpinBox_bilateral_sigmaS->setValue(10.0);
_ui->doubleSpinBox_bilateral_sigmaR->setValue(0.1);
_ui->groupBox_filtering->setChecked(false);
_ui->checkBox_filtering->setChecked(false);
_ui->doubleSpinBox_filteringRadius->setValue(0.02);
_ui->spinBox_filteringMinNeighbors->setValue(2);
_ui->checkBox_assemble->setChecked(true);
_ui->doubleSpinBox_voxelSize_assembled->setValue(0.0);
_ui->groupBox_subtraction->setChecked(false);
_ui->checkBox_subtraction->setChecked(false);
_ui->doubleSpinBox_subtractPointFilteringRadius->setValue(0.02);
_ui->doubleSpinBox_subtractPointFilteringAngle->setValue(0);
_ui->spinBox_subtractFilteringMinPts->setValue(5);
_ui->groupBox_mls->setChecked(false);
_ui->checkBox_smoothing->setChecked(false);
_ui->doubleSpinBox_mlsRadius->setValue(0.04);
_ui->spinBox_polygonialOrder->setValue(2);
_ui->comboBox_upsamplingMethod->setCurrentIndex(0);
@@ -409,14 +426,14 @@ void ExportCloudsDialog::restoreDefaults()
_ui->doubleSpinBox_dilationVoxelSize->setValue(0.01);
_ui->spinBox_dilationSteps->setValue(0);
_ui->groupBox_gain->setChecked(false);
_ui->checkBox_gainCompensation->setChecked(false);
_ui->doubleSpinBox_gainRadius->setValue(0.02);
_ui->doubleSpinBox_gainOverlap->setValue(0.05);
_ui->doubleSpinBox_gainAlpha->setValue(0.01);
_ui->doubleSpinBox_gainBeta->setValue(10);
_ui->checkBox_gainLinkedLocationsOnly->setChecked(true);
_ui->groupBox_meshing->setChecked(false);
_ui->checkBox_meshing->setChecked(false);
_ui->doubleSpinBox_gp3Radius->setValue(0.2);
_ui->doubleSpinBox_gp3Mu->setValue(2.5);
_ui->doubleSpinBox_meshDecimationFactor->setValue(0.0);
@@ -430,6 +447,9 @@ void ExportCloudsDialog::restoreDefaults()
_ui->comboBox_meshingTextureFormat->setCurrentIndex(0);
_ui->comboBox_meshingTextureSize->setCurrentIndex(5); // 4096
_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(3.0);
_ui->checkBox_cameraFilter->setChecked(false);
_ui->doubleSpinBox_cameraFilterRadius->setValue(0.1);
_ui->doubleSpinBox_cameraFilterAngle->setValue(30);
_ui->doubleSpinBox_mesh_angleTolerance->setValue(15.0);
_ui->checkBox_mesh_quad->setChecked(false);
@@ -453,21 +473,34 @@ void ExportCloudsDialog::restoreDefaults()
void ExportCloudsDialog::updateReconstructionFlavor()
{
_ui->groupBox_mls->setVisible(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->groupBox_mls->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->checkBox_smoothing->setVisible(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->checkBox_smoothing->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->label_denseReconstruction->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->doubleSpinBox_meshDecimationFactor->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->label_meshDecimation->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->groupBox_organized->setVisible(_ui->comboBox_pipeline->currentIndex() == 0);
_ui->groupBox_regenerate->setVisible(_ui->checkBox_regenerate->isChecked());
_ui->groupBox_bilateral->setVisible(_ui->checkBox_bilateral->isChecked());
_ui->groupBox_filtering->setVisible(_ui->checkBox_filtering->isChecked());
_ui->groupBox_gain->setVisible(_ui->checkBox_gainCompensation->isChecked());
_ui->groupBox_mls->setVisible(_ui->checkBox_smoothing->isEnabled() && _ui->checkBox_smoothing->isChecked());
_ui->groupBox_meshing->setVisible(_ui->checkBox_meshing->isChecked());
_ui->groupBox_subtraction->setVisible(_ui->checkBox_subtraction->isChecked());
_ui->groupBox_textureMapping->setVisible(_ui->checkBox_textureMapping->isChecked());
_ui->groupBox_cameraFilter->setVisible(_ui->checkBox_cameraFilter->isChecked());
// dense texturing options
_ui->groupBox_gp3->setVisible(_ui->comboBox_pipeline->currentIndex() == 1 && _ui->comboBox_meshingApproach->currentIndex()==0);
_ui->groupBox_poisson->setVisible(_ui->comboBox_pipeline->currentIndex() == 1 && _ui->comboBox_meshingApproach->currentIndex()==1);
if(_ui->groupBox_meshing->isChecked())
if(_ui->checkBox_meshing->isChecked())
{
_ui->comboBox_meshingApproach->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
_ui->comboBox_meshingApproach->setCurrentIndex(_ui->checkBox_assemble->isChecked()?1:0);
_ui->comboBox_meshingApproach->setItemData(1, _ui->checkBox_assemble->isChecked()?1 | 32:0,Qt::UserRole - 1);
if(!_ui->checkBox_assemble->isChecked())
{
_ui->comboBox_meshingApproach->setCurrentIndex(0);
}
_ui->checkBox_poisson_outputPolygons->setDisabled(
_ui->checkBox_binary->isEnabled() ||
@@ -523,9 +556,9 @@ void ExportCloudsDialog::enableRegeneration(bool enabled)
{
if(!enabled)
{
_ui->groupBox_regenerate->setChecked(false);
_ui->checkBox_regenerate->setChecked(false);
}
_ui->groupBox_regenerate->setEnabled(enabled);
_ui->checkBox_regenerate->setEnabled(enabled);
}
void ExportCloudsDialog::exportClouds(
@@ -715,7 +748,7 @@ void ExportCloudsDialog::viewClouds(
UASSERT(cachedSignatures.contains(textureId) && !cachedSignatures.value(textureId).sensorData().imageCompressed().empty());
cachedSignatures.value(textureId).sensorData().uncompressDataConst(&globalTexture, 0);
UASSERT(!globalTexture.empty());
if (_ui->groupBox_gain->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
if (_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
{
_compensator->apply(textureId, globalTexture);
}
@@ -837,7 +870,7 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->resetProgress();
_progressDialog->show();
int mul = 1;
if(_ui->groupBox_meshing->isChecked())
if(_ui->checkBox_meshing->isChecked())
{
mul+=1;
}
@@ -846,7 +879,7 @@ bool ExportCloudsDialog::getExportedClouds(
mul+=1;
}
if(_ui->groupBox_subtraction->isChecked())
if(_ui->checkBox_subtraction->isChecked())
{
mul+=1;
}
@@ -855,7 +888,7 @@ bool ExportCloudsDialog::getExportedClouds(
{
mul+=1;
}
if(_ui->groupBox_gain->isChecked())
if(_ui->checkBox_gainCompensation->isChecked())
{
mul+=1;
}
@@ -879,7 +912,7 @@ bool ExportCloudsDialog::getExportedClouds(
if(clouds.empty())
{
_progressDialog->setAutoClose(false);
if(_ui->groupBox_regenerate->isEnabled() && !_ui->groupBox_regenerate->isChecked())
if(_ui->checkBox_regenerate->isEnabled() && !_ui->checkBox_regenerate->isChecked())
{
QMessageBox::warning(this, tr("Creating clouds..."), tr("Could create clouds for %1 node(s). You "
"may want to activate clouds regeneration option.").arg(poses.size()));
@@ -892,7 +925,7 @@ bool ExportCloudsDialog::getExportedClouds(
return false;
}
if(_ui->groupBox_gain->isChecked() && clouds.size() > 1)
if(_ui->checkBox_gainCompensation->isChecked() && clouds.size() > 1)
{
UASSERT(_compensator == 0);
_compensator = new GainCompensator(_ui->doubleSpinBox_gainRadius->value(), _ui->doubleSpinBox_gainOverlap->value(), _ui->doubleSpinBox_gainAlpha->value(), _ui->doubleSpinBox_gainBeta->value());
@@ -931,7 +964,7 @@ bool ExportCloudsDialog::getExportedClouds(
_compensator->feed(clouds, links);
}
if(!(_ui->groupBox_meshing->isChecked() &&
if(!(_ui->checkBox_meshing->isChecked() &&
_ui->checkBox_textureMapping->isEnabled() &&
_ui->checkBox_textureMapping->isChecked()))
{
@@ -958,7 +991,7 @@ bool ExportCloudsDialog::getExportedClouds(
pcl::PointCloud<pcl::PointXYZ>::Ptr rawAssembledCloud(new pcl::PointCloud<pcl::PointXYZ>);
std::vector<int> rawCameraIndices;
if(_ui->checkBox_assemble->isChecked() &&
!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()))
!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->checkBox_meshing->isChecked()))
{
_progressDialog->appendText(tr("Assembling %1 clouds...").arg(clouds.size()));
QApplication::processEvents();
@@ -1020,7 +1053,7 @@ bool ExportCloudsDialog::getExportedClouds(
}
std::map<int, Transform> viewPoints = poses;
if(_ui->groupBox_mls->isEnabled() && _ui->groupBox_mls->isChecked())
if(_ui->checkBox_smoothing->isEnabled() && _ui->checkBox_smoothing->isChecked())
{
_progressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
"[search radius=%1m voxel=%2m]").arg(_ui->doubleSpinBox_mlsRadius->value()).arg(_ui->doubleSpinBox_voxelSize_assembled->value()));
@@ -1053,7 +1086,7 @@ bool ExportCloudsDialog::getExportedClouds(
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals = iter->second.first;
if(_ui->groupBox_mls->isEnabled() && _ui->groupBox_mls->isChecked())
if(_ui->checkBox_smoothing->isEnabled() && _ui->checkBox_smoothing->isChecked())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals(new pcl::PointCloud<pcl::PointXYZRGB>);
if(iter->second.second->size())
@@ -1109,7 +1142,7 @@ bool ExportCloudsDialog::getExportedClouds(
cloudWithNormals);
}
}
else if(iter->second.first->isOrganized() && _ui->groupBox_filtering->isChecked())
else if(iter->second.first->isOrganized() && _ui->checkBox_filtering->isChecked())
{
cloudWithNormals = util3d::extractIndices(iter->second.first, iter->second.second, false, true);
}
@@ -1129,8 +1162,8 @@ bool ExportCloudsDialog::getExportedClouds(
std::map<int, cv::Size> organizedCloudSizes;
//mesh
UDEBUG("Meshing=%d", _ui->groupBox_meshing->isChecked()?1:0);
if(_ui->groupBox_meshing->isChecked())
UDEBUG("Meshing=%d", _ui->checkBox_meshing->isChecked()?1:0);
if(_ui->checkBox_meshing->isChecked())
{
if(_ui->comboBox_pipeline->currentIndex() == 0)
{
@@ -1720,11 +1753,47 @@ bool ExportCloudsDialog::getExportedClouds(
else
{
UDEBUG("Texture by projection");
if(cameraPoses.size() && _ui->checkBox_cameraFilter->isChecked())
{
int before = (int)cameraPoses.size();
cameraPoses = graph::radiusPosesFiltering(cameraPoses,
_ui->doubleSpinBox_cameraFilterRadius->value(),
_ui->doubleSpinBox_cameraFilterAngle->value());
for(std::map<int, CameraModel>::iterator modelIter = cameraModels.begin(); modelIter!=cameraModels.end();)
{
if(cameraPoses.find(modelIter->first)==cameraPoses.end())
{
cameraModels.erase(modelIter++);
}
else
{
++modelIter;
}
}
_progressDialog->appendText(tr("Camera filtering: keeping %1/%2 cameras for texturing.").arg(cameraPoses.size()).arg(before));
QApplication::processEvents();
uSleep(100);
QApplication::processEvents();
}
if(_canceled)
{
return false;
}
TexturingState texturingState(_progressDialog);
textureMesh = util3d::createTextureMesh(
iter->second,
cameraPoses,
cameraModels,
_ui->doubleSpinBox_meshingTextureMaxDistance->value());
_ui->doubleSpinBox_meshingTextureMaxDistance->value(),
&texturingState);
if(_canceled)
{
return false;
}
// Remove occluded polygons (polygons with no texture)
if(_ui->checkBox_cleanMesh->isChecked() &&
@@ -1922,7 +1991,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::IndicesPtr indices(new std::vector<int>);
if(_ui->groupBox_regenerate->isChecked())
if(_ui->checkBox_regenerate->isChecked())
{
if(cachedSignatures.contains(iter->first))
{
@@ -1948,7 +2017,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
}
// bilateral filtering
if(_ui->groupBox_bilateral->isChecked())
if(_ui->checkBox_bilateral->isChecked())
{
depth = util2d::fastBilateralFiltering(depth,
_ui->doubleSpinBox_bilateral_sigmaS->value(),
@@ -1983,7 +2052,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
if(cloudWithoutNormals->size())
{
// Don't voxelize if we create organized mesh
if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()) && _ui->doubleSpinBox_voxelSize_assembled->value()>0.0)
if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->checkBox_meshing->isChecked()) && _ui->doubleSpinBox_voxelSize_assembled->value()>0.0)
{
cloudWithoutNormals = util3d::voxelize(cloudWithoutNormals, indices, _ui->doubleSpinBox_voxelSize_assembled->value());
indices->resize(cloudWithoutNormals->size());
@@ -2011,7 +2080,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloudWithoutNormals, indices, _ui->spinBox_normalKSearch->value(), viewPoint);
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
if(_ui->groupBox_subtraction->isChecked() &&
if(_ui->checkBox_subtraction->isChecked() &&
_ui->doubleSpinBox_subtractPointFilteringRadius->value() > 0.0)
{
pcl::IndicesPtr beforeSubtractionIndices = indices;
@@ -2047,7 +2116,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
else if(uContains(cachedClouds, iter->first))
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
if(!_ui->groupBox_meshing->isChecked() &&
if(!_ui->checkBox_meshing->isChecked() &&
_ui->doubleSpinBox_voxelSize_assembled->value() > 0.0)
{
cloudWithoutNormals = util3d::voxelize(
@@ -2102,7 +2171,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
if(indices->size())
{
if(_ui->groupBox_filtering->isChecked() &&
if(_ui->checkBox_filtering->isChecked() &&
_ui->doubleSpinBox_filteringRadius->value() > 0.0f &&
_ui->spinBox_filteringMinNeighbors->value() > 0)
{
@@ -2121,7 +2190,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
if(points>0)
{
if(_ui->groupBox_regenerate->isChecked())
if(_ui->checkBox_regenerate->isChecked())
{
_progressDialog->appendText(tr("Generated cloud %1 with %2 points and %3 indices (%4/%5).")
.arg(iter->first).arg(points).arg(totalIndices).arg(index).arg(poses.size()));
@@ -2511,7 +2580,7 @@ cv::Mat ExportCloudsDialog::mergeTextures(pcl::TextureMesh & mesh, const QMap<in
UASSERT(!image.empty());
cv::Mat resizedImage;
cv::resize(image, resizedImage, emptyImage.size(), 0.0f, 0.0f, cv::INTER_AREA);
if(_ui->groupBox_gain->isChecked() && _compensator && _compensator->getIndex(textures[t]) >= 0)
if(_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textures[t]) >= 0)
{
_compensator->apply(textures[t], resizedImage);
}
@@ -2595,7 +2664,7 @@ void ExportCloudsDialog::saveTextureMeshes(
cachedSignatures.value(textureId).sensorData().uncompressDataConst(&image, 0);
UASSERT(!image.empty());
imageSize = image.size();
if(_ui->groupBox_gain->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
if(_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
{
_compensator->apply(textureId, image);
}
@@ -2715,7 +2784,7 @@ void ExportCloudsDialog::saveTextureMeshes(
cachedSignatures.value(textureId).sensorData().uncompressDataConst(&image, 0);
UASSERT(!image.empty());
imageSize = image.size();
if(_ui->groupBox_gain->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
if(_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
{
_compensator->apply(textureId, image);
}

1
guilib/src/MainWindow.cpp
View File

@@ -285,7 +285,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_ui->rawLikelihoodPlot->showLegend(false);
_initProgressDialog = new ProgressDialog(this);
_initProgressDialog->setWindowTitle(tr("Progress dialog"));
_initProgressDialog->setMinimumWidth(800);
connect(_initProgressDialog, SIGNAL(canceled()), this, SLOT(cancelProgress()));

71
guilib/src/TexturingState.h Normal file
View File

@@ -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 GUILIB_SRC_TEXTURINGSTATE_H_
#define GUILIB_SRC_TEXTURINGSTATE_H_
#include "rtabmap/gui/ProgressDialog.h"
#include "rtabmap/core/ProgressState.h"
#include <QApplication>
namespace rtabmap {
class TexturingState : public QObject, public ProgressState
{
Q_OBJECT
public:
TexturingState(ProgressDialog * dialog): dialog_(dialog), canceled_(false)
{
connect(dialog_, SIGNAL(canceled()), this, SLOT(cancel()));
}
virtual ~TexturingState() {}
virtual bool callback(const std::string & msg) const
{
if(!msg.empty())
{
dialog_->appendText(msg.c_str());
}
QApplication::processEvents();
return !canceled_;
}
public slots:
void cancel()
{
canceled_ = true;
}
private:
ProgressDialog * dialog_;
bool canceled_;
};
}
#endif /* GUILIB_SRC_TEXTURINGSTATE_H_ */

683
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,24 +23,14 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-1643</y>
<y>-1879</y>
<width>773</width>
<height>2810</height>
<height>3158</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="minimum">
<number>3</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_assemble">
<property name="text">
@@ -68,6 +58,94 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_normal">
<property name="text">
<string>Set the number of k nearest neighbors to use for the normal estimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_gainCompensation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_binaryFile_8">
<property name="text">
<string>Regenerate clouds. This can be used to regenerate the point clouds at higher density than those used for online visualization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_binaryFile_11">
<property name="text">
<string>Gain compensation. Normalize brightness of images.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="minimum">
<number>3</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_voxel">
<property name="text">
<string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_binaryFile">
<property name="text">
<string>Binary file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_pipeline">
<item>
<property name="text">
<string>Organized Point Cloud</string>
</property>
</item>
<item>
<property name="text">
<string>Dense Point Cloud</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Reconstruction flavor.</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
<property name="suffix">
@@ -87,57 +165,64 @@
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_normal">
<item row="7" column="1">
<widget class="QLabel" name="label_binaryFile_10">
<property name="text">
<string>Set the number of k nearest neighbors to use for the normal estimation.</string>
<string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_12">
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_regenerate">
<property name="text">
<string>Reconstruction flavor.</string>
<string/>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_pipeline">
<item>
<property name="text">
<string>Organized Point Cloud</string>
</property>
</item>
<item>
<property name="text">
<string>Dense Point Cloud</string>
</property>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_filtering">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_binaryFile">
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_smoothing">
<property name="text">
<string>Binary file.</string>
<string/>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_binaryFile_9">
<property name="text">
<string>Cloud filtering. Remove sparse points that are far from surfaces.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_voxel">
<item row="9" column="1">
<widget class="QLabel" name="label_binaryFile_12">
<property name="text">
<string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</string>
<string>Meshing.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_meshing">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -146,18 +231,35 @@
<string>Regenerate Clouds</string>
</property>
<property name="checkable">
<bool>true</bool>
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1">
<item row="0" column="2">
<widget class="QLabel" name="label_108">
<item row="6" column="0">
<widget class="QToolButton" name="toolButton_distortionModel">
<property name="text">
<string>3D cloud decimation (1-2-4-8-...). Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
<string>...</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="spinBox_fillDepthHoles">
<property name="suffix">
<string> pixels</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>-32</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
@@ -180,23 +282,19 @@
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_108">
<property name="text">
<string>3D cloud decimation (1-2-4-8-...). Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLineEdit" name="lineEdit_distortionModel"/>
</item>
<item row="6" column="0">
<widget class="QToolButton" name="toolButton_distortionModel">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="spinBox_fillDepthHoles">
<property name="suffix">
<string> pixels</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QSpinBox" name="spinBox_fillDepthHolesError">
<property name="suffix">
@@ -256,19 +354,6 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>-32</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_134">
<property name="text">
@@ -305,6 +390,40 @@
<item row="3" column="1">
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
</item>
<item row="7" column="1">
<widget class="QCheckBox" name="checkBox_bilateral">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="label_136">
<property name="text">
<string>Bilateral filtering of the depth image. Reduce noise in depth images.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_137">
<property name="text">
<string>Cloud subtraction. Superposed points from different nodes are filtered.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QCheckBox" name="checkBox_subtraction">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -313,7 +432,7 @@
<string>Bilateral Filtering of the Depth Image</string>
</property>
<property name="checkable">
<bool>true</bool>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_13" columnstretch="0,1">
<item row="1" column="0">
@@ -395,7 +514,7 @@
<string>Cloud Subtraction</string>
</property>
<property name="checkable">
<bool>true</bool>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1">
<item row="2" column="1">
@@ -488,10 +607,10 @@
<item>
<widget class="QGroupBox" name="groupBox_filtering">
<property name="title">
<string>Cloud Filtering (remove noisy points)</string>
<string>Cloud Filtering</string>
</property>
<property name="checkable">
<bool>true</bool>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
<item row="0" column="0">
@@ -555,13 +674,13 @@
<item>
<widget class="QGroupBox" name="groupBox_mls">
<property name="title">
<string>Cloud Smoothing using Moving Least Squares algorithm (MLS)</string>
<string>Cloud Smoothing</string>
</property>
<property name="checkable">
<bool>true</bool>
<bool>false</bool>
</property>
<property name="checked">
<bool>true</bool>
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
@@ -943,7 +1062,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<string>Gain Compensation</string>
</property>
<property name="checkable">
<bool>true</bool>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
<item row="2" column="1">
@@ -1100,32 +1219,12 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<string>Meshing</string>
</property>
<property name="checkable">
<bool>true</bool>
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_meshDecimation">
<property name="text">
<string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons). Can be used when dense reconstruction flavor is selected.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_textureMapping">
<property name="text">
<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Available on Export or when clouds are not assembled.</string>
@@ -1149,7 +1248,14 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</item>
</widget>
</item>
<item row="6" column="0">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_textureMapping">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_transferColorRadius">
<property name="suffix">
<string> m</string>
@@ -1171,84 +1277,38 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_cleanMesh">
<item row="4" column="1">
<widget class="QLabel" name="label_meshClean">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="comboBox_meshingTextureFormat">
<item>
<property name="text">
<string>.jpg</string>
</property>
</item>
<item>
<property name="text">
<string>.png</string>
</property>
</item>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_meshingTextureSize">
<property name="text">
<string>Output texture size. If not set or when clouds are not assembled, all textures are saved separately. Warning: values higher than 2048 may not be compatible with all GPUs.</string>
<string>Clean mesh from polygons without color or texture.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QComboBox" name="comboBox_meshingTextureSize">
<item>
<property name="text">
<string>Disabled</string>
</property>
</item>
<item>
<property name="text">
<string>256x256</string>
</property>
</item>
<item>
<property name="text">
<string>512x512</string>
</property>
</item>
<item>
<property name="text">
<string>1024x1024</string>
</property>
</item>
<item>
<property name="text">
<string>2048x2048</string>
</property>
</item>
<item>
<property name="text">
<string>4096x4096</string>
</property>
</item>
<item>
<property name="text">
<string>8192x8192</string>
</property>
</item>
<item>
<property name="text">
<string>16384x16384</string>
</property>
</item>
<item>
<property name="text">
<string>32768x32768</string>
</property>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>99999</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_cleanMesh">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Minimum polygon cluster size (-1 means that only the biggest cluster is kept).</string>
</property>
</widget>
</item>
<item row="0" column="1">
@@ -1261,24 +1321,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_meshDecimation_2">
<property name="text">
<string>Transferring color radius. Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). Negative means disabled, 0 means take the nearest point.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_textureMapping">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
<property name="decimals">
<number>2</number>
@@ -1297,67 +1340,243 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_meshClean">
<property name="text">
<string>Clean mesh from polygons without color or texture.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_meshingTextureFormat">
<widget class="QLabel" name="label_meshDecimation_2">
<property name="text">
<string>Texture format.</string>
<string>Transferring color radius. Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). Negative means disabled, 0 means take the nearest point.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_16">
<item row="1" column="1">
<widget class="QLabel" name="label_meshDecimation">
<property name="text">
<string>Minimum polygon cluster size (-1 means that only the biggest cluster is kept).</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_meshingTextureSize_2">
<property name="text">
<string>Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor.</string>
<string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons). Can be used when dense reconstruction flavor is selected. Can reduce a lot texturing time.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>3.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_textureMapping">
<property name="title">
<string>Texturing</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_meshingTextureFormat">
<item>
<property name="text">
<string>.jpg</string>
</property>
</item>
<item>
<property name="text">
<string>.png</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_meshingTextureFormat">
<property name="text">
<string>Texture format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_meshingTextureSize">
<item>
<property name="text">
<string>Disabled</string>
</property>
</item>
<item>
<property name="text">
<string>256x256</string>
</property>
</item>
<item>
<property name="text">
<string>512x512</string>
</property>
</item>
<item>
<property name="text">
<string>1024x1024</string>
</property>
</item>
<item>
<property name="text">
<string>2048x2048</string>
</property>
</item>
<item>
<property name="text">
<string>4096x4096</string>
</property>
</item>
<item>
<property name="text">
<string>8192x8192</string>
</property>
</item>
<item>
<property name="text">
<string>16384x16384</string>
</property>
</item>
<item>
<property name="text">
<string>32768x32768</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_meshingTextureSize">
<property name="text">
<string>Output texture size. If not set or when clouds are not assembled, all textures are saved separately. Warning: values higher than 2048 may not be compatible with all GPUs.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>3.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_meshingTextureSize_2">
<property name="text">
<string>Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_cameraFilter">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" 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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_cameraFilter">
<property name="title">
<string>Camera Filtering</string>
</property>
<layout class="QGridLayout" name="gridLayout_16" columnstretch="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>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Radius.</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_cameraFilterAngle">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Angle.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_gp3">
<property name="title">