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ExportDialog: added ground normals up option, added camera projection mask and decimation options. Export CLI: added --ground_normals_up and --cam_projection_mask options, changed --bin option by --ascii option (now binary by default). DBViewer: warn when scan from depth option is enabled but there is no depth.

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This commit is contained in:
matlabbe
2022-01-27 17:57:56 -05:00
parent a8e5bbf415
commit 402afc07ed
9 changed files with 626 additions and 352 deletions
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71
guilib/src/DatabaseViewer.cpp
View File

@@ -7767,32 +7767,30 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
ui_->spinBox_icp_decimation->value()==0?1:ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
int maxLaserScans = cloudFrom->size();
0,
toS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0));
ui_->parameters_toolbox->getParameters());
if(cloudFrom->empty() && cloudTo->empty())
{
std::string msg = "Option to generate scan from depth is checked (GUI Parameters->Refine), but "
"resulting clouds from depth are empty. Transformation estimation will likely "
"fails. Uncheck the parameter to use laser scans.";
UWARN(msg.c_str());
if(!silent)
{
QMessageBox::warning(this,
tr("Refine link"),
tr("%1").arg(msg.c_str()));
}
}
else if(!fromS->sensorData().laserScanCompressed().isEmpty() || !toS->sensorData().laserScanCompressed().isEmpty())
{
UWARN("There are laser scans in data, but generate laser scan from "
"depth image option is activated (GUI Parameters->Refine). "
"Ignoring saved laser scans...");
}
else
{
QString msg = tr("Generating laser scan from depth image is checked "
"(GUI Parameters->Refine), but selected nodes don't contain "
"depth data. Empty laser scans are generated, so transform "
"estimation will likely fail. Uncheck to use laser scans instead "
"(if there are some).");
"Ignoring saved laser scans...");
{
QMessageBox::warning(this,
tr("Refine a link"),
msg);
}
}
int maxLaserScans = cloudFrom->size();
fromS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0));
toS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0));
}
@@ -8046,25 +8044,46 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
ui_->spinBox_icp_decimation->value()==0?1:ui_->spinBox_icp_decimation->value(),
ui_->doubleSpinBox_icp_maxDepth->value(),
ui_->doubleSpinBox_icp_minDepth->value(),
0,
ui_->parameters_toolbox->getParameters());
if(cloudFrom->empty() && cloudTo->empty())
{
std::string msg = "Option to generate scan from depth is checked (GUI Parameters->Refine), but "
"resulting clouds from depth are empty. Transformation estimation will likely "
"fails. Uncheck the parameter to use laser scans.";
UWARN(msg.c_str());
if(!silent)
{
QMessageBox::warning(this,
tr("Add link"),
tr("%1").arg(msg.c_str()));
}
}
else if(!fromS->sensorData().laserScanCompressed().isEmpty() || !toS->sensorData().laserScanCompressed().isEmpty())
{
UWARN("There are laser scans in data, but generate laser scan from "
"depth image option is activated (GUI Parameters->Refine). Ignoring saved laser scans...");
}
int maxLaserScans = cloudFrom->size();
fromS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0));
toS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0));
if(!fromS->sensorData().laserScanCompressed().isEmpty() || !toS->sensorData().laserScanCompressed().isEmpty())
{
UWARN("There are laser scans in data, but generate laser scan from "
fromS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0));
toS->sensorData().setLaserScan(LaserScan(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0));
}
}
else if(!reextractVisualFeatures && fromS->getWords().empty() && toS->getWords().empty())
else if(!reextractVisualFeatures && fromS->getWords().empty() && toS->getWords().empty())
{
std::string msg = uFormat("\"%s\" is false and signatures (%d and %d) don't have words, "
"registration will not be possible. Set \"%s\" to true.",
Parameters::kRGBDLoopClosureReextractFeatures().c_str(),
fromS->id(),
toS->id(),
Parameters::kRGBDLoopClosureReextractFeatures().c_str());
UWARN(msg.c_str());
if(!silent)
{
QMessageBox::warning(this,
tr("Add link"),
tr("%1").arg(msg.c_str()));
}
}

97
guilib/src/ExportCloudsDialog.cpp
View File

@@ -106,6 +106,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->checkBox_binary, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_normalRadiusSearch, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_groundNormalsUp, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_pipeline, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->comboBox_pipeline, SIGNAL(currentIndexChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->comboBox_meshingApproach, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
@@ -192,6 +193,9 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->checkBox_cameraProjection, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_cameraProjection, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
connect(_ui->lineEdit_camProjRoiRatios, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
connect(_ui->toolButton_camProjMaskFilePath, SIGNAL(clicked()), this, SLOT(selectCamProjMask()));
connect(_ui->lineEdit_camProjMaskFilePath, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_camProjDecimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_camProjMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_camProjMaxAngle, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_camProjDistanceToCamPolicy, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -348,6 +352,7 @@ 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("normals_radius", _ui->doubleSpinBox_normalRadiusSearch->value());
settings.setValue("normals_ground_normals_up", _ui->doubleSpinBox_groundNormalsUp->value());
settings.setValue("intensity_colormap", _ui->comboBox_intensityColormap->currentIndex());
settings.setValue("nodes_filtering", _ui->checkBox_nodes_filtering->isChecked());
@@ -413,6 +418,8 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("cam_proj", _ui->checkBox_cameraProjection->isChecked());
settings.setValue("cam_proj_roi_ratios", _ui->lineEdit_camProjRoiRatios->text());
settings.setValue("cam_proj_mask", _ui->lineEdit_camProjMaskFilePath->text());
settings.setValue("cam_proj_decimation", _ui->spinBox_camProjDecimation->value());
settings.setValue("cam_proj_max_distance", _ui->doubleSpinBox_camProjMaxDistance->value());
settings.setValue("cam_proj_max_angle", _ui->doubleSpinBox_camProjMaxAngle->value());
settings.setValue("cam_proj_distance_policy", _ui->checkBox_camProjDistanceToCamPolicy->isChecked());
@@ -518,6 +525,7 @@ 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->doubleSpinBox_normalRadiusSearch->setValue(settings.value("normals_radius", _ui->doubleSpinBox_normalRadiusSearch->value()).toDouble());
_ui->doubleSpinBox_groundNormalsUp->setValue(settings.value("normals_ground_normals_up", _ui->doubleSpinBox_groundNormalsUp->value()).toDouble());
_ui->comboBox_intensityColormap->setCurrentIndex(settings.value("intensity_colormap", _ui->comboBox_intensityColormap->currentIndex()).toInt());
_ui->checkBox_nodes_filtering->setChecked(settings.value("nodes_filtering", _ui->checkBox_nodes_filtering->isChecked()).toBool());
@@ -586,6 +594,8 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->checkBox_cameraProjection->setChecked(settings.value("cam_proj", _ui->checkBox_cameraProjection->isChecked()).toBool());
_ui->lineEdit_camProjRoiRatios->setText(settings.value("cam_proj_roi_ratios", _ui->lineEdit_camProjRoiRatios->text()).toString());
_ui->lineEdit_camProjMaskFilePath->setText(settings.value("cam_proj_mask", _ui->lineEdit_camProjMaskFilePath->text()).toString());
_ui->spinBox_camProjDecimation->setValue(settings.value("cam_proj_decimation", _ui->spinBox_camProjDecimation->value()).toInt());
_ui->doubleSpinBox_camProjMaxDistance->setValue(settings.value("cam_proj_max_distance", _ui->doubleSpinBox_camProjMaxDistance->value()).toDouble());
_ui->doubleSpinBox_camProjMaxAngle->setValue(settings.value("cam_proj_max_angle", _ui->doubleSpinBox_camProjMaxAngle->value()).toDouble());
_ui->checkBox_camProjDistanceToCamPolicy->setChecked(settings.value("cam_proj_distance_policy", _ui->checkBox_camProjDistanceToCamPolicy->isChecked()).toBool());
@@ -691,6 +701,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->checkBox_binary->setChecked(true);
_ui->spinBox_normalKSearch->setValue(20);
_ui->doubleSpinBox_normalRadiusSearch->setValue(0.0);
_ui->doubleSpinBox_groundNormalsUp->setValue(0.0);
_ui->comboBox_intensityColormap->setCurrentIndex(0);
_ui->checkBox_nodes_filtering->setChecked(false);
@@ -756,6 +767,8 @@ void ExportCloudsDialog::restoreDefaults()
_ui->checkBox_cameraProjection->setChecked(false);
_ui->lineEdit_camProjRoiRatios->setText("0.0 0.0 0.0 0.0");
_ui->lineEdit_camProjMaskFilePath->setText("");
_ui->spinBox_camProjDecimation->setValue(1);
_ui->doubleSpinBox_camProjMaxDistance->setValue(0);
_ui->doubleSpinBox_camProjMaxAngle->setValue(0);
_ui->checkBox_camProjDistanceToCamPolicy->setChecked(true);
@@ -1018,6 +1031,20 @@ void ExportCloudsDialog::selectDistortionModel()
}
}
void ExportCloudsDialog::selectCamProjMask()
{
QString dir = _ui->lineEdit_camProjMaskFilePath->text();
if(dir.isEmpty())
{
dir = _workingDirectory;
}
QString path = QFileDialog::getOpenFileName(this, tr("Select file"), dir, tr("Mask (grayscale) (*.png *.pgm *bmp)"));
if(path.size())
{
_ui->lineEdit_camProjMaskFilePath->setText(path);
}
}
void ExportCloudsDialog::setSaveButton()
{
_ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(false);
@@ -1913,7 +1940,8 @@ bool ExportCloudsDialog::getExportedClouds(
normalViewpoints,
rawAssembledCloud,
rawCameraIndices,
assembledCloud);
assembledCloud,
_ui->doubleSpinBox_groundNormalsUp->value());
}
if(_ui->spinBox_randomSamples_assembled->value()>0 &&
@@ -2724,17 +2752,56 @@ bool ExportCloudsDialog::getExportedClouds(
_progressDialog->setAutoClose(false);
}
}
std::map<int, std::vector<rtabmap::CameraModel> > cameraModelsProj;
if(_ui->spinBox_camProjDecimation->value()>1)
{
for(std::map<int, std::vector<rtabmap::CameraModel> >::iterator iter=cameraModels.begin();
iter!=cameraModels.end();
++iter)
{
std::vector<rtabmap::CameraModel> models;
for(size_t i=0; i<iter->second.size(); ++i)
{
models.push_back(iter->second[i].scaled(1.0/double(_ui->spinBox_camProjDecimation->value())));
}
cameraModelsProj.insert(std::make_pair(iter->first, models));
}
}
else
{
cameraModelsProj = cameraModels;
}
cv::Mat projMask;
if(!_ui->lineEdit_camProjMaskFilePath->text().isEmpty())
{
projMask = cv::imread(_ui->lineEdit_camProjMaskFilePath->text().toStdString(), cv::IMREAD_GRAYSCALE);
if(_ui->spinBox_camProjDecimation->value()>1)
{
cv::Mat out = projMask;
cv::resize(projMask, out, cv::Size(), 1.0f/float(_ui->spinBox_camProjDecimation->value()), 1.0f/float(_ui->spinBox_camProjDecimation->value()), cv::INTER_NEAREST);
projMask = out;
}
}
std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > pointToPixel;
pointToPixel = util3d::projectCloudToCameras(
*assembledCloud,
cameraPoses,
cameraModels,
cameraModelsProj,
_ui->doubleSpinBox_camProjMaxDistance->value(),
_ui->doubleSpinBox_camProjMaxAngle->value()*M_PI/180.0,
roiRatios,
projMask,
_ui->checkBox_camProjDistanceToCamPolicy->isChecked(),
&texturingState);
if(texturingState.isCanceled())
{
return false;
}
// color the cloud
UASSERT(pointToPixel.empty() || pointToPixel.size() == assembledCloud->size());
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr assembledCloudValidPoints;
@@ -2752,7 +2819,7 @@ bool ExportCloudsDialog::getExportedClouds(
if(_ui->checkBox_camProjRecolorPoints->isChecked())
{
int imagesDone = 1;
for(std::map<int, rtabmap::Transform>::iterator iter=cameraPoses.begin(); iter!=cameraPoses.end(); ++iter)
for(std::map<int, rtabmap::Transform>::iterator iter=cameraPoses.begin(); iter!=cameraPoses.end() && !_canceled; ++iter)
{
int nodeID = iter->first;
@@ -2769,15 +2836,19 @@ bool ExportCloudsDialog::getExportedClouds(
}
if(!image.empty())
{
UASSERT(cameraModels.find(nodeID) != cameraModels.end());
int modelsSize = cameraModels.at(nodeID).size();
if(_ui->spinBox_camProjDecimation->value()>1)
{
image = util2d::decimate(image, _ui->spinBox_camProjDecimation->value());
}
UASSERT(cameraModelsProj.find(nodeID) != cameraModelsProj.end());
int modelsSize = cameraModelsProj.at(nodeID).size();
for(size_t i=0; i<pointToPixel.size(); ++i)
{
int cameraIndex = pointToPixel[i].first.second;
if(nodeID == pointToPixel[i].first.first && cameraIndex>=0)
{
pcl::PointXYZRGBNormal & pt = assembledCloud->at(i);
int subImageWidth = image.cols / modelsSize;
cv::Mat subImage = image(cv::Range::all(), cv::Range(cameraIndex*subImageWidth, (cameraIndex+1)*subImageWidth));
@@ -2786,6 +2857,7 @@ bool ExportCloudsDialog::getExportedClouds(
UASSERT(x>=0 && x<subImage.cols);
UASSERT(y>=0 && y<subImage.rows);
pcl::PointXYZRGBNormal & pt = assembledCloud->at(i);
if(subImage.type()==CV_8UC3)
{
cv::Vec3b bgr = subImage.at<cv::Vec3b>(y, x);
@@ -2804,12 +2876,13 @@ bool ExportCloudsDialog::getExportedClouds(
QString msg = tr("Processed %1/%2 images").arg(imagesDone++).arg(cameraPoses.size());
UINFO(msg.toStdString().c_str());
_progressDialog->appendText(msg);
QApplication::processEvents();
}
}
pcl::IndicesPtr validIndices(new std::vector<int>(pointToPixel.size()));
size_t oi = 0;
for(size_t i=0; i<pointToPixel.size(); ++i)
for(size_t i=0; i<pointToPixel.size() && !_canceled; ++i)
{
pcl::PointXYZRGBNormal & pt = assembledCloud->at(i);
if(pointToPixel[i].first.first <=0)
@@ -3589,6 +3662,10 @@ 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(), _ui->doubleSpinBox_normalRadiusSearch->value(), viewPoint);
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
if(_ui->doubleSpinBox_groundNormalsUp->value() > 0.0)
{
util3d::adjustNormalsToViewPoint(cloud, viewPoint, (float)_ui->doubleSpinBox_groundNormalsUp->value());
}
}
else
{
@@ -3724,6 +3801,10 @@ 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(), _ui->doubleSpinBox_normalRadiusSearch->value(), viewPoint);
pcl::concatenateFields(*cloudWithoutNormals, *normals, *cloud);
if(_ui->doubleSpinBox_groundNormalsUp->value() > 0.0)
{
util3d::adjustNormalsToViewPoint(cloud, viewPoint, (float)_ui->doubleSpinBox_groundNormalsUp->value());
}
}
else
{

647
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,22 +23,43 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-2140</y>
<width>998</width>
<height>5713</height>
<height>5850</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
<item row="17" column="0">
<widget class="QCheckBox" name="checkBox_meshing">
<widget class="QCheckBox" name="checkBox_cameraProjection">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="17" column="1">
<item row="1" column="1">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Reconstruction flavor.</string>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QCheckBox" name="checkBox_filtering">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QCheckBox" name="checkBox_regenerate">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="18" column="1">
<widget class="QLabel" name="label_binaryFile_12">
<property name="text">
<string>Meshing.</string>
@@ -48,13 +69,40 @@
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="minimum">
<number>0</number>
<item row="14" column="1">
<widget class="QLabel" name="label_binaryFile_9">
<property name="text">
<string>Cloud filtering.</string>
</property>
<property name="value">
<number>20</number>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_normal_2">
<property name="text">
<string>Set the search radius for the normal estimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="18" column="0">
<widget class="QCheckBox" name="checkBox_meshing">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_gainCompensation">
<property name="text">
<string>Gain compensation. Normalize brightness of images.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
@@ -68,64 +116,36 @@
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_binaryFile_10">
<property name="text">
<string>Nodes filtering. Filter nodes to be exported in a specified region .</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QCheckBox" name="checkBox_smoothing">
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_assemble">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_smoothing">
<property name="text">
<string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_binaryFile">
<property name="text">
<string>Binary file (for ply and pcd outputs).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QCheckBox" name="checkBox_cameraProjection">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_binary">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_binaryFile_11">
<property name="text">
<string>From RGB-D images. If not checked, clouds will be generated from laser scans.</string>
</property>
<property name="wordWrap">
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QCheckBox" name="checkBox_nodes_filtering">
<property name="text">
<string/>
<item row="10" column="0">
<widget class="QSpinBox" name="spinBox_randomSamples_assembled">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99999999</number>
</property>
<property name="singleStep">
<number>10000</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
@@ -139,98 +159,17 @@
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="checkBox_regenerate">
<item row="0" column="1">
<widget class="QLabel" name="label_binaryFile_11">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_gainCompensation">
<property name="text">
<string>Gain compensation. Normalize brightness of images.</string>
<string>From RGB-D images. If not checked, clouds will be generated from laser scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" 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="10" column="0">
<widget class="QComboBox" name="comboBox_intensityColormap">
<item>
<property name="text">
<string>GrayScale</string>
</property>
</item>
<item>
<property name="text">
<string>RedYellow</string>
</property>
</item>
<item>
<property name="text">
<string>Rainbow</string>
</property>
</item>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="comboBox_frame">
<item>
<property name="text">
<string>Map</string>
</property>
</item>
<item>
<property name="text">
<string>Robot</string>
</property>
</item>
<item>
<property name="text">
<string>Camera</string>
</property>
</item>
<item>
<property name="text">
<string>Scan</string>
</property>
</item>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_assemble">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_intensityColormap">
<property name="text">
<string>Intensity colormap.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
<property name="suffix">
<string> m</string>
@@ -259,6 +198,130 @@
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="minimum">
<number>0</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QCheckBox" name="checkBox_smoothing">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" 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="15" column="1">
<widget class="QLabel" name="label_smoothing">
<property name="text">
<string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_intensityColormap">
<property name="text">
<string>Intensity colormap.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" 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="11" column="0">
<widget class="QComboBox" name="comboBox_intensityColormap">
<item>
<property name="text">
<string>GrayScale</string>
</property>
</item>
<item>
<property name="text">
<string>RedYellow</string>
</property>
</item>
<item>
<property name="text">
<string>Rainbow</string>
</property>
</item>
</widget>
</item>
<item row="17" column="1">
<widget class="QLabel" name="label_cameraProjection">
<property name="text">
<string>Camera projection. This can be used to colorize point cloud created from scans and/or export camera IDs for each point of the cloud.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_binaryFile_10">
<property name="text">
<string>Nodes filtering. Filter nodes to be exported in a specified region .</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="comboBox_frame">
<item>
<property name="text">
<string>Map</string>
</property>
</item>
<item>
<property name="text">
<string>Robot</string>
</property>
</item>
<item>
<property name="text">
<string>Camera</string>
</property>
</item>
<item>
<property name="text">
<string>Scan</string>
</property>
</item>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
<property name="singleStep">
@@ -266,14 +329,34 @@
</property>
</widget>
</item>
<item row="15" column="0">
<item row="16" column="0">
<widget class="QCheckBox" name="checkBox_gainCompensation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="12" column="1">
<item row="10" column="1">
<widget class="QLabel" name="label_voxel_2">
<property name="text">
<string>Number of samples to keep, done with a random sample filter. Only used when clouds are assembled. Set 0 to disable.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_binaryFile">
<property name="text">
<string>Binary file (for ply and pcd outputs).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_regenerate">
<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>
@@ -283,15 +366,8 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Reconstruction flavor.</string>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QCheckBox" name="checkBox_filtering">
<item row="12" column="0">
<widget class="QCheckBox" name="checkBox_nodes_filtering">
<property name="text">
<string/>
</property>
@@ -307,79 +383,23 @@
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_binary">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_voxel">
<widget class="QLabel" name="label_normal_3">
<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>Flip ground normals up if close to -z axis. Set to 0.9 to begin with, increase to limit normals very close to -z axis. Set 0 to disable.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_binaryFile_9">
<property name="text">
<string>Cloud filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_normal_2">
<property name="text">
<string>Set the search radius for the normal estimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="label_cameraProjection">
<property name="text">
<string>Camera projection. This can be used to colorize point cloud created from scans and/or export camera IDs for each point of the cloud.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_voxel_2">
<property name="text">
<string>Number of samples to keep, done with a random sample filter. Only used when clouds are assembled. Set 0 to disable.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="spinBox_randomSamples_assembled">
<property name="minimum">
<number>0</number>
</property>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_groundNormalsUp">
<property name="maximum">
<number>99999999</number>
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<number>10000</number>
</property>
<property name="value">
<number>0</number>
<double>0.010000000000000</double>
</property>
</widget>
</item>
@@ -1850,39 +1870,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_20" columnstretch="0,0,0,1">
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_camProjMaxAngle">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="2" colspan="2">
<widget class="QLabel" name="label_meshingTextureSize_15">
<property name="text">
<string>Keep points not seen by the cameras. These points will be set with a pure red color (255,0,0) if the cloud was created from laser scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="6" column="1">
<widget class="QCheckBox" name="checkBox_camProjDistanceToCamPolicy">
<property name="text">
<string/>
@@ -1890,9 +1878,19 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</widget>
</item>
<item row="4" column="2" colspan="2">
<widget class="QLabel" name="label_meshingTextureSize_14">
<widget class="QLabel" name="label_meshingTextureSize_16">
<property name="text">
<string>Distance to camera policy. The closest camera from a point is used to colorize the point. If disabled, the camera for which the point projection is the closest of the image center is used to colorize the point.</string>
<string>Decimation of camera resolution before projection. This can help to correctly estimate points hidden by other points, in case the point cloud is sparse.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="2" colspan="2">
<widget class="QLabel" name="label_camProjExportCamera">
<property name="text">
<string>ID format of the camera selected for each point.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1909,6 +1907,35 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QSpinBox" name="spinBox_camProjDecimation">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="1" column="2" colspan="2">
<widget class="QLabel" name="label_meshingTextureSize_17">
<property name="text">
<string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="2" colspan="2">
<widget class="QLabel" name="label_meshingTextureSize_12">
<property name="text">
@@ -1919,46 +1946,24 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_camProjMaxDistance">
<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>0.000000000000000</double>
<item row="8" column="1">
<widget class="QCheckBox" name="checkBox_camProjRecolorPoints">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLineEdit" name="lineEdit_camProjMaskFilePath"/>
</item>
<item row="7" column="1">
<widget class="QCheckBox" name="checkBox_camProjKeepPointsNotSeenByCameras">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="2" colspan="2">
<widget class="QLabel" name="label_camProjExportCamera">
<property name="text">
<string>ID format of the camera selected for each point.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<item row="9" column="1">
<widget class="QComboBox" name="comboBox_camProjExportCamera">
<property name="toolTip">
<string>By Node ID: cameras of same node have same ID
@@ -1987,20 +1992,74 @@ By Node ID and Camera Index: NodeID*10+CameraIndex</string>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_camProjRoiRatios"/>
</item>
<item row="1" column="2" colspan="2">
<widget class="QLabel" name="label_meshingTextureSize_17">
<item row="6" column="2" colspan="2">
<widget class="QLabel" name="label_meshingTextureSize_14">
<property name="text">
<string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
<string>Distance to camera policy. The closest camera from a point is used to colorize the point. If disabled, the camera for which the point projection is the closest of the image center is used to colorize the point.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="2">
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_camProjRoiRatios"/>
</item>
<item row="3" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_camProjMaxAngle">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_camProjMaxDistance">
<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>0.000000000000000</double>
</property>
</widget>
</item>
<item row="7" column="2" colspan="2">
<widget class="QLabel" name="label_meshingTextureSize_15">
<property name="text">
<string>Keep points not seen by the cameras. These points will be set with a pure red color (255,0,0) if the cloud was created from laser scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="2">
<widget class="QLabel" name="label_meshingTextureSize_18">
<property name="text">
<string>Recolor points from camera projection. This would be used to color laser scans with the cameras.</string>
@@ -2010,10 +2069,20 @@ By Node ID and Camera Index: NodeID*10+CameraIndex</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QCheckBox" name="checkBox_camProjRecolorPoints">
<item row="5" column="2" colspan="2">
<widget class="QLabel" name="label_meshingTextureSize_19">
<property name="text">
<string/>
<string>File path for a mask. Format should be 8-bits grayscale. The mask should cover all cameras in case multi-camera is used and have the same resolution.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QToolButton" name="toolButton_camProjMaskFilePath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>