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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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guilib/src/ui/exportCloudsDialog.ui
+358 -289
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>