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.

corelib/include/rtabmap/core/util3d.h

@@ -313,6 +313,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_EXP projectC
 		float maxDistance = 0.0f,
 		float maxAngle = 0.0f,
 		const std::vector<float> & roiRatios = std::vector<float>(),
+		const cv::Mat & projMask = cv::Mat(),
 		bool distanceToCamPolicy = false,
 		const ProgressState * state = 0);
 /**
@@ -326,6 +327,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_EXP projectC
 		float maxDistance = 0.0f,
 		float maxAngle = 0.0f,
 		const std::vector<float> & roiRatios = std::vector<float>(),
+		const cv::Mat & projMask = cv::Mat(),
 		bool distanceToCamPolicy = false,
 		const ProgressState * state = 0);
 

corelib/include/rtabmap/core/util3d_surface.h

@@ -481,23 +481,27 @@ void RTABMAP_EXP adjustNormalsToViewPoints(
 		const std::map<int, Transform> & poses,
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
 		const std::vector<int> & rawCameraIndices,
-		pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
+		pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
+		float groundNormalsUp = 0.0f);
 void RTABMAP_EXP adjustNormalsToViewPoints(
 		const std::map<int, Transform> & poses,
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
 		const std::vector<int> & rawCameraIndices,
-		pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
+		pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
+		float groundNormalsUp = 0.0f);
 void RTABMAP_EXP adjustNormalsToViewPoints(
 		const std::map<int, Transform> & poses,
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
 		const std::vector<int> & rawCameraIndices,
-		pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud);
+		pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
+		float groundNormalsUp = 0.0f);
 
 void RTABMAP_EXP adjustNormalsToViewPoints(
 		const std::map<int, Transform> & viewpoints,
 		const LaserScan & rawScan,
 		const std::vector<int> & viewpointIds,
-		LaserScan & scan);
+		LaserScan & scan,
+		float groundNormalsUp = 0.0f);
 
 pcl::PolygonMesh::Ptr RTABMAP_EXP meshDecimation(const pcl::PolygonMesh::Ptr & mesh, float factor);
 

corelib/src/util3d.cpp

@@ -2848,6 +2848,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 		float maxDistance,
 		float maxAngle,
 		const std::vector<float> & roiRatios,
+		const cv::Mat & projMask,
 		bool distanceToCamPolicy,
 		const ProgressState * state)
 {
@@ -2857,6 +2858,8 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 	UINFO("maxDistance=%f", maxDistance);
 	UINFO("maxAngle=%f", maxAngle);
 	UINFO("distanceToCamPolicy=%s", distanceToCamPolicy?"true":"false");
+	UINFO("roiRatios=%s", roiRatios.size() == 4?uFormat("%f %f %f %f", roiRatios[0], roiRatios[1], roiRatios[2], roiRatios[3]):"");
+	UINFO("projMask=%dx%d", projMask.cols, projMask.rows);
 	std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > pointToPixel;
 
 	if (cloud.empty() || cameraPoses.empty() || cameraModels.empty())
@@ -2873,18 +2876,46 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 
 	std::vector<ProjectionInfo> invertedIndex(cloud.size()); // For each point: list of cameras
 	int cameraProcessed = 0;
+	bool wrongMaskFormatWarned = false;
 	for(std::map<int, Transform>::const_iterator pter = cameraPoses.lower_bound(0); pter!=cameraPoses.end(); ++pter)
 	{
 		std::map<int, std::vector<CameraModel> >::const_iterator iter=cameraModels.find(pter->first);
 		if(iter!=cameraModels.end() && !iter->second.empty())
 		{
-			for(size_t i=0; i<iter->second.size(); ++i)
+			cv::Mat validProjMask;
+			if(!projMask.empty())
 			{
-				Transform cameraTransform = (pter->second * iter->second[i].localTransform());
+				if(projMask.type() != CV_8UC1)
+				{
+					if(!wrongMaskFormatWarned)
+						UERROR("Wrong camera projection mask type %d, should be CV_8UC1", projMask.type());
+					wrongMaskFormatWarned = true;
+				}
+				else if(projMask.cols == iter->second[0].imageWidth() * (int)iter->second.size() &&
+				        projMask.rows == iter->second[0].imageHeight())
+				{
+					validProjMask = projMask;
+				}
+				else
+				{
+					UWARN("Camera projection mask (%dx%d) is not valid for current "
+						   "camera model(s) (count=%ld, image size=%dx%d). It will be "
+						   "ignored for node %d",
+						   projMask.cols, projMask.rows,
+						   iter->second.size(),
+						   iter->second[0].imageWidth(),
+						   iter->second[0].imageHeight(),
+						   pter->first);
+				}
+			}
+
+			for(size_t camIndex=0; camIndex<iter->second.size(); ++camIndex)
+			{
+				Transform cameraTransform = (pter->second * iter->second[camIndex].localTransform());
 				UASSERT(!cameraTransform.isNull());
-				cv::Mat cameraMatrixK = iter->second[i].K();
+				cv::Mat cameraMatrixK = iter->second[camIndex].K();
 				UASSERT(cameraMatrixK.type() == CV_64FC1 && cameraMatrixK.cols == 3 && cameraMatrixK.cols == 3);
-				const cv::Size & imageSize = iter->second[i].imageSize();
+				const cv::Size & imageSize = iter->second[camIndex].imageSize();
 
 				float fx = cameraMatrixK.at<double>(0,0);
 				float fy = cameraMatrixK.at<double>(1,1);
@@ -2921,7 +2952,8 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 						int dx_high = dx + 0.5f;
 						int dy_high = dy + 0.5f;
 						int zMM = z * 1000;
-						if(uIsInBounds(dx_low, roi.x, roi.x+roi.width) && uIsInBounds(dy_low, roi.y, roi.y+roi.height))
+						if(uIsInBounds(dx_low, roi.x, roi.x+roi.width) && uIsInBounds(dy_low, roi.y, roi.y+roi.height) &&
+						   (validProjMask.empty() || validProjMask.at<unsigned char>(dy_low, imageSize.width*camIndex+dx_low) > 0))
 						{
 							set = true;
 							cv::Vec2i &zReg = registered.at<cv::Vec2i>(dy_low, dx_low);
@@ -2932,7 +2964,8 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 							}
 						}
 						if((dx_low != dx_high || dy_low != dy_high) &&
-							uIsInBounds(dx_high, roi.x, roi.x+roi.width) && uIsInBounds(dy_high, roi.y, roi.y+roi.height))
+							uIsInBounds(dx_high, roi.x, roi.x+roi.width) && uIsInBounds(dy_high, roi.y, roi.y+roi.height) &&
+							(validProjMask.empty() || validProjMask.at<unsigned char>(dy_high, imageSize.width*camIndex+dx_high) > 0))
 						{
 							set = true;
 							cv::Vec2i &zReg = registered.at<cv::Vec2i>(dy_high, dx_high);
@@ -2951,11 +2984,11 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 				if(count == 0)
 				{
 					registered = cv::Mat();
-					UINFO("No points projected in camera %d/%d", pter->first, i);
+					UINFO("No points projected in camera %d/%d", pter->first, camIndex);
 				}
 				else
 				{
-					UDEBUG("%d points projected in camera %d/%d", count, pter->first, i);
+					UDEBUG("%d points projected in camera %d/%d", count, pter->first, camIndex);
 				}
 				for(int u=0; u<registered.cols; ++u)
 				{
@@ -2966,7 +2999,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 						{
 							ProjectionInfo info;
 							info.nodeID = pter->first;
-							info.cameraIndex = i;
+							info.cameraIndex = camIndex;
 							info.uv.x = float(u)/float(imageSize.width);
 							info.uv.y = float(v)/float(imageSize.height);
 							const Transform & cam = cameraPoses.at(info.nodeID);
@@ -3070,6 +3103,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 		float maxDistance,
 		float maxAngle,
 		const std::vector<float> & roiRatios,
+		const cv::Mat & projMask,
 		bool distanceToCamPolicy,
 		const ProgressState * state)
 {
@@ -3079,6 +3113,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 			maxDistance,
 			maxAngle,
 			roiRatios,
+			projMask,
 			distanceToCamPolicy,
 			state);
 }
@@ -3090,6 +3125,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 		float maxDistance,
 		float maxAngle,
 		const std::vector<float> & roiRatios,
+		const cv::Mat & projMask,
 		bool distanceToCamPolicy,
 		const ProgressState * state)
 {
@@ -3099,6 +3135,7 @@ std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > projectCloudToCamera
 			maxDistance,
 			maxAngle,
 			roiRatios,
+			projMask,
 			distanceToCamPolicy,
 			state);
 }

corelib/src/util3d_surface.cpp

@@ -3566,7 +3566,8 @@ void adjustNormalsToViewPointsImpl(
 		const std::map<int, Transform> & poses,
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
 		const std::vector<int> & rawCameraIndices,
-		typename pcl::PointCloud<PointT>::Ptr & cloud)
+		typename pcl::PointCloud<PointT>::Ptr & cloud,
+		float groundNormalsUp)
 {
 	if(poses.size() && rawCloud->size() && rawCloud->size() == rawCameraIndices.size() && cloud->size())
 	{
@@ -3592,7 +3593,8 @@ void adjustNormalsToViewPointsImpl(
 					Eigen::Vector3f n(normal.x, normal.y, normal.z);
 
 					float result = v.dot(n);
-					if(result < 0)
+					if(result < 0 ||
+					   (groundNormalsUp>0.0f && normal.z < -groundNormalsUp && cloud->points[i].z < viewpoint.z)) // some far velodyne rays on road can have normals toward ground)
 					{
 						//reverse normal
 						cloud->points[i].normal_x *= -1.0f;
@@ -3613,34 +3615,38 @@ void adjustNormalsToViewPoints(
 		const std::map<int, Transform> & poses,
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
 		const std::vector<int> & rawCameraIndices,
-		pcl::PointCloud<pcl::PointNormal>::Ptr & cloud)
+		pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
+		float groundNormalsUp)
 {
-	adjustNormalsToViewPointsImpl<pcl::PointNormal>(poses, rawCloud, rawCameraIndices, cloud);
+	adjustNormalsToViewPointsImpl<pcl::PointNormal>(poses, rawCloud, rawCameraIndices, cloud, groundNormalsUp);
 }
 
 void adjustNormalsToViewPoints(
 		const std::map<int, Transform> & poses,
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
 		const std::vector<int> & rawCameraIndices,
-		pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud)
+		pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
+		float groundNormalsUp)
 {
-	adjustNormalsToViewPointsImpl<pcl::PointXYZRGBNormal>(poses, rawCloud, rawCameraIndices, cloud);
+	adjustNormalsToViewPointsImpl<pcl::PointXYZRGBNormal>(poses, rawCloud, rawCameraIndices, cloud, groundNormalsUp);
 }
 
 void adjustNormalsToViewPoints(
 		const std::map<int, Transform> & poses,
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
 		const std::vector<int> & rawCameraIndices,
-		pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud)
+		pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
+		float groundNormalsUp)
 {
-	adjustNormalsToViewPointsImpl<pcl::PointXYZINormal>(poses, rawCloud, rawCameraIndices, cloud);
+	adjustNormalsToViewPointsImpl<pcl::PointXYZINormal>(poses, rawCloud, rawCameraIndices, cloud, groundNormalsUp);
 }
 
 void adjustNormalsToViewPoints(
 		const std::map<int, Transform> & viewpoints,
 		const LaserScan & rawScan,
 		const std::vector<int> & viewpointIds,
-		LaserScan & scan)
+		LaserScan & scan,
+		float groundNormalsUp)
 {
 	UDEBUG("poses=%d, rawCloud=%d, rawCameraIndices=%d, cloud=%d", (int)viewpoints.size(), (int)rawScan.size(), (int)viewpointIds.size(), (int)scan.size());
 	if(viewpoints.size() && rawScan.size() && rawScan.size() == (int)viewpointIds.size() && scan.size() && scan.hasNormals())
@@ -3669,7 +3675,8 @@ void adjustNormalsToViewPoints(
 					Eigen::Vector3f n(normal.x, normal.y, normal.z);
 
 					float result = v.dot(n);
-					if(result < 0)
+					if(result < 0 ||
+					   (groundNormalsUp>0.0f && normal.z < -groundNormalsUp && point.z < viewpoint.z)) // some far velodyne rays on road can have normals toward ground))
 					{
 						//reverse normal
 						scan.field(i, scan.getNormalsOffset()) *= -1.0f;

guilib/include/rtabmap/gui/ExportCloudsDialog.h

@@ -127,6 +127,7 @@ private Q_SLOTS:
 	void saveSettings();
 	void updateReconstructionFlavor();
 	void selectDistortionModel();
+	void selectCamProjMask();
 	void updateMLSGrpVisibility();
 	void cancel();
 

guilib/src/DatabaseViewer.cpp

@@ -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,
+				int maxLaserScans = cloudFrom->size();
-								tr("Refine a link"),
-								msg);
-					}
 				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()));
 			}
 		}

guilib/src/ExportCloudsDialog.cpp

@@ -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
 				{

guilib/src/ui/exportCloudsDialog.ui

@@ -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">
+         <item row="14" column="1">
-          <widget class="QSpinBox" name="spinBox_normalKSearch">
+          <widget class="QLabel" name="label_binaryFile_9">
-           <property name="minimum">
+           <property name="text">
-            <number>0</number>
+            <string>Cloud filtering.</string>
            </property>
-           <property name="value">
+           <property name="wordWrap">
-            <number>20</number>
+            <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">
+         <item row="4" column="0">
-          <widget class="QLabel" name="label_binaryFile_10">
+          <widget class="QCheckBox" name="checkBox_assemble">
-           <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">
            <property name="text">
             <string/>
            </property>
           </widget>
          </item>
-         <item row="14" column="1">
+         <item row="3" column="0">
-          <widget class="QLabel" name="label_smoothing">
+          <widget class="QCheckBox" name="checkBox_binary">
-           <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">
            <property name="text">
             <string/>
            </property>
-          </widget>
+           <property name="checked">
-         </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">
             <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item row="11" column="0">
+         <item row="10" column="0">
-          <widget class="QCheckBox" name="checkBox_nodes_filtering">
+          <widget class="QSpinBox" name="spinBox_randomSamples_assembled">
-           <property name="text">
+           <property name="minimum">
-            <string/>
+            <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">
+         <item row="0" column="1">
-          <widget class="QCheckBox" name="checkBox_regenerate">
+          <widget class="QLabel" name="label_binaryFile_11">
            <property name="text">
-            <string/>
+            <string>From RGB-D images. If not checked, clouds will be generated from laser scans.</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>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item row="1" column="0">
+         <item row="9" 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">
           <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">
+         <item row="12" column="0">
-          <widget class="QLabel" name="label_12">
+          <widget class="QCheckBox" name="checkBox_nodes_filtering">
-           <property name="text">
-            <string>Reconstruction flavor.</string>
-           </property>
-          </widget>
-         </item>
-         <item row="13" column="0">
-          <widget class="QCheckBox" name="checkBox_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">
+         <item row="8" column="0">
-          <widget class="QLabel" name="label_binaryFile_9">
+          <widget class="QDoubleSpinBox" name="doubleSpinBox_groundNormalsUp">
-           <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>
            <property name="maximum">
-            <number>99999999</number>
+            <double>1.000000000000000</double>
            </property>
            <property name="singleStep">
-            <number>10000</number>
+            <double>0.010000000000000</double>
-           </property>
-           <property name="value">
-            <number>0</number>
            </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">
+          <item row="6" 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">
            <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">
+          <item row="8" column="1">
-           <widget class="QDoubleSpinBox" name="doubleSpinBox_camProjMaxDistance">
+           <widget class="QCheckBox" name="checkBox_camProjRecolorPoints">
-            <property name="suffix">
+            <property name="text">
-             <string> m</string>
+             <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="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">
+          <item row="9" column="1">
-           <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">
            <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">
+          <item row="6" column="2" colspan="2">
-           <widget class="QLineEdit" name="lineEdit_camProjRoiRatios"/>
+           <widget class="QLabel" name="label_meshingTextureSize_14">
-          </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>
+             <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">
+          <item row="5" column="2" colspan="2">
-           <widget class="QCheckBox" name="checkBox_camProjRecolorPoints">
+           <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>

tools/Export/main.cpp

@@ -58,7 +58,7 @@ void showUsage()
 			"Options:\n"
 			"    --output \"\"           Output name (default: name of the database is used).\n"
 			"    --output_dir \"\"       Output directory (default: same directory than the database).\n"
-			"    --bin                 Export PLY in binary format.\n"
+			"    --ascii               Export PLY in ascii format.\n"
 			"    --las                 Export cloud in LAS instead of PLY (PDAL dependency required).\n"
 			"    --mesh                Create a mesh.\n"
 			"    --texture             Create a mesh with texture.\n"
@@ -67,11 +67,12 @@ void showUsage()
 			"    --texture_range #     Maximum camera range for texturing a polygon (default 0 meters: no limit).\n"
 			"    --texture_angle #     Maximum camera angle for texturing a polygon (default 0 deg: no limit).\n"
 			"    --texture_depth_error # Maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used, default=0).\n"
-			"    --texture_roi_ratios \"# # # #\" Region of interest from images to texture or to color scans. Format is \"left right top bottom\" (e.g. \"0 0 0 0.1\" means 10% of the image bottom not used).\n"
+			"    --texture_roi_ratios \"# # # #\" Region of interest from images to texture or to color scans. Format is \"left right top bottom\" (e.g. \"0 0 0 0.1\" means 10%% of the image bottom not used).\n"
 			"    --texture_d2c         Distance to camera policy.\n"
 			"    --cam_projection      Camera projection on assembled cloud and export node ID on each point (in PointSourceId field).\n"
 			"    --cam_projection_keep_all  Keep not colored points from cameras (node ID will be 0 and color will be red).\n"
 			"    --cam_projection_decimation  Decimate images before projecting the points.\n"
+			"    --cam_projection_mask \"\"  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.\n"
 			"    --poses               Export optimized poses of the robot frame (e.g., base_link).\n"
 			"    --poses_camera        Export optimized poses of the camera frame (e.g., optical frame).\n"
 			"    --poses_scan          Export optimized poses of the scan frame.\n"
@@ -108,6 +109,7 @@ void showUsage()
 			"    --max_range     #     Maximum range of the created clouds (default 4 m, 0 m with --scan).\n"
 			"    --decimation    #     Depth image decimation before creating the clouds (default 4, 1 with --scan).\n"
 			"    --voxel         #     Voxel size of the created clouds (default 0.01 m, 0 m with --scan).\n"
+			"    --ground_normals_up  #  Flip ground normals up if close to -z axis (default 0, 0=disabled, value should be >0 and <1, typical 0.9).\n"
 			"    --noise_radius  #     Noise filtering search radius (default 0, 0=disabled).\n"
 			"    --noise_k       #     Noise filtering minimum neighbors in search radius (default 5, 0=disabled).\n"
 			"    --prop_radius_factor #  Proportional radius filter factor (default 0, 0=disabled). Start tuning from 0.01.\n"
@@ -150,7 +152,7 @@ int main(int argc, char * argv[])
 		showUsage();
 	}
 
-	bool binary = false;
+	bool binary = true;
 	bool las = false;
 	bool mesh = false;
 	bool texture = false;
@@ -166,6 +168,7 @@ int main(int argc, char * argv[])
 	int decimation = -1;
 	float maxRange = -1.0f;
 	float voxelSize = -1.0f;
+	float groundNormalsUp = 0.0f;
 	float noiseRadius = 0.0f;
 	int noiseMinNeighbors = 5;
 	float proportionalRadiusFactor = 0.0f;
@@ -195,6 +198,7 @@ int main(int argc, char * argv[])
 	bool camProjection = false;
 	bool camProjectionKeepAll = false;
 	int cameraProjDecimation = 1;
+	std::string cameraProjMask;
 	bool exportPoses = false;
 	bool exportPosesCamera = false;
 	bool exportPosesScan = false;
@@ -238,7 +242,11 @@ int main(int argc, char * argv[])
 		}
 		else if(std::strcmp(argv[i], "--bin") == 0)
 		{
-			binary = true;
+			printf("No need to set --bin anymore, ply are now automatically exported in binary by default. Set --ascii to export as text.\n")
+		}
+		else if(std::strcmp(argv[i], "--ascii") == 0)
+		{
+			binary = false;
 		}
 		else if(std::strcmp(argv[i], "--las") == 0)
 		{
@@ -387,6 +395,23 @@ int main(int argc, char * argv[])
 				showUsage();
 			}
 		}
+		else if(std::strcmp(argv[i], "--cam_projection_mask") == 0)
+		{
+			++i;
+			if(i<argc-1)
+			{
+				cameraProjMask = argv[i];
+				if(!UFile::exists(cameraProjMask))
+				{
+					printf("--cam_projection_mask is set with a file not existing or don't have permissions to open it. Path=\"%s\"\n", argv[i]);
+					showUsage();
+				}
+			}
+			else
+			{
+				showUsage();
+			}
+		}
 		else if(std::strcmp(argv[i], "--poses") == 0)
 		{
 			exportPoses = true;
@@ -626,6 +651,18 @@ int main(int argc, char * argv[])
 				showUsage();
 			}
 		}
+		else if(std::strcmp(argv[i], "--ground_normals_up") == 0)
+		{
+			++i;
+			if(i<argc-1)
+			{
+				groundNormalsUp = uStr2Float(argv[i]);
+			}
+			else
+			{
+				showUsage();
+			}
+		}
 		else if(std::strcmp(argv[i], "--noise_radius") == 0)
 		{
 			++i;
@@ -1340,7 +1377,8 @@ int main(int argc, char * argv[])
 										rawViewpoints,
 										rawAssembledCloud,
 										rawViewpointIndices,
-										cloudToExport);
+										cloudToExport,
+										groundNormalsUp);
 			printf("Adjust normals to viewpoints of the assembled cloud... (%fs, %d points)\n", timer.ticks(), (int)cloudToExport->size());
 		}
 		else if(!assembledCloudI->empty())
@@ -1356,7 +1394,8 @@ int main(int argc, char * argv[])
 										rawViewpoints,
 										rawAssembledCloud,
 										rawViewpointIndices,
-										cloudIToExport);
+										cloudIToExport,
+										groundNormalsUp);
 			printf("Adjust normals to viewpoints of the assembled cloud... (%fs, %d points)\n", timer.ticks(), (int)cloudIToExport->size());
 		}
 		cloudWithoutNormals->clear();
@@ -1400,6 +1439,19 @@ int main(int argc, char * argv[])
 			{
 				cameraModelsProj = cameraModels;
 			}
+
+			cv::Mat projMask;
+			if(!cameraProjMask.empty())
+			{
+				projMask = cv::imread(cameraProjMask, cv::IMREAD_GRAYSCALE);
+				if(cameraProjDecimation>1)
+				{
+					cv::Mat out = projMask;
+					cv::resize(projMask, out, cv::Size(), 1.0f/float(cameraProjDecimation), 1.0f/float(cameraProjDecimation), cv::INTER_NEAREST);
+					projMask = out;
+				}
+			}
+
 			pointToCamId.resize(!cloudToExport->empty()?cloudToExport->size():cloudIToExport->size());
 			std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > pointToPixel;
 			if(!cloudToExport->empty())
@@ -1411,6 +1463,7 @@ int main(int argc, char * argv[])
 						textureRange,
 						textureAngle,
 						textureRoiRatios,
+						projMask,
 						distanceToCamPolicy,
 						&progressState);
 			}
@@ -1423,6 +1476,7 @@ int main(int argc, char * argv[])
 						textureRange,
 						textureAngle,
 						textureRoiRatios,
+						projMask,
 						distanceToCamPolicy,
 						&progressState);
 				pointToCamIntensity.resize(pointToPixel.size());