GUI export: Added cloud filtering option

guilib/include/rtabmap/gui/MainWindow.h

@@ -232,7 +232,9 @@ private:
 			bool regenerateClouds,
 			int regenerateDecimation,
 			float regenerateVoxelSize,
-			float regenerateMaxDepth) const;
+			float regenerateMaxDepth,
+			float filteringRadius,
+			float filteringMinNeighbors) const;
 
 	bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
 	bool getExportedClouds(

guilib/src/ExportCloudsDialog.cpp

@@ -51,6 +51,10 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 
+	connect(_ui->groupBox_filtering, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_filteringRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_filteringMinNeighbors, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+
 	connect(_ui->groupBox_assemble, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_voxelSize_assembled, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 
@@ -102,6 +106,10 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("regenerate_voxel", this->getGenerateVoxel());
 	settings.setValue("regenerate_max_depth", this->getGenerateMaxDepth());
 
+	settings.setValue("filtering", this->getFiltering());
+	settings.setValue("filtering_radius", this->getFilteringRadius());
+	settings.setValue("filtering_min_neighbors", this->getFilteringMinNeighbors());
+
 	settings.setValue("assemble", this->getAssemble());
 	settings.setValue("assemble_voxel", this->getAssembleVoxel());
 
@@ -143,6 +151,10 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_ui->doubleSpinBox_voxelSize->setValue(settings.value("regenerate_voxel", this->getGenerateVoxel()).toDouble());
 	_ui->doubleSpinBox_maxDepth->setValue(settings.value("regenerate_max_depth", this->getGenerateMaxDepth()).toDouble());
 
+	_ui->groupBox_filtering->setChecked(settings.value("filtering", this->getFiltering()).toBool());
+	_ui->doubleSpinBox_filteringRadius->setValue(settings.value("filtering_radius", this->getFilteringRadius()).toDouble());
+	_ui->spinBox_filteringMinNeighbors->setValue(settings.value("filtering_min_neighbors", this->getFilteringMinNeighbors()).toInt());
+
 	_ui->groupBox_assemble->setChecked(settings.value("assemble", this->getAssemble()).toBool());
 	_ui->doubleSpinBox_voxelSize_assembled->setValue(settings.value("assemble_voxel", this->getAssembleVoxel()).toDouble());
 
@@ -182,6 +194,10 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->doubleSpinBox_voxelSize->setValue(0.01);
 	_ui->doubleSpinBox_maxDepth->setValue(4);
 
+	_ui->groupBox_filtering->setChecked(false);
+	_ui->doubleSpinBox_filteringRadius->setValue(0.02);
+	_ui->spinBox_filteringMinNeighbors->setValue(2);
+
 	_ui->groupBox_assemble->setChecked(true);
 	_ui->doubleSpinBox_voxelSize_assembled->setValue(0.01);
 
@@ -263,11 +279,23 @@ double ExportCloudsDialog::getGenerateMaxDepth() const
 	return _ui->doubleSpinBox_maxDepth->value();
 }
 
+bool ExportCloudsDialog::getFiltering() const
+{
+	return _ui->groupBox_filtering->isChecked();
+}
+double ExportCloudsDialog::getFilteringRadius() const
+{
+	return _ui->doubleSpinBox_filteringRadius->value();
+}
+int ExportCloudsDialog::getFilteringMinNeighbors() const
+{
+	return _ui->spinBox_filteringMinNeighbors->value();
+}
+
 bool ExportCloudsDialog::getAssemble() const
 {
 	return _ui->groupBox_assemble->isChecked();
 }
-
 double ExportCloudsDialog::getAssembleVoxel() const
 {
 	return _ui->doubleSpinBox_voxelSize_assembled->value();

guilib/src/ExportCloudsDialog.h

@@ -61,6 +61,10 @@ public:
 	double getGenerateVoxel() const;
 	double getGenerateMaxDepth() const;
 
+	bool getFiltering() const;
+	double getFilteringRadius() const;
+	int getFilteringMinNeighbors() const;
+
 	bool getAssemble() const;
 	double getAssembleVoxel() const;
 

guilib/src/MainWindow.cpp

@@ -4619,7 +4619,9 @@ bool MainWindow::getExportedClouds(
 				_exportDialog->getGenerate(),
 				_exportDialog->getGenerateDecimation(),
 				_exportDialog->getGenerateVoxel(),
-				_exportDialog->getGenerateMaxDepth());
+				_exportDialog->getGenerateMaxDepth(),
+				_exportDialog->getFiltering()?_exportDialog->getFilteringRadius():0.0f,
+				_exportDialog->getFiltering()?_exportDialog->getFilteringMinNeighbors():0.0f);
 
 		if(_exportDialog->getAssemble())
 		{
@@ -4642,14 +4644,29 @@ bool MainWindow::getExportedClouds(
 
 			_initProgressDialog->appendText(tr("Voxelize assembled cloud (%1 points, voxel size = %2 m)...")
 					.arg(assembledCloud->size())
-					.arg(_exportDialog->getGenerateVoxel()));
+					.arg(_exportDialog->getAssembleVoxel()));
 			QApplication::processEvents();
-			if(_exportDialog->getGenerateVoxel())
+			if(_exportDialog->getAssembleVoxel())
 			{
 				assembledCloud = util3d::voxelize(
 						assembledCloud,
-						_exportDialog->getGenerateVoxel());
+						_exportDialog->getAssembleVoxel());
 			}
+
+			_initProgressDialog->appendText(tr("Noise filtering (%1 points, radius = %2 m, min neighbors = %3)...")
+					.arg(assembledCloud->size())
+					.arg(_exportDialog->getFilteringRadius())
+					.arg(_exportDialog->getFilteringMinNeighbors()));
+			if(_exportDialog->getFiltering() &&
+				_exportDialog->getFilteringRadius() > 0.0 &&
+				_exportDialog->getFilteringMinNeighbors() > 0)
+			{
+				pcl::IndicesPtr indices = util3d::radiusFiltering(assembledCloud, (float)_exportDialog->getFilteringRadius(), _exportDialog->getFilteringMinNeighbors());
+				pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
+				pcl::copyPointCloud(*assembledCloud, *indices, *cloudFiltered);
+				assembledCloud = cloudFiltered;
+			}
+
 			clouds.clear();
 			clouds.insert(std::make_pair(0, assembledCloud));
 		}
@@ -5488,7 +5505,9 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
 		bool regenerateClouds,
 		int regenerateDecimation,
 		float regenerateVoxelSize,
-		float regenerateMaxDepth) const
+		float regenerateMaxDepth,
+		float filteringRadius,
+		float filteringMinNeighbors) const
 {
 	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> clouds;
 	int i=0;
@@ -5542,6 +5561,14 @@ std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > MainWindow::getClouds(
 
 			if(cloud->size())
 			{
+				if(filteringRadius > 0.0f && filteringMinNeighbors > 0)
+				{
+					pcl::IndicesPtr indices = util3d::radiusFiltering(cloud, filteringRadius, filteringMinNeighbors);
+					pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFiltered(new pcl::PointCloud<pcl::PointXYZRGB>);
+					pcl::copyPointCloud(*cloud, *indices, *cloudFiltered);
+					cloud = cloudFiltered;
+				}
+
 				clouds.insert(std::make_pair(iter->first, cloud));
 				inserted = true;
 			}

guilib/src/ui/exportCloudsDialog.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>807</width>
+    <width>814</width>
-    <height>847</height>
+    <height>898</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -23,9 +23,9 @@
       <property name="geometry">
        <rect>
         <x>0</x>
-        <y>-178</y>
+        <y>0</y>
-        <width>766</width>
+        <width>773</width>
-        <height>949</height>
+        <height>1064</height>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -166,6 +166,73 @@
          </layout>
         </widget>
        </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_filtering">
+         <property name="title">
+          <string>Cloud filtering (remove noisy points)</string>
+         </property>
+         <property name="checkable">
+          <bool>true</bool>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
+          <item row="0" column="1">
+           <widget class="QLabel" name="label_110">
+            <property name="text">
+             <string>Radius search.</string>
+            </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_filteringRadius">
+            <property name="suffix">
+             <string> m</string>
+            </property>
+            <property name="decimals">
+             <number>3</number>
+            </property>
+            <property name="minimum">
+             <double>0.001000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>1.000000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>0.010000000000000</double>
+            </property>
+            <property name="value">
+             <double>0.020000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QSpinBox" name="spinBox_filteringMinNeighbors">
+            <property name="minimum">
+             <number>1</number>
+            </property>
+            <property name="maximum">
+             <number>100</number>
+            </property>
+            <property name="value">
+             <number>2</number>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QLabel" name="label_112">
+            <property name="text">
+             <string>Minimum neighbors in the search radius.</string>
+            </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
        <item>
         <widget class="QGroupBox" name="groupBox_assemble">
          <property name="title">