mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
GUI: Added export mesh with textures, refactored Export dialog (more MLS options)
This commit is contained in:
matlabbe
@@ -40,19 +40,37 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
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connect(_ui->buttonBox->button(QDialogButtonBox::RestoreDefaults), SIGNAL(clicked()), this, SLOT(restoreDefaults()));
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connect(_ui->groupBox_assemble, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_voxelSize_assembled, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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restoreDefaults();
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_ui->comboBox_upsamplingMethod->setItemData(1, 0, Qt::UserRole - 1); // disable DISTINCT_CLOUD
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connect(_ui->checkBox_binary, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->groupBox_regenerate, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->checkBox_binary, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->groupBox_assemble, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_voxelSize_assembled, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->groupBox_mls, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_mlsRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_polygonialOrder, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_sampleStep, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_randomPoints, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_dilationVoxelSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_dilationSteps, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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_ui->stackedWidget_upsampling->setCurrentIndex(_ui->comboBox_upsamplingMethod->currentIndex());
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connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_upsampling, SLOT(setCurrentIndex(int)));
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connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), this, SLOT(updateMLSGrpVisibility()));
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updateMLSGrpVisibility();
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connect(_ui->groupBox_gp3, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
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}
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ExportCloudsDialog::~ExportCloudsDialog()
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@@ -60,25 +78,48 @@ ExportCloudsDialog::~ExportCloudsDialog()
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delete _ui;
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}
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void ExportCloudsDialog::updateMLSGrpVisibility()
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{
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_ui->groupBox->setVisible(_ui->comboBox_upsamplingMethod->currentIndex() == 0);
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_ui->groupBox_2->setVisible(_ui->comboBox_upsamplingMethod->currentIndex() == 1);
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_ui->groupBox_3->setVisible(_ui->comboBox_upsamplingMethod->currentIndex() == 2);
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_ui->groupBox_4->setVisible(_ui->comboBox_upsamplingMethod->currentIndex() == 3);
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_ui->groupBox_5->setVisible(_ui->comboBox_upsamplingMethod->currentIndex() == 4);
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}
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void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & group) const
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{
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if(!group.isEmpty())
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{
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settings.beginGroup(group);
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}
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settings.setValue("assemble", this->getAssemble());
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settings.setValue("assemble_voxel", this->getAssembleVoxel());
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settings.setValue("binary", this->getBinaryFile());
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settings.setValue("normals_k", this->getNormalKSearch());
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settings.setValue("regenerate", this->getGenerate());
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settings.setValue("regenerate_decimation", this->getGenerateDecimation());
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settings.setValue("regenerate_voxel", this->getGenerateVoxel());
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settings.setValue("regenerate_max_depth", this->getGenerateMaxDepth());
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settings.setValue("binary", this->getBinaryFile());
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settings.setValue("assemble", this->getAssemble());
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settings.setValue("assemble_voxel", this->getAssembleVoxel());
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settings.setValue("mls", this->getMLS());
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settings.setValue("mls_radius", this->getMLSRadius());
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settings.setValue("mls_polygonial_order", this->getMLSPolygonialOrder());
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settings.setValue("mls_upsampling_method", this->getMLSUpsamplingMethod());
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settings.setValue("mls_upsampling_radius", this->getMLSUpsamplingRadius());
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settings.setValue("mls_upsampling_step", this->getMLSUpsamplingStep());
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settings.setValue("mls_point_density", this->getMLSPointDensity());
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settings.setValue("mls_dilation_voxel_size", this->getMLSDilationVoxelSize());
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settings.setValue("mls_dilation_iterations", this->getMLSDilationIterations());
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settings.setValue("mesh", this->getMesh());
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settings.setValue("mesh_k", this->getMeshNormalKSearch());
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settings.setValue("mesh_radius", this->getMeshGp3Radius());
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settings.setValue("mesh_mu", this->getMeshGp3Mu());
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settings.setValue("mesh_texture", this->getMeshTexture());
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if(!group.isEmpty())
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{
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settings.endGroup();
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@@ -91,19 +132,34 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
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{
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settings.beginGroup(group);
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}
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this->setAssemble(settings.value("assemble", this->getAssemble()).toBool());
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this->setAssembleVoxel(settings.value("assemble_voxel", this->getAssembleVoxel()).toDouble());
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this->setGenerate(settings.value("regenerate", this->getGenerate()).toBool());
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this->setGenerateDecimation(settings.value("regenerate_decimation", this->getGenerateDecimation()).toInt());
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this->setGenerateVoxel(settings.value("regenerate_voxel", this->getGenerateVoxel()).toDouble());
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this->setGenerateMaxDepth(settings.value("regenerate_max_depth", this->getGenerateMaxDepth()).toDouble());
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this->setBinaryFile(settings.value("binary", this->getBinaryFile()).toBool());
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this->setMLS(settings.value("mls", this->getMLS()).toBool());
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this->setMLSRadius(settings.value("mls_radius", this->getMLSRadius()).toDouble());
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this->setMesh(settings.value("mesh", this->getMesh()).toBool());
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this->setMeshNormalKSearch(settings.value("mesh_k", this->getMeshNormalKSearch()).toInt());
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this->setMeshGp3Radius(settings.value("mesh_radius", this->getMeshGp3Radius()).toDouble());
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this->setMeshGp3Mu(settings.value("mesh_mu", this->getMeshGp3Mu()).toDouble());
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_ui->checkBox_binary->setChecked(settings.value("binary", this->getBinaryFile()).toBool());
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_ui->spinBox_normalKSearch->setValue(settings.value("normals_k", this->getNormalKSearch()).toInt());
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_ui->groupBox_regenerate->setChecked(settings.value("regenerate", this->getGenerate()).toBool());
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_ui->spinBox_decimation->setValue(settings.value("regenerate_decimation", this->getGenerateDecimation()).toInt());
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_ui->doubleSpinBox_voxelSize->setValue(settings.value("regenerate_voxel", this->getGenerateVoxel()).toDouble());
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_ui->doubleSpinBox_maxDepth->setValue(settings.value("regenerate_max_depth", this->getGenerateMaxDepth()).toDouble());
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_ui->groupBox_assemble->setChecked(settings.value("assemble", this->getAssemble()).toBool());
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_ui->doubleSpinBox_voxelSize_assembled->setValue(settings.value("assemble_voxel", this->getAssembleVoxel()).toDouble());
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_ui->groupBox_mls->setChecked(settings.value("mls", this->getMLS()).toBool());
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_ui->doubleSpinBox_mlsRadius->setValue(settings.value("mls_radius", this->getMLSRadius()).toDouble());
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_ui->spinBox_polygonialOrder->setValue(settings.value("mls_polygonial_order", this->getMLSPolygonialOrder()).toInt());
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_ui->comboBox_upsamplingMethod->setCurrentIndex(settings.value("mls_upsampling_method", this->getMLSUpsamplingMethod()).toInt());
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_ui->doubleSpinBox_sampleRadius->setValue(settings.value("mls_upsampling_radius", this->getMLSRadius()).toDouble());
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_ui->doubleSpinBox_sampleStep->setValue(settings.value("mls_upsampling_step", this->getMLSUpsamplingStep()).toDouble());
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_ui->spinBox_randomPoints->setValue(settings.value("mls_point_density", this->getMLSPointDensity()).toInt());
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_ui->doubleSpinBox_dilationVoxelSize->setValue(settings.value("mls_dilation_voxel_size", this->getMLSDilationVoxelSize()).toDouble());
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_ui->spinBox_dilationSteps->setValue(settings.value("mls_dilation_iterations", this->getMLSDilationIterations()).toInt());
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_ui->groupBox_gp3->setChecked(settings.value("mesh", this->getMesh()).toBool());
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_ui->doubleSpinBox_gp3Radius->setValue(settings.value("mesh_radius", this->getMeshGp3Radius()).toDouble());
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_ui->doubleSpinBox_gp3Mu->setValue(settings.value("mesh_mu", this->getMeshGp3Mu()).toDouble());
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_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", this->getGenerate()).toBool());
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if(!group.isEmpty())
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{
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settings.endGroup();
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@@ -112,22 +168,34 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
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void ExportCloudsDialog::restoreDefaults()
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{
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setAssemble(true);
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setAssembleVoxel(0.005);
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_ui->checkBox_binary->setChecked(true);
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_ui->spinBox_normalKSearch->setValue(20);
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if(_ui->groupBox_regenerate->isEnabled())
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{
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setGenerate(true);
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_ui->groupBox_regenerate->setChecked(true);
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}
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setGenerateDecimation(1);
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setGenerateVoxel(0.005);
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setGenerateMaxDepth(4);
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setBinaryFile(true);
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setMLS(false);
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setMLSRadius(0.04);
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setMesh(false);
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setMeshNormalKSearch(20);
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setMeshGp3Radius(0.04);
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setMeshGp3Radius(2.5);
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_ui->spinBox_decimation->setValue(1);
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_ui->doubleSpinBox_voxelSize->setValue(0.01);
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_ui->doubleSpinBox_maxDepth->setValue(4);
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_ui->groupBox_assemble->setChecked(true);
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_ui->doubleSpinBox_voxelSize_assembled->setValue(0.01);
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_ui->groupBox_mls->setChecked(false);
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_ui->doubleSpinBox_mlsRadius->setValue(0.04);
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_ui->spinBox_polygonialOrder->setValue(2);
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_ui->comboBox_upsamplingMethod->setCurrentIndex(0);
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_ui->doubleSpinBox_sampleRadius->setValue(0.01);
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_ui->doubleSpinBox_sampleStep->setValue(0.0);
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_ui->spinBox_randomPoints->setValue(0);
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_ui->doubleSpinBox_dilationVoxelSize->setValue(0.01);
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_ui->spinBox_dilationSteps->setValue(0);
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_ui->groupBox_gp3->setChecked(false);
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_ui->doubleSpinBox_gp3Radius->setValue(0.04);
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_ui->doubleSpinBox_gp3Mu->setValue(2.5);
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_ui->checkBox_textureMapping->setChecked(false);
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}
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void ExportCloudsDialog::setSaveButton()
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@@ -135,6 +203,9 @@ void ExportCloudsDialog::setSaveButton()
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_ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(false);
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_ui->buttonBox->button(QDialogButtonBox::Save)->setVisible(true);
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_ui->checkBox_binary->setVisible(true);
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_ui->label_binaryFile->setVisible(true);
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_ui->checkBox_textureMapping->setVisible(true);
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_ui->label_textureMapping->setVisible(true);
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}
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void ExportCloudsDialog::setOkButton()
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@@ -142,6 +213,9 @@ void ExportCloudsDialog::setOkButton()
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_ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(true);
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_ui->buttonBox->button(QDialogButtonBox::Save)->setVisible(false);
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_ui->checkBox_binary->setVisible(false);
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_ui->label_binaryFile->setVisible(false);
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_ui->checkBox_textureMapping->setVisible(false);
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_ui->label_textureMapping->setVisible(false);
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}
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void ExportCloudsDialog::enableRegeneration(bool enabled)
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@@ -154,14 +228,13 @@ void ExportCloudsDialog::enableRegeneration(bool enabled)
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}
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//getters
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bool ExportCloudsDialog::getAssemble() const
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bool ExportCloudsDialog::getBinaryFile() const
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{
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return _ui->groupBox_assemble->isChecked();
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return _ui->checkBox_binary->isChecked();
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}
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double ExportCloudsDialog::getAssembleVoxel() const
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int ExportCloudsDialog::getNormalKSearch() const
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{
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return _ui->doubleSpinBox_voxelSize_assembled->value();
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return _ui->spinBox_normalKSearch->value();
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}
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bool ExportCloudsDialog::getGenerate() const
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@@ -184,31 +257,57 @@ double ExportCloudsDialog::getGenerateMaxDepth() const
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return _ui->doubleSpinBox_maxDepth->value();
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}
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bool ExportCloudsDialog::getBinaryFile() const
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bool ExportCloudsDialog::getAssemble() const
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{
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return _ui->checkBox_binary->isChecked();
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return _ui->groupBox_assemble->isChecked();
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}
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double ExportCloudsDialog::getAssembleVoxel() const
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{
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return _ui->doubleSpinBox_voxelSize_assembled->value();
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}
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bool ExportCloudsDialog::getMLS() const
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{
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return _ui->groupBox_mls->isChecked();
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}
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double ExportCloudsDialog::getMLSRadius() const
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{
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return _ui->doubleSpinBox_mlsRadius->value();
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}
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int ExportCloudsDialog::getMLSPolygonialOrder() const
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{
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return _ui->spinBox_polygonialOrder->value();
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}
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int ExportCloudsDialog::getMLSUpsamplingMethod() const
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{
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return _ui->comboBox_upsamplingMethod->currentIndex();
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}
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double ExportCloudsDialog::getMLSUpsamplingRadius() const
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{
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return _ui->doubleSpinBox_sampleRadius->value();
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}
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double ExportCloudsDialog::getMLSUpsamplingStep() const
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{
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return _ui->doubleSpinBox_sampleStep->value();
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}
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int ExportCloudsDialog::getMLSPointDensity() const
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{
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return _ui->spinBox_randomPoints->value();
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}
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double ExportCloudsDialog::getMLSDilationVoxelSize() const
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{
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return _ui->doubleSpinBox_dilationVoxelSize->value();
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}
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int ExportCloudsDialog::getMLSDilationIterations() const
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{
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return _ui->spinBox_dilationSteps->value();
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}
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bool ExportCloudsDialog::getMesh() const
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{
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return _ui->groupBox_gp3->isChecked();
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}
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int ExportCloudsDialog::getMeshNormalKSearch() const
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{
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return _ui->spinBox_normalKSearch->value();
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}
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double ExportCloudsDialog::getMeshGp3Radius() const
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{
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return _ui->doubleSpinBox_gp3Radius->value();
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@@ -217,59 +316,9 @@ double ExportCloudsDialog::getMeshGp3Mu() const
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{
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return _ui->doubleSpinBox_gp3Mu->value();
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}
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//setters
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void ExportCloudsDialog::setAssemble(bool on)
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bool ExportCloudsDialog::getMeshTexture() const
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{
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_ui->groupBox_assemble->setChecked(on);
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}
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void ExportCloudsDialog::setAssembleVoxel(double voxel)
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{
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_ui->doubleSpinBox_voxelSize_assembled->setValue(voxel);
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}
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void ExportCloudsDialog::setGenerate(bool on)
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{
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_ui->groupBox_regenerate->setChecked(on);
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}
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void ExportCloudsDialog::setGenerateDecimation(int decimation)
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{
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_ui->spinBox_decimation->setValue(decimation);
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}
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void ExportCloudsDialog::setGenerateVoxel(double voxel)
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{
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_ui->doubleSpinBox_voxelSize->setValue(voxel);
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}
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void ExportCloudsDialog::setGenerateMaxDepth(double maxDepth)
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{
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_ui->doubleSpinBox_maxDepth->setValue(maxDepth);
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}
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void ExportCloudsDialog::setBinaryFile(bool on)
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{
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_ui->checkBox_binary->setChecked(on);
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}
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void ExportCloudsDialog::setMLS(bool on)
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{
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_ui->groupBox_mls->setChecked(on);
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}
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void ExportCloudsDialog::setMLSRadius(double radius)
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{
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_ui->doubleSpinBox_mlsRadius->setValue(radius);
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}
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void ExportCloudsDialog::setMesh(bool on)
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{
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_ui->groupBox_gp3->setChecked(on);
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}
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void ExportCloudsDialog::setMeshNormalKSearch(int k)
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{
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_ui->spinBox_normalKSearch->setValue(k);
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}
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void ExportCloudsDialog::setMeshGp3Radius(double radius)
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{
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_ui->doubleSpinBox_gp3Radius->setValue(radius);
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}
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void ExportCloudsDialog::setMeshGp3Mu(double mu)
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{
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_ui->doubleSpinBox_gp3Mu->setValue(mu);
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return _ui->checkBox_textureMapping->isChecked();
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}
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}
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