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Added min polygon cluster size option (DbViewer and GUI export)

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This commit is contained in:
matlabbe
2016-09-03 18:59:43 -04:00
parent 0848b03127
commit 7f2c118f8d
10 changed files with 602 additions and 284 deletions
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243
guilib/src/DatabaseViewer.cpp
View File

@@ -213,11 +213,16 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->horizontalSlider_B, SIGNAL(sliderMoved(int)), this, SLOT(sliderBMoved(int)));
connect(ui_->spinBox_mesh_angleTolerance, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->spinBox_mesh_minClusterSize, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->spinBox_mesh_fillDepthHoles, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->spinBox_mesh_depthError, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->checkBox_mesh_quad, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->spinBox_mesh_triangleSize, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->checkBox_showCloud, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showMesh, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showScan, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showMap, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
connect(ui_->checkBox_showGrid, SIGNAL(toggled(bool)), this, SLOT(update3dView()));
ui_->horizontalSlider_neighbors->setTracking(false);
ui_->horizontalSlider_loops->setTracking(false);
@@ -399,6 +404,7 @@ void DatabaseViewer::readSettings()
settings.beginGroup("mesh");
ui_->checkBox_mesh_quad->setChecked(settings.value("quad", ui_->checkBox_mesh_quad->isChecked()).toBool());
ui_->spinBox_mesh_angleTolerance->setValue(settings.value("angleTolerance", ui_->spinBox_mesh_angleTolerance->value()).toInt());
ui_->spinBox_mesh_minClusterSize->setValue(settings.value("minClusterSize", ui_->spinBox_mesh_minClusterSize->value()).toInt());
ui_->spinBox_mesh_fillDepthHoles->setValue(settings.value("fillDepthHolesSize", ui_->spinBox_mesh_fillDepthHoles->value()).toInt());
ui_->spinBox_mesh_depthError->setValue(settings.value("fillDepthHolesError", ui_->spinBox_mesh_depthError->value()).toInt());
ui_->spinBox_mesh_triangleSize->setValue(settings.value("triangleSize", ui_->spinBox_mesh_triangleSize->value()).toInt());
@@ -480,6 +486,7 @@ void DatabaseViewer::writeSettings()
settings.beginGroup("mesh");
settings.setValue("quad", ui_->checkBox_mesh_quad->isChecked());
settings.setValue("angleTolerance", ui_->spinBox_mesh_angleTolerance->value());
settings.setValue("minClusterSize", ui_->spinBox_mesh_minClusterSize->value());
settings.setValue("fillDepthHolesSize", ui_->spinBox_mesh_fillDepthHoles->value());
settings.setValue("fillDepthHolesError", ui_->spinBox_mesh_depthError->value());
settings.setValue("triangleSize", ui_->spinBox_mesh_triangleSize->value());
@@ -2470,9 +2477,7 @@ void DatabaseViewer::update(int value,
}
// 3d view
if(view3D->isVisible() &&
(!data.depthOrRightRaw().empty() ||
!data.laserScanRaw().empty()))
if(view3D->isVisible())
{
Transform pose = Transform::getIdentity();
if(signatures.size())
@@ -2483,131 +2488,173 @@ void DatabaseViewer::update(int value,
}
view3D->removeAllFrustums();
view3D->removeCloud("0");
view3D->removeCloud("1");
view3D->removeCloud("mesh");
view3D->removeCloud("cloud");
view3D->removeCloud("scan");
view3D->removeCloud("map");
view3D->removeCloud("ground");
view3D->removeCloud("obstacles");
if(!data.depthOrRightRaw().empty())
if(ui_->checkBox_showCloud->isChecked() || ui_->checkBox_showMesh->isChecked())
{
if(!data.imageRaw().empty())
if(!data.depthOrRightRaw().empty())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(!data.depthRaw().empty() && data.cameraModels().size()==1)
if(!data.imageRaw().empty())
{
cv::Mat depth = data.depthRaw();
if(ui_->spinBox_mesh_fillDepthHoles->value() > 0)
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
if(!data.depthRaw().empty() && data.cameraModels().size()==1)
{
depth = util2d::fillDepthHoles(depth, ui_->spinBox_mesh_fillDepthHoles->value(), float(ui_->spinBox_mesh_depthError->value())/100.0f);
}
cloud = util3d::cloudFromDepthRGB(
data.imageRaw(),
depth,
data.cameraModels()[0]);
if(cloud->size())
{
cloud = util3d::transformPointCloud(cloud, data.cameraModels()[0].localTransform());
}
cv::Mat depth = data.depthRaw();
if(ui_->spinBox_mesh_fillDepthHoles->value() > 0)
{
depth = util2d::fillDepthHoles(depth, ui_->spinBox_mesh_fillDepthHoles->value(), float(ui_->spinBox_mesh_depthError->value())/100.0f);
}
cloud = util3d::cloudFromDepthRGB(
data.imageRaw(),
depth,
data.cameraModels()[0]);
if(cloud->size())
{
cloud = util3d::transformPointCloud(cloud, data.cameraModels()[0].localTransform());
}
}
else
{
cloud = util3d::cloudRGBFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
}
if(cloud->size())
{
if(ui_->checkBox_showMesh->isChecked() && !cloud->is_dense)
{
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
{
viewpoint[0] = data.cameraModels()[0].localTransform().x();
viewpoint[1] = data.cameraModels()[0].localTransform().y();
viewpoint[2] = data.cameraModels()[0].localTransform().z();
}
else if(!data.stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
cloud,
float(ui_->spinBox_mesh_angleTolerance->value())*M_PI/180.0f,
ui_->checkBox_mesh_quad->isChecked(),
ui_->spinBox_mesh_triangleSize->value(),
viewpoint);
view3D->addCloudMesh("0", cloud, polygons, pose);
}
else
{
view3D->addCloud("0", cloud, pose);
cloud = util3d::cloudRGBFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
}
if(cloud->size())
{
if(ui_->checkBox_showMesh->isChecked() && !cloud->is_dense)
{
Eigen::Vector3f viewpoint(0.0f,0.0f,0.0f);
if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
{
viewpoint[0] = data.cameraModels()[0].localTransform().x();
viewpoint[1] = data.cameraModels()[0].localTransform().y();
viewpoint[2] = data.cameraModels()[0].localTransform().z();
}
else if(!data.stereoCameraModel().localTransform().isNull())
{
viewpoint[0] = data.stereoCameraModel().localTransform().x();
viewpoint[1] = data.stereoCameraModel().localTransform().y();
viewpoint[2] = data.stereoCameraModel().localTransform().z();
}
std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
cloud,
float(ui_->spinBox_mesh_angleTolerance->value())*M_PI/180.0f,
ui_->checkBox_mesh_quad->isChecked(),
ui_->spinBox_mesh_triangleSize->value(),
viewpoint);
if(ui_->spinBox_mesh_minClusterSize->value())
{
// filter polygons
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
util3d::createPolygonIndexes(polygons,
cloud->size(),
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
neighbors,
ui_->spinBox_mesh_minClusterSize->value());
std::vector<pcl::Vertices> filteredPolygons(polygons.size());
int oi=0;
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
{
filteredPolygons[oi++] = polygons.at(*jter);
}
}
filteredPolygons.resize(oi);
polygons = filteredPolygons;
}
view3D->addCloudMesh("mesh", cloud, polygons, pose);
}
if(ui_->checkBox_showCloud->isChecked())
{
view3D->addCloud("cloud", cloud, pose);
}
}
view3D->updateCameraFrustums(pose, data.cameraModels());
}
view3D->updateCameraFrustums(pose, data.cameraModels());
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = util3d::cloudFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
if(cloud->size())
else if(ui_->checkBox_showCloud->isChecked())
{
view3D->addCloud("0", cloud, pose);
view3D->updateCameraFrustum(pose, data.stereoCameraModel());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud = util3d::cloudFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
if(cloud->size())
{
view3D->addCloud("cloud", cloud, pose);
view3D->updateCameraFrustum(pose, data.stereoCameraModel());
}
}
}
}
//add scan
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(data.laserScanRaw(), data.laserScanInfo().localTransform());
if(scan->size())
if(ui_->checkBox_showScan->isChecked())
{
view3D->addCloud("1", scan, pose, Qt::yellow);
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(data.laserScanRaw(), data.laserScanInfo().localTransform());
if(scan->size())
{
view3D->addCloud("scan", scan, pose, Qt::yellow);
}
}
//add occupancy grid
std::map<int, std::pair<cv::Mat, cv::Mat> > localMaps;
if(generatedLocalMaps_.find(data.id()) != generatedLocalMaps_.end())
if(ui_->checkBox_showMap->isChecked() || ui_->checkBox_showGrid->isChecked())
{
localMaps.insert(*generatedLocalMaps_.find(data.id()));
}
else if(!data.gridGroundCellsRaw().empty() && !data.gridObstacleCellsRaw().empty())
{
localMaps.insert(std::make_pair(data.id(), std::make_pair(data.gridGroundCellsRaw(), data.gridObstacleCellsRaw())));
}
if(!localMaps.empty())
{
std::map<int, Transform> poses;
poses.insert(std::make_pair(data.id(), Transform::getIdentity()));
float xMin=0.0f, yMin=0.0f;
cv::Mat map8S = util3d::create2DMapFromOccupancyLocalMaps(
poses,
localMaps,
ui_->doubleSpinBox_gridCellSize->value(),
xMin, yMin);
if(!map8S.empty())
std::map<int, std::pair<cv::Mat, cv::Mat> > localMaps;
if(generatedLocalMaps_.find(data.id()) != generatedLocalMaps_.end())
{
//convert to gray scaled map
cv::Mat map8U = util3d::convertMap2Image8U(map8S);
view3D->addOccupancyGridMap(map8U, ui_->doubleSpinBox_gridCellSize->value(), xMin, yMin, 1);
localMaps.insert(*generatedLocalMaps_.find(data.id()));
}
else if(!data.gridGroundCellsRaw().empty() && !data.gridObstacleCellsRaw().empty())
{
localMaps.insert(std::make_pair(data.id(), std::make_pair(data.gridGroundCellsRaw(), data.gridObstacleCellsRaw())));
}
if(!localMaps.empty())
{
std::map<int, Transform> poses;
poses.insert(std::make_pair(data.id(), Transform::getIdentity()));
// occupancy cloud
view3D->addCloud("ground",
util3d::laserScanToPointCloud(localMaps.begin()->second.first),
Transform::getIdentity(),
Qt::green);
view3D->addCloud("obstacles",
util3d::laserScanToPointCloud(localMaps.begin()->second.second),
Transform::getIdentity(),
Qt::red);
view3D->setCloudPointSize("ground", 5);
view3D->setCloudPointSize("obstacles", 5);
if(ui_->checkBox_showMap->isChecked())
{
float xMin=0.0f, yMin=0.0f;
cv::Mat map8S = util3d::create2DMapFromOccupancyLocalMaps(
poses,
localMaps,
ui_->doubleSpinBox_gridCellSize->value(),
xMin, yMin);
if(!map8S.empty())
{
//convert to gray scaled map
cv::Mat map8U = util3d::convertMap2Image8U(map8S);
view3D->addOccupancyGridMap(map8U, ui_->doubleSpinBox_gridCellSize->value(), xMin, yMin, 1);
}
}
if(ui_->checkBox_showGrid->isChecked())
{
// occupancy cloud
view3D->addCloud("ground",
util3d::laserScanToPointCloud(localMaps.begin()->second.first),
Transform::getIdentity(),
Qt::green);
view3D->addCloud("obstacles",
util3d::laserScanToPointCloud(localMaps.begin()->second.second),
Transform::getIdentity(),
Qt::red);
view3D->setCloudPointSize("ground", 5);
view3D->setCloudPointSize("obstacles", 5);
}
}
}
view3D->update();
}
if(signatures.size())
{
UASSERT(signatures.front() != 0 && signatures.size() == 1);

54
guilib/src/ExportCloudsDialog.cpp
View File

@@ -174,6 +174,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mesh_radius", _ui->doubleSpinBox_gp3Radius->value());
settings.setValue("mesh_mu", _ui->doubleSpinBox_gp3Mu->value());
settings.setValue("mesh_decimation_factor", _ui->doubleSpinBox_meshDecimationFactor->value());
settings.setValue("mesh_min_cluster_size", _ui->spinBox_mesh_minClusterSize->value());
settings.setValue("mesh_texture", _ui->checkBox_textureMapping->isChecked());
@@ -229,6 +230,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->doubleSpinBox_gp3Radius->setValue(settings.value("mesh_radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
_ui->doubleSpinBox_gp3Mu->setValue(settings.value("mesh_mu", _ui->doubleSpinBox_gp3Mu->value()).toDouble());
_ui->doubleSpinBox_meshDecimationFactor->setValue(settings.value("mesh_decimation_factor",_ui->doubleSpinBox_meshDecimationFactor->value()).toDouble());
_ui->spinBox_mesh_minClusterSize->setValue(settings.value("mesh_min_cluster_size", _ui->spinBox_mesh_minClusterSize->value()).toInt());
_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", _ui->checkBox_textureMapping->isChecked()).toBool());
@@ -752,6 +754,32 @@ bool ExportCloudsDialog::getExportedClouds(
_ui->checkBox_mesh_quad->isEnabled() && _ui->checkBox_mesh_quad->isChecked(),
_ui->spinBox_mesh_triangleSize->value(),
viewpoint);
if(_ui->spinBox_mesh_minClusterSize->value())
{
// filter polygons
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
util3d::createPolygonIndexes(polygons,
iter->second->size(),
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
neighbors,
_ui->spinBox_mesh_minClusterSize->value());
std::vector<pcl::Vertices> filteredPolygons(polygons.size());
int oi=0;
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
{
filteredPolygons[oi++] = polygons.at(*jter);
}
}
filteredPolygons.resize(oi);
polygons = filteredPolygons;
}
_progressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(polygons.size()).arg(++i).arg(clouds.size()));
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
@@ -874,6 +902,32 @@ bool ExportCloudsDialog::getExportedClouds(
iter->second,
_ui->doubleSpinBox_gp3Radius->value(),
_ui->doubleSpinBox_gp3Mu->value());
if(_ui->spinBox_mesh_minClusterSize->value())
{
// filter polygons
std::vector<std::set<int> > neighbors;
std::vector<std::set<int> > vertexToPolygons;
util3d::createPolygonIndexes(mesh->polygons,
mesh->cloud.height*mesh->cloud.width,
neighbors,
vertexToPolygons);
std::list<std::list<int> > clusters = util3d::clusterPolygons(
neighbors,
_ui->spinBox_mesh_minClusterSize->value());
std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
int oi=0;
for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
{
for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
{
filteredPolygons[oi++] = mesh->polygons.at(*jter);
}
}
filteredPolygons.resize(oi);
mesh->polygons = filteredPolygons;
}
_progressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(mesh->polygons.size()).arg(++i).arg(clouds.size()));
QApplication::processEvents();

213
guilib/src/ui/DatabaseViewer.ui
View File

@@ -52,8 +52,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>202</width>
<height>196</height>
<width>205</width>
<height>208</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -210,8 +210,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>201</width>
<height>196</height>
<width>203</width>
<height>208</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -484,7 +484,7 @@
<x>0</x>
<y>0</y>
<width>1285</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -990,8 +990,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>333</width>
<height>186</height>
<width>324</width>
<height>188</height>
</rect>
</property>
<attribute name="label">
@@ -1125,9 +1125,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>278</width>
<height>383</height>
<y>-225</y>
<width>280</width>
<height>465</height>
</rect>
</property>
<attribute name="label">
@@ -1249,7 +1249,7 @@
<string>Organized Fast Mesh</string>
</property>
<layout class="QGridLayout" name="gridLayout_13">
<item row="2" column="1">
<item row="3" column="1">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Triangle size</string>
@@ -1263,39 +1263,6 @@
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_mesh_quad">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Fill depth holes: size</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_mesh_fillDepthHoles">
<property name="suffix">
<string> pix</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_mesh_angleTolerance">
<property name="suffix">
@@ -1312,7 +1279,7 @@
</property>
</widget>
</item>
<item row="2" column="0">
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_mesh_triangleSize">
<property name="suffix">
<string> pix</string>
@@ -1325,21 +1292,21 @@
</property>
</widget>
</item>
<item row="1" column="1">
<item row="2" column="1">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Quad</string>
</property>
</widget>
</item>
<item row="4" column="1">
<item row="5" column="1">
<widget class="QLabel" name="label_17">
<property name="text">
<string>Fill depth holes: error</string>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QSpinBox" name="spinBox_mesh_depthError">
<property name="suffix">
<string> %</string>
@@ -1352,9 +1319,78 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_mesh_quad">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Fill depth holes: size</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_mesh_fillDepthHoles">
<property name="suffix">
<string> pix</string>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>99</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Min cluster size</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_6">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
@@ -1375,8 +1411,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>289</width>
<height>182</height>
<width>265</width>
<height>126</height>
</rect>
</property>
<attribute name="label">
@@ -1475,8 +1511,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>289</width>
<height>182</height>
<width>265</width>
<height>168</height>
</rect>
</property>
<attribute name="label">
@@ -1699,14 +1735,71 @@
</layout>
</item>
<item>
<widget class="QCheckBox" name="checkBox_showMesh">
<property name="text">
<string>Mesh</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QCheckBox" name="checkBox_showCloud">
<property name="text">
<string>Cloud</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBox_showMesh">
<property name="text">
<string>Mesh</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBox_showScan">
<property name="text">
<string>Scan</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBox_showMap">
<property name="text">
<string>Map</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBox_showGrid">
<property name="text">
<string>Grid</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>

208
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>778</width>
<height>1318</height>
<y>-860</y>
<width>773</width>
<height>1463</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
@@ -793,25 +793,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<layout class="QVBoxLayout" name="verticalLayout_15">
<item>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>0.990000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_170">
<property name="text">
@@ -839,6 +820,39 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>0.990000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Min polygon cluster size</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
<property name="maximum">
<number>999</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -920,90 +934,86 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<property name="title">
<string>Organized Meshing</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_17">
<item>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Angle tolerance</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_mesh_quad">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_quad">
<property name="text">
<string>Quad</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_mesh_triangleSize">
<property name="suffix">
<string> pix</string>
</property>
<property name="minimum">
<number>2</number>
</property>
<property name="maximum">
<number>99</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Triangle size</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_mesh_angleTolerance">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="value">
<double>15.000000000000000</double>
</property>
</widget>
</item>
</layout>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
<item row="2" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Triangle size</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_8">
<property name="orientation">
<enum>Qt::Vertical</enum>
<item row="1" column="1">
<widget class="QLabel" name="label_quad">
<property name="text">
<string>Quad</string>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_mesh_quad">
<property name="text">
<string/>
</property>
</spacer>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_mesh_angleTolerance">
<property name="suffix">
<string> deg</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="minimum">
<double>1.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="value">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Angle tolerance</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="spinBox_mesh_triangleSize">
<property name="suffix">
<string> pix</string>
</property>
<property name="minimum">
<number>2</number>
</property>
<property name="maximum">
<number>99</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_8">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>