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

corelib/include/rtabmap/core/CameraRGBD.h

@@ -273,7 +273,7 @@ private:
 };
 
 /////////////////////////
-// CameraOpenNIPCL
+// CameraRealSense
 /////////////////////////
 class RTABMAP_EXP CameraRealSense :
 	public Camera

corelib/include/rtabmap/core/impl/util3d_surface.hpp

@@ -0,0 +1,50 @@
+/*
+ * util3d_surface.hpp
+ *
+ *  Created on: Sep 3, 2016
+ *      Author: mathieu
+ */
+
+#ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMPL_UTIL3D_SURFACE_HPP_
+#define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_UTIL3D_SURFACE_HPP_
+
+namespace rtabmap {
+
+namespace util3d {
+
+template<typename pointT>
+std::vector<pcl::Vertices> normalizePolygonsSide(
+		const pcl::PointCloud<pointT> & cloud,
+		const std::vector<pcl::Vertices> & polygons,
+		const pcl::PointXYZ & viewPoint)
+{
+	std::vector<pcl::Vertices> output(polygons.size());
+	for(unsigned int i=0; i<polygons.size(); ++i)
+	{
+		pcl::Vertices polygon = polygons[i];
+		Eigen::Vector3f v1 = cloud.at(polygon.vertices[1]).getVector3fMap() - cloud.at(polygon.vertices[0]).getVector3fMap();
+		Eigen::Vector3f v2 = cloud.at(polygon.vertices[2]).getVector3fMap() - cloud.at(polygon.vertices[0]).getVector3fMap();
+		Eigen::Vector3f n = (v1.cross(v2)).normalized();
+
+		Eigen::Vector3f p = Eigen::Vector3f(viewPoint.x, viewPoint.y, viewPoint.z) - cloud.at(polygon.vertices[1]).getVector3fMap();
+
+		float result = n.dot(p);
+		if(result < 0)
+		{
+			//reverse vertices order
+			int tmp = polygon.vertices[0];
+			polygon.vertices[0] = polygon.vertices[2];
+			polygon.vertices[2] = tmp;
+		}
+
+		output[i] = polygon;
+	}
+	return output;
+}
+
+}
+
+}
+
+
+#endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMPL_UTIL3D_SURFACE_HPP_ */

corelib/include/rtabmap/core/util3d_filtering.h

@@ -411,7 +411,6 @@ pcl::IndicesPtr RTABMAP_EXP normalFiltering(
  * @param viewpoint from which viewpoint the normals should be estimated (see pcl::NormalEstimation).
  * @return the indices of the points which respect the normal constraint.
  */
-
 pcl::IndicesPtr RTABMAP_EXP normalFiltering(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
 		const pcl::IndicesPtr & indices,
@@ -434,6 +433,13 @@ pcl::IndicesPtr RTABMAP_EXP normalFiltering(
 		int normalKSearch,
 		const Eigen::Vector4f & viewpoint);
 
+void RTABMAP_EXP colorMeanFiltering(
+		pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		const pcl::IndicesPtr & indices,
+		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloudRef,
+		const pcl::IndicesPtr & indicesRef,
+		float radiusSearch);
+
 /**
  * For convenience.
  */

corelib/include/rtabmap/core/util3d_surface.h

@@ -60,6 +60,10 @@ void RTABMAP_EXP createPolygonIndexes(
 		std::vector<std::set<int> > & neighborPolygons,
 		std::vector<std::set<int> > & vertexPolygons);
 
+std::list<std::list<int> > RTABMAP_EXP clusterPolygons(
+		const std::vector<std::set<int> > & neighborPolygons,
+		int minClusterSize = 0);
+
 std::vector<pcl::Vertices> RTABMAP_EXP organizedFastMesh(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		double angleTolerance = M_PI/16,
@@ -194,33 +198,11 @@ template<typename pointT>
 std::vector<pcl::Vertices> normalizePolygonsSide(
 		const pcl::PointCloud<pointT> & cloud,
 		const std::vector<pcl::Vertices> & polygons,
-		const pcl::PointXYZ & viewPoint = pcl::PointXYZ(0,0,0))
+		const pcl::PointXYZ & viewPoint = pcl::PointXYZ(0,0,0));
-{
-	std::vector<pcl::Vertices> output(polygons.size());
-	for(unsigned int i=0; i<polygons.size(); ++i)
-	{
-		pcl::Vertices polygon = polygons[i];
-		Eigen::Vector3f v1 = cloud.at(polygon.vertices[1]).getVector3fMap() - cloud.at(polygon.vertices[0]).getVector3fMap();
-		Eigen::Vector3f v2 = cloud.at(polygon.vertices[2]).getVector3fMap() - cloud.at(polygon.vertices[0]).getVector3fMap();
-		Eigen::Vector3f n = (v1.cross(v2)).normalized();
-
-		Eigen::Vector3f p = Eigen::Vector3f(viewPoint.x, viewPoint.y, viewPoint.z) - cloud.at(polygon.vertices[1]).getVector3fMap();
-
-		float result = n.dot(p);
-		if(result < 0)
-		{
-			//reverse vertices order
-			int tmp = polygon.vertices[0];
-			polygon.vertices[0] = polygon.vertices[2];
-			polygon.vertices[2] = tmp;
-		}
-
-		output[i] = polygon;
-	}
-	return output;
-}
 
 } // namespace util3d
 } // namespace rtabmap
 
+#include "rtabmap/core/impl/util3d_surface.hpp"
+
 #endif /* UTIL3D_SURFACE_H_ */

corelib/src/util3d_filtering.cpp

@@ -1555,6 +1555,45 @@ pcl::IndicesPtr normalFiltering(
 	return output;
 }
 
+void colorMeanFiltering(
+		pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		const pcl::IndicesPtr & indices,
+		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloudRef,
+		const pcl::IndicesPtr & indicesRef,
+		float radiusSearch)
+{
+	UASSERT(radiusSearch>0.0f);
+	pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB>(false));
+	if(indicesRef->size())
+	{
+		tree->setInputCloud(cloudRef, indicesRef);
+	}
+	else
+	{
+		tree->setInputCloud(cloudRef);
+	}
+	for(unsigned int i=0; i<indices->size(); ++i)
+	{
+		std::vector<int> kIndices;
+		std::vector<float> kDistances;
+		pcl::PointXYZRGB & pt = cloud->at(indices->at(i));
+		if(tree->radiusSearch(pt, radiusSearch, kIndices, kDistances))
+		{
+			UASSERT(kIndices.size());
+			int r=0,g=0,b=0;
+			for(unsigned int j=0; j<kIndices.size(); ++j)
+			{
+				r+=cloudRef->at(kIndices.at(j)).r;
+				g+=cloudRef->at(kIndices.at(j)).g;
+				b+=cloudRef->at(kIndices.at(j)).b;
+			}
+			pt.r = (unsigned char)(r/kIndices.size());
+			pt.g = (unsigned char)(g/kIndices.size());
+			pt.b = (unsigned char)(b/kIndices.size());
+		}
+	}
+}
+
 std::vector<pcl::IndicesPtr> extractClusters(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
 		float clusterTolerance,

corelib/src/util3d_surface.cpp

@@ -100,6 +100,43 @@ void createPolygonIndexes(
 	}
 }
 
+std::list<std::list<int> > clusterPolygons(
+		const std::vector<std::set<int> > & neighborPolygons,
+		int minClusterSize)
+{
+	std::set<int> polygonsChecked;
+
+	std::list<std::list<int> > clusters;
+
+	for(unsigned int i=0; i<neighborPolygons.size(); ++i)
+	{
+		if(polygonsChecked.find(i) == polygonsChecked.end())
+		{
+			std::list<int> currentCluster;
+			currentCluster.push_back(i);
+			polygonsChecked.insert(i);
+
+			for(std::list<int>::iterator iter=currentCluster.begin(); iter!=currentCluster.end(); ++iter)
+			{
+				// get neighbor polygons
+				std::set<int> neighbors = neighborPolygons[*iter];
+				for(std::set<int>::iterator jter=neighbors.begin(); jter!=neighbors.end(); ++jter)
+				{
+					if(polygonsChecked.insert(*jter).second)
+					{
+						currentCluster.push_back(*jter);
+					}
+				}
+			}
+			if(currentCluster.size() > minClusterSize)
+			{
+				clusters.push_back(currentCluster);
+			}
+		}
+	}
+	return clusters;
+}
+
 std::vector<pcl::Vertices> organizedFastMesh(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		double angleTolerance,

guilib/src/DatabaseViewer.cpp

@@ -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() &&
+				if(view3D->isVisible())
-						(!data.depthOrRightRaw().empty() ||
-						!data.laserScanRaw().empty()))
 				{
 					Transform pose = Transform::getIdentity();
 					if(signatures.size())
@@ -2483,11 +2488,14 @@ void DatabaseViewer::update(int value,
 					}
 
 					view3D->removeAllFrustums();
-					view3D->removeCloud("0");
+					view3D->removeCloud("mesh");
-					view3D->removeCloud("1");
+					view3D->removeCloud("cloud");
+					view3D->removeCloud("scan");
 					view3D->removeCloud("map");
 					view3D->removeCloud("ground");
 					view3D->removeCloud("obstacles");
+					if(ui_->checkBox_showCloud->isChecked() || ui_->checkBox_showMesh->isChecked())
+					{
 						if(!data.depthOrRightRaw().empty())
 						{
 							if(!data.imageRaw().empty())
@@ -2537,35 +2545,67 @@ void DatabaseViewer::update(int value,
 												ui_->checkBox_mesh_quad->isChecked(),
 												ui_->spinBox_mesh_triangleSize->value(),
 												viewpoint);
-									view3D->addCloudMesh("0", cloud, polygons, pose);
+
-								}
+										if(ui_->spinBox_mesh_minClusterSize->value())
-								else
 										{
-									view3D->addCloud("0", cloud, pose);
+											// 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());
 							}
-						else
+							else if(ui_->checkBox_showCloud->isChecked())
 							{
 								pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
 								cloud = util3d::cloudFromSensorData(data, 1, 0, 0, 0, ui_->parameters_toolbox->getParameters());
 								if(cloud->size())
 								{
-								view3D->addCloud("0", cloud, pose);
+									view3D->addCloud("cloud", cloud, pose);
 									view3D->updateCameraFrustum(pose, data.stereoCameraModel());
 								}
 							}
 						}
+					}
 
 					//add scan
+					if(ui_->checkBox_showScan->isChecked())
+					{
 						pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(data.laserScanRaw(), data.laserScanInfo().localTransform());
 						if(scan->size())
 						{
-						view3D->addCloud("1", scan, pose, Qt::yellow);
+							view3D->addCloud("scan", scan, pose, Qt::yellow);
+						}
 					}
 
 					//add occupancy grid
+					if(ui_->checkBox_showMap->isChecked() || ui_->checkBox_showGrid->isChecked())
+					{
 						std::map<int, std::pair<cv::Mat, cv::Mat> > localMaps;
 						if(generatedLocalMaps_.find(data.id()) != generatedLocalMaps_.end())
 						{
@@ -2580,6 +2620,8 @@ void DatabaseViewer::update(int value,
 							std::map<int, Transform> poses;
 							poses.insert(std::make_pair(data.id(), Transform::getIdentity()));
 
+							if(ui_->checkBox_showMap->isChecked())
+							{
 								float xMin=0.0f, yMin=0.0f;
 								cv::Mat map8S = util3d::create2DMapFromOccupancyLocalMaps(
 															poses,
@@ -2592,7 +2634,10 @@ void DatabaseViewer::update(int value,
 									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),
@@ -2605,9 +2650,11 @@ void DatabaseViewer::update(int value,
 								view3D->setCloudPointSize("ground", 5);
 								view3D->setCloudPointSize("obstacles", 5);
 							}
-
+						}
+					}
 					view3D->update();
 				}
+
 				if(signatures.size())
 				{
 					UASSERT(signatures.front() != 0 && signatures.size() == 1);

guilib/src/ExportCloudsDialog.cpp

@@ -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();
 

guilib/src/ui/DatabaseViewer.ui

@@ -52,8 +52,8 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>202</width>
+           <width>205</width>
-           <height>196</height>
+           <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>
+           <width>203</width>
-           <height>196</height>
+           <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>
+          <width>324</width>
-          <height>186</height>
+          <height>188</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1125,9 +1125,9 @@
         <property name="geometry">
          <rect>
           <x>0</x>
-          <y>0</y>
+          <y>-225</y>
-          <width>278</width>
+          <width>280</width>
-          <height>383</height>
+          <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>
+          <width>265</width>
-          <height>182</height>
+          <height>126</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1475,8 +1511,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>289</width>
+          <width>265</width>
-          <height>182</height>
+          <height>168</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1698,6 +1734,18 @@
        </property>
       </layout>
      </item>
+     <item>
+      <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">
@@ -1708,6 +1756,51 @@
          </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>
   </widget>

guilib/src/ui/exportCloudsDialog.ui

@@ -23,9 +23,9 @@
       <property name="geometry">
        <rect>
         <x>0</x>
-        <y>0</y>
+        <y>-860</y>
-        <width>778</width>
+        <width>773</width>
-        <height>1318</height>
+        <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>
@@ -920,23 +934,11 @@ 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">
+             <item row="2" column="1">
-                <widget class="QLabel" name="label_14">
+              <widget class="QLabel" name="label_15">
                <property name="text">
-                  <string>Angle tolerance</string>
+                <string>Triangle size</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>
@@ -947,23 +949,13 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                </property>
               </widget>
              </item>
-               <item row="2" column="0">
+             <item row="1" column="0">
-                <widget class="QSpinBox" name="spinBox_mesh_triangleSize">
+              <widget class="QCheckBox" name="checkBox_mesh_quad">
-                 <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>
+                <string/>
+               </property>
+               <property name="checked">
+                <bool>true</bool>
                </property>
               </widget>
              </item>
@@ -986,7 +978,28 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                </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">
@@ -995,7 +1008,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
             </property>
             <property name="sizeHint" stdset="0">
              <size>
-                 <width>0</width>
+              <width>20</width>
               <height>0</height>
              </size>
             </property>
@@ -1004,9 +1017,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
          </layout>
         </widget>
        </item>
-         </layout>
-        </widget>
-       </item>
        <item>
         <spacer name="verticalSpacer_9">
          <property name="orientation">