Export: added option to remove not textured/colored polygons. Cloud generation: Black pixels can be projected. Added RoiRatios options to 3D Rendering and Export. Added fill depth holes option to Export.

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -170,6 +170,7 @@ public:
 	int getCloudDecimation(int index) const;   // 0=map, 1=odom
 	double getCloudMaxDepth(int index) const;  // 0=map, 1=odom
 	double getCloudMinDepth(int index) const;  // 0=map, 1=odom
+	std::vector<float> getCloudRoiRatios(int index) const; // 0=map, 1=odom
 	double getCloudOpacity(int index) const;   // 0=map, 1=odom
 	int getCloudPointSize(int index) const;    // 0=map, 1=odom
 
@@ -380,6 +381,7 @@ private:
 	QVector<QSpinBox*> _3dRenderingDecimation;
 	QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
 	QVector<QDoubleSpinBox*> _3dRenderingMinDepth;
+	QVector<QLineEdit*> _3dRenderingRoiRatios;
 	QVector<QDoubleSpinBox*> _3dRenderingOpacity;
 	QVector<QSpinBox*> _3dRenderingPtSize;
 	QVector<QCheckBox*> _3dRenderingShowScans;

guilib/src/ExportCloudsDialog.cpp

@@ -85,6 +85,9 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_minDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_fillDepthHoles, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_fillDepthHolesError, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->lineEdit_roiRatios, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
 	connect(_ui->lineEdit_distortionModel, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
 	connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(selectDistortionModel()));
 
@@ -129,6 +132,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->doubleSpinBox_gp3Mu, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_meshDecimationFactor, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_transferColorRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->checkBox_cleanMesh, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SLOT(updateTexturingAvailability()));
 
@@ -199,6 +203,9 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("regenerate_decimation", _ui->spinBox_decimation->value());
 	settings.setValue("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value());
 	settings.setValue("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value());
+	settings.setValue("regenerate_fill_size", _ui->spinBox_fillDepthHoles->value());
+	settings.setValue("regenerate_fill_error", _ui->spinBox_fillDepthHolesError->value());
+	settings.setValue("regenerate_roi", _ui->lineEdit_roiRatios->text());
 	settings.setValue("regenerate_distortion_model", _ui->lineEdit_distortionModel->text());
 
 	settings.setValue("bilateral", _ui->groupBox_bilateral->isChecked());
@@ -239,6 +246,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("mesh_mu", _ui->doubleSpinBox_gp3Mu->value());
 	settings.setValue("mesh_decimation_factor", _ui->doubleSpinBox_meshDecimationFactor->value());
 	settings.setValue("mesh_color_radius", _ui->doubleSpinBox_transferColorRadius->value());
+	settings.setValue("mesh_clean", _ui->checkBox_cleanMesh->isChecked());
 	settings.setValue("mesh_min_cluster_size", _ui->spinBox_mesh_minClusterSize->value());
 
 	settings.setValue("mesh_dense_strategy", _ui->comboBox_meshingApproach->currentIndex());
@@ -280,6 +288,9 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_ui->spinBox_decimation->setValue(settings.value("regenerate_decimation", _ui->spinBox_decimation->value()).toInt());
 	_ui->doubleSpinBox_maxDepth->setValue(settings.value("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value()).toDouble());
 	_ui->doubleSpinBox_minDepth->setValue(settings.value("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value()).toDouble());
+	_ui->spinBox_fillDepthHoles->setValue(settings.value("regenerate_fill_size", _ui->spinBox_fillDepthHoles->value()).toInt());
+	_ui->spinBox_fillDepthHolesError->setValue(settings.value("regenerate_fill_error", _ui->spinBox_fillDepthHolesError->value()).toInt());
+	_ui->lineEdit_roiRatios->setText(settings.value("regenerate_roi", _ui->lineEdit_roiRatios->text()).toString());
 	_ui->lineEdit_distortionModel->setText(settings.value("regenerate_distortion_model", _ui->lineEdit_distortionModel->text()).toString());
 
 	_ui->groupBox_bilateral->setChecked(settings.value("bilateral", _ui->groupBox_bilateral->isChecked()).toBool());
@@ -320,6 +331,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_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->doubleSpinBox_transferColorRadius->setValue(settings.value("mesh_color_radius",_ui->doubleSpinBox_transferColorRadius->value()).toDouble());
+	_ui->checkBox_cleanMesh->setChecked(settings.value("mesh_clean",_ui->checkBox_cleanMesh->isChecked()).toBool());
 	_ui->spinBox_mesh_minClusterSize->setValue(settings.value("mesh_min_cluster_size", _ui->spinBox_mesh_minClusterSize->value()).toInt());
 
 	_ui->comboBox_meshingApproach->setCurrentIndex(settings.value("mesh_dense_strategy", _ui->comboBox_meshingApproach->currentIndex()).toInt());
@@ -360,6 +372,9 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->spinBox_decimation->setValue(1);
 	_ui->doubleSpinBox_maxDepth->setValue(4);
 	_ui->doubleSpinBox_minDepth->setValue(0);
+	_ui->spinBox_fillDepthHoles->setValue(0);
+	_ui->spinBox_fillDepthHolesError->setValue(2);
+	_ui->lineEdit_roiRatios->setText("0.0 0.0 0.0 0.0");
 	_ui->lineEdit_distortionModel->setText("");
 
 	_ui->groupBox_bilateral->setChecked(false);
@@ -400,6 +415,7 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->doubleSpinBox_gp3Mu->setValue(2.5);
 	_ui->doubleSpinBox_meshDecimationFactor->setValue(0.0);
 	_ui->doubleSpinBox_transferColorRadius->setValue(0.05);
+	_ui->checkBox_cleanMesh->setChecked(true);
 
 	_ui->comboBox_meshingApproach->setCurrentIndex(1);
 
@@ -432,6 +448,8 @@ void ExportCloudsDialog::updateReconstructionFlavor()
 	_ui->groupBox_mls->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
 	_ui->comboBox_meshingApproach->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
 	_ui->label_denseReconstruction->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
+	_ui->doubleSpinBox_meshDecimationFactor->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
+	_ui->label_meshDecimation->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
 	_ui->groupBox_organized->setVisible(_ui->comboBox_pipeline->currentIndex() == 0);
 	updateDenseReconstruction();
 }
@@ -1065,6 +1083,9 @@ bool ExportCloudsDialog::getExportedClouds(
 
 							if(_ui->spinBox_mesh_minClusterSize->value())
 							{
+								_progressDialog->appendText(tr("Filter small polygon clusters..."));
+								QApplication::processEvents();
+
 								// filter polygons
 								std::vector<std::set<int> > neighbors;
 								std::vector<std::set<int> > vertexToPolygons;
@@ -1085,7 +1106,11 @@ bool ExportCloudsDialog::getExportedClouds(
 									}
 								}
 								filteredPolygons.resize(oi);
+								int before = polygons.size();
 								polygons = filteredPolygons;
+
+								_progressDialog->appendText(tr("Filtered %1 polygons.").arg(before-oi));
+								QApplication::processEvents();
 							}
 
 							_progressDialog->appendText(tr("Mesh %1 created with %2 polygons (%3/%4).").arg(iter->first).arg(polygons.size()).arg(++i).arg(clouds.size()));
@@ -1107,63 +1132,10 @@ bool ExportCloudsDialog::getExportedClouds(
 								pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
 								pcl::toPCLPointCloud2(*denseCloud, mesh->cloud);
 								mesh->polygons = densePolygons;
-								if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
-								   _ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
-								{
-									int count = mesh->polygons.size();
-									_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 polygons...").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count));
-									QApplication::processEvents();
 
-									mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
-									_progressDialog->appendText(tr("Mesh decimated (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
-									if(count < mesh->polygons.size())
-									{
-										_progressDialog->appendText(tr("Decimated mesh %1 has more polygons than before!").arg(iter->first), Qt::darkYellow);
-										_progressDialog->setAutoClose(false);
-									}
-									QApplication::processEvents();
+								organizedIndices.insert(std::make_pair(iter->first, denseToOrganizedIndices));
+								organizedCloudSizes.insert(std::make_pair(iter->first, cv::Size(iter->second->width, iter->second->height)));
 
-									if(_ui->doubleSpinBox_transferColorRadius->value() > 0.0 &&
-										(!_ui->checkBox_textureMapping->isEnabled() || !_ui->checkBox_textureMapping->isChecked()))
-									{
-										_progressDialog->appendText(tr("Transfering color from point cloud to mesh..."));
-										QApplication::processEvents();
-
-										// transfer color from point cloud to mesh
-										pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBNormal>(true));
-										tree->setInputCloud(denseCloud);
-										pcl::PointCloud<pcl::PointXYZRGB>::Ptr coloredCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
-										pcl::fromPCLPointCloud2(mesh->cloud, *coloredCloud);
-										for(unsigned int i=0; i<coloredCloud->size(); ++i)
-										{
-											std::vector<int> kIndices;
-											std::vector<float> kDistances;
-											pcl::PointXYZRGBNormal pt;
-											pt.x = coloredCloud->at(i).x;
-											pt.y = coloredCloud->at(i).y;
-											pt.z = coloredCloud->at(i).z;
-											tree->radiusSearch(pt, _ui->doubleSpinBox_transferColorRadius->value(), kIndices, kDistances);
-											if(kIndices.size())
-											{
-												coloredCloud->at(i).r = denseCloud->at(kIndices[0]).r;
-												coloredCloud->at(i).g = denseCloud->at(kIndices[0]).g;
-												coloredCloud->at(i).b = denseCloud->at(kIndices[0]).b;
-												coloredCloud->at(i).a = denseCloud->at(kIndices[0]).a;
-											}
-											else
-											{
-												//white
-												coloredCloud->at(i).r = coloredCloud->at(i).g = coloredCloud->at(i).b = 255;
-											}
-										}
-										pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
-									}
-								}
-								else
-								{
-									organizedIndices.insert(std::make_pair(iter->first, denseToOrganizedIndices));
-									organizedCloudSizes.insert(std::make_pair(iter->first, cv::Size(iter->second->width, iter->second->height)));
-								}
 								meshes.insert(std::make_pair(iter->first, mesh));
 							}
 							else
@@ -1334,31 +1306,6 @@ bool ExportCloudsDialog::getExportedClouds(
 						lostColors = true;
 					}
 
-					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();
 
@@ -1392,6 +1339,7 @@ bool ExportCloudsDialog::getExportedClouds(
 						tree->setInputCloud(iter->second);
 						pcl::PointCloud<pcl::PointXYZRGB>::Ptr coloredCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
 						pcl::fromPCLPointCloud2(mesh->cloud, *coloredCloud);
+						std::vector<bool> coloredPts(coloredCloud->size());
 						for(unsigned int i=0; i<coloredCloud->size(); ++i)
 						{
 							std::vector<int> kIndices;
@@ -1407,14 +1355,76 @@ bool ExportCloudsDialog::getExportedClouds(
 								coloredCloud->at(i).g = iter->second->at(kIndices[0]).g;
 								coloredCloud->at(i).b = iter->second->at(kIndices[0]).b;
 								coloredCloud->at(i).a = iter->second->at(kIndices[0]).a;
+								coloredPts.at(i) = true;
 							}
 							else
 							{
 								//white
 								coloredCloud->at(i).r = coloredCloud->at(i).g = coloredCloud->at(i).b = 255;
+								coloredPts.at(i) = false;
 							}
 						}
 						pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
+
+						// remove polygons with no color
+						if(_ui->checkBox_cleanMesh->isChecked())
+						{
+							std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
+							int oi=0;
+							for(unsigned int i=0; i<mesh->polygons.size(); ++i)
+							{
+								bool coloredPolygon = true;
+								for(unsigned int j=0; j<mesh->polygons[i].vertices.size(); ++j)
+								{
+									if(!coloredPts.at(mesh->polygons[i].vertices[j]))
+									{
+										coloredPolygon = false;
+										break;
+									}
+								}
+								if(coloredPolygon)
+								{
+									filteredPolygons[oi++] = mesh->polygons[i];
+								}
+							}
+							filteredPolygons.resize(oi);
+							mesh->polygons = filteredPolygons;
+						}
+					}
+
+					if(_ui->spinBox_mesh_minClusterSize->value() &&
+						!(_ui->checkBox_textureMapping->isEnabled() &&
+						  _ui->checkBox_textureMapping->isChecked() &&
+						  _ui->checkBox_cleanMesh->isChecked()))
+					{
+						_progressDialog->appendText(tr("Filter small polygon clusters..."));
+						QApplication::processEvents();
+
+						// 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 kter=clusters.begin(); kter!=clusters.end(); ++kter)
+						{
+							for(std::list<int>::iterator jter=kter->begin(); jter!=kter->end(); ++jter)
+							{
+								filteredPolygons[oi++] = mesh->polygons.at(*jter);
+							}
+						}
+						filteredPolygons.resize(oi);
+						int before = mesh->polygons.size();
+						mesh->polygons = filteredPolygons;
+
+						_progressDialog->appendText(tr("Filtered %1 polygons.").arg(before-oi));
+						QApplication::processEvents();
 					}
 
 					meshes.insert(std::make_pair(iter->first, mesh));
@@ -1582,32 +1592,128 @@ bool ExportCloudsDialog::getExportedClouds(
 								dir.filePath("tmp_textures").toStdString(),
 								_ui->spinBox_normalKSearch->value());
 
+						// Remove occluded polygons (polygons with no texture)
+						if(_ui->checkBox_cleanMesh->isChecked() &&
+							textureMesh->tex_coordinates.size())
+						{
+							// assume last texture is the occluded texture
+							textureMesh->tex_coordinates.pop_back();
+							textureMesh->tex_polygons.pop_back();
+							textureMesh->tex_materials.pop_back();
+
+							if(_ui->spinBox_mesh_minClusterSize->value())
+							{
+								_progressDialog->appendText(tr("Filter small polygon clusters..."));
+								QApplication::processEvents();
+
+								// concatenate all polygons
+								int totalSize = 0;
+								for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
+								{
+									totalSize+=textureMesh->tex_polygons[t].size();
+								}
+								std::vector<pcl::Vertices> allPolygons(totalSize);
+								int oi=0;
+								for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
+								{
+									for(unsigned int i=0; i<textureMesh->tex_polygons[t].size(); ++i)
+									{
+										allPolygons[oi++] =  textureMesh->tex_polygons[t][i];
+									}
+								}
+
+								// filter polygons
+								std::vector<std::set<int> > neighbors;
+								std::vector<std::set<int> > vertexToPolygons;
+								util3d::createPolygonIndexes(allPolygons,
+										textureMesh->cloud.data.size()/textureMesh->cloud.point_step,
+										neighbors,
+										vertexToPolygons);
+								std::list<std::list<int> > clusters = util3d::clusterPolygons(
+										neighbors,
+										_ui->spinBox_mesh_minClusterSize->value());
+
+								std::set<int> validPolygons;
+								for(std::list<std::list<int> >::iterator kter=clusters.begin(); kter!=clusters.end(); ++kter)
+								{
+									for(std::list<int>::iterator jter=kter->begin(); jter!=kter->end(); ++jter)
+									{
+										validPolygons.insert(*jter);
+									}
+								}
+
+								// for each texture
+								int allPolygonsIndex = 0;
+								for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
+								{
+									UASSERT(allPolygonsIndex < allPolygons.size());
+									std::vector<pcl::Vertices> filteredPolygons(textureMesh->tex_polygons[t].size());
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+									std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > filteredCoordinates(textureMesh->tex_coordinates[t].size());
+#else
+									std::vector<Eigen::Vector2f> filteredCoordinates(textureMesh->tex_coordinates[t].size());
+#endif
+									int oi=0;
+									unsigned int polygonSize = 0;
+									if(textureMesh->tex_polygons[t].size())
+									{
+										polygonSize = textureMesh->tex_polygons[t][0].vertices.size();
+
+										UASSERT(filteredCoordinates.size() == textureMesh->tex_polygons[t].size()*polygonSize);
+										for(unsigned int i=0; i<textureMesh->tex_polygons[t].size(); ++i)
+										{
+											if(validPolygons.find(allPolygonsIndex) != validPolygons.end())
+											{
+												filteredPolygons[oi] = textureMesh->tex_polygons[t].at(i);
+												for(unsigned int j=0; j<polygonSize; ++j)
+												{
+													filteredCoordinates[oi*polygonSize + j] = textureMesh->tex_coordinates[t][i*polygonSize + j];
+												}
+												++oi;
+											}
+											++allPolygonsIndex;
+										}
+										filteredPolygons.resize(oi);
+										filteredCoordinates.resize(oi*polygonSize);
+										textureMesh->tex_polygons[t] = filteredPolygons;
+										textureMesh->tex_coordinates[t] = filteredCoordinates;
+									}
+								}
+
+								_progressDialog->appendText(tr("Filtered %1 polygons.").arg(allPolygons.size()-validPolygons.size()));
+								QApplication::processEvents();
+							}
+						}
+
 						if(!_ui->checkBox_binary->isEnabled() && // not enabled -> we are not exporting to file
-							textureMesh->tex_coordinates.size() &&
-							textureMesh->tex_coordinates[0].size()) // assume first is the texture, second is occluded texture
+							textureMesh->tex_coordinates.size())
 						{
 							UDEBUG("");
-							// When not saving to file, tex_coordinates should be linked to points, not polygon vertices
-							int nPoints = textureMesh->cloud.data.size()/textureMesh->cloud.point_step;
-#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
-							std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > tmpCoordinates = textureMesh->tex_coordinates[0];
-#else
-							std::vector<Eigen::Vector2f> tmpCoordinates = textureMesh->tex_coordinates[0];
-#endif
-							textureMesh->tex_coordinates[0].resize(nPoints);
-
-							int polygonSize = textureMesh->tex_polygons[0][0].vertices.size();
-							UASSERT(textureMesh->tex_polygons[0].size() == tmpCoordinates.size()/polygonSize);
-							for(unsigned int i=0; i<textureMesh->tex_polygons[0].size(); ++i)
+							// for each texture
+							for(unsigned int t=0; t<textureMesh->tex_coordinates.size(); ++t)
 							{
-								const pcl::Vertices & vertices = textureMesh->tex_polygons[0][i];
-								UASSERT(polygonSize == (int)vertices.vertices.size());
-								for(int j=0; j<polygonSize; ++j)
+								// When not saving to file, tex_coordinates should be linked to points, not polygon vertices
+								int nPoints = textureMesh->cloud.data.size()/textureMesh->cloud.point_step;
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+								std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > tmpCoordinates = textureMesh->tex_coordinates[t];
+#else
+								std::vector<Eigen::Vector2f> tmpCoordinates = textureMesh->tex_coordinates[t];
+#endif
+								textureMesh->tex_coordinates[t].resize(nPoints);
+
+								int polygonSize = textureMesh->tex_polygons[t][0].vertices.size();
+								UASSERT(textureMesh->tex_polygons[t].size() == tmpCoordinates.size()/polygonSize);
+								for(unsigned int i=0; i<textureMesh->tex_polygons[t].size(); ++i)
 								{
-									//uv
-									UASSERT((int)vertices.vertices[j] < nPoints);
-									UASSERT(i*polygonSize+j < tmpCoordinates.size());
-									textureMesh->tex_coordinates[0][vertices.vertices[j]] = tmpCoordinates[i*polygonSize+j];
+									const pcl::Vertices & vertices = textureMesh->tex_polygons[t][i];
+									UASSERT(polygonSize == (int)vertices.vertices.size());
+									for(int j=0; j<polygonSize; ++j)
+									{
+										//uv
+										UASSERT((int)vertices.vertices[j] < nPoints);
+										UASSERT(i*polygonSize+j < tmpCoordinates.size());
+										textureMesh->tex_coordinates[t][vertices.vertices[j]] = tmpCoordinates[i*polygonSize+j];
+									}
 								}
 							}
 						}
@@ -1678,6 +1784,11 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 					d.uncompressData(&image, &depth, 0);
 					if(!image.empty() && !depth.empty())
 					{
+						if(_ui->spinBox_fillDepthHoles->value() > 0)
+						{
+							depth = util2d::fillDepthHoles(depth, _ui->spinBox_fillDepthHoles->value(), float(_ui->spinBox_fillDepthHolesError->value())/100.f);
+						}
+
 						if(!_ui->lineEdit_distortionModel->text().isEmpty() &&
 						   QFileInfo(_ui->lineEdit_distortionModel->text()).exists())
 						{
@@ -1699,13 +1810,27 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 
 						UASSERT(iter->first == d.id());
 						pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudWithoutNormals;
+						std::vector<float> roiRatios;
+						if(!_ui->lineEdit_roiRatios->text().isEmpty())
+						{
+							QStringList values = _ui->lineEdit_roiRatios->text().split(' ');
+							if(values.size() == 4)
+							{
+								roiRatios.resize(4);
+								for(int i=0; i<values.size(); ++i)
+								{
+									roiRatios[i] = uStr2Float(values[i].toStdString().c_str());
+								}
+							}
+						}
 						cloudWithoutNormals = util3d::cloudRGBFromSensorData(
 								d,
 								_ui->spinBox_decimation->value() == 0?1:_ui->spinBox_decimation->value(),
 								_ui->doubleSpinBox_maxDepth->value(),
 								_ui->doubleSpinBox_minDepth->value(),
 								indices.get(),
-								parameters);
+								parameters,
+								roiRatios);
 
 						if(cloudWithoutNormals->size())
 						{

guilib/src/MainWindow.cpp

@@ -958,7 +958,8 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 						_preferencesDialog->getCloudMaxDepth(1),
 						_preferencesDialog->getCloudMinDepth(1),
 						indices.get(),
-						_preferencesDialog->getAllParameters());
+						_preferencesDialog->getAllParameters(),
+						_preferencesDialog->getCloudRoiRatios(1));
 				if(indices->size())
 				{
 					cloud = util3d::transformPointCloud(cloud, pose);
@@ -2431,7 +2432,8 @@ std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> MainWindow::c
 				_preferencesDialog->getCloudMaxDepth(0),
 				_preferencesDialog->getCloudMinDepth(0),
 				indices.get(),
-				_preferencesDialog->getAllParameters());
+				_preferencesDialog->getAllParameters(),
+				_preferencesDialog->getCloudRoiRatios(0));
 
 		// view point
 		Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
@@ -5478,6 +5480,8 @@ void MainWindow::setDefaultViews()
 	_ui->statusbar->setVisible(false);
 	this->setAspectRatio720p();
 	_cloudViewer->resetCamera();
+	_cloudViewer->setCameraLockZ(true);
+	_cloudViewer->setCameraTargetFollow(true);
 }
 
 void MainWindow::selectScreenCaptureFormat(bool checked)

guilib/src/PreferencesDialog.cpp

@@ -315,6 +315,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_3dRenderingMinDepth[0] = _ui->doubleSpinBox_minDepth;
 	_3dRenderingMinDepth[1] = _ui->doubleSpinBox_minDepth_odom;
 
+	_3dRenderingRoiRatios.resize(2);
+	_3dRenderingRoiRatios[0] = _ui->lineEdit_roiRatios;
+	_3dRenderingRoiRatios[1] = _ui->lineEdit_roiRatios_odom;
+
 	_3dRenderingOpacity.resize(2);
 	_3dRenderingOpacity[0] = _ui->doubleSpinBox_opacity;
 	_3dRenderingOpacity[1] = _ui->doubleSpinBox_opacity_odom;
@@ -357,6 +361,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 		connect(_3dRenderingDecimation[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingMaxDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingMinDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
+		connect(_3dRenderingRoiRatios[i], SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingShowFeatures[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 
@@ -1233,6 +1238,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 			_3dRenderingDecimation[i]->setValue(4);
 			_3dRenderingMaxDepth[i]->setValue(0.0);
 			_3dRenderingMinDepth[i]->setValue(0.0);
+			_3dRenderingRoiRatios[i]->setText("0.0 0.0 0.0 0.0");
 			_3dRenderingShowScans[i]->setChecked(true);
 			_3dRenderingShowFeatures[i]->setChecked(i==0?false:true);
 
@@ -1623,6 +1629,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
 		_3dRenderingDecimation[i]->setValue(settings.value(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value()).toInt());
 		_3dRenderingMaxDepth[i]->setValue(settings.value(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value()).toDouble());
 		_3dRenderingMinDepth[i]->setValue(settings.value(QString("minDepth%1").arg(i), _3dRenderingMinDepth[i]->value()).toDouble());
+		_3dRenderingRoiRatios[i]->setText(settings.value(QString("roiRatios%1").arg(i), _3dRenderingRoiRatios[i]->text()).toString());
 		_3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool());
 		_3dRenderingShowFeatures[i]->setChecked(settings.value(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked()).toBool());
 
@@ -2005,6 +2012,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
 		settings.setValue(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value());
 		settings.setValue(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value());
 		settings.setValue(QString("minDepth%1").arg(i), _3dRenderingMinDepth[i]->value());
+		settings.setValue(QString("roiRatios%1").arg(i), _3dRenderingRoiRatios[i]->text());
 		settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked());
 		settings.setValue(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked());
 
@@ -3950,6 +3958,24 @@ double PreferencesDialog::getCloudMinDepth(int index) const
 	UASSERT(index >= 0 && index <= 1);
 	return _3dRenderingMinDepth[index]->value();
 }
+std::vector<float> PreferencesDialog::getCloudRoiRatios(int index) const
+{
+	UASSERT(index >= 0 && index <= 1);
+	std::vector<float> roiRatios;
+	if(!_3dRenderingRoiRatios[index]->text().isEmpty())
+	{
+		QStringList values = _3dRenderingRoiRatios[index]->text().split(' ');
+		if(values.size() == 4)
+		{
+			roiRatios.resize(4);
+			for(int i=0; i<values.size(); ++i)
+			{
+				roiRatios[i] = uStr2Float(values[i].toStdString().c_str());
+			}
+		}
+	}
+	return roiRatios;
+}
 double PreferencesDialog::getCloudOpacity(int index) const
 {
 	UASSERT(index >= 0 && index <= 1);

guilib/src/ui/exportCloudsDialog.ui

@@ -23,9 +23,9 @@
       <property name="geometry">
        <rect>
         <x>0</x>
-        <y>-1525</y>
+        <y>0</y>
         <width>773</width>
-        <height>2568</height>
+        <height>2728</height>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -151,25 +151,6 @@
          <layout class="QVBoxLayout" name="verticalLayout_14">
           <item>
            <layout class="QGridLayout" name="gridLayout" columnstretch="0,0,1">
-            <item row="1" column="1">
-             <widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
-              <property name="suffix">
-               <string> m</string>
-              </property>
-              <property name="decimals">
-               <number>1</number>
-              </property>
-              <property name="maximum">
-               <double>100.000000000000000</double>
-              </property>
-              <property name="singleStep">
-               <double>0.100000000000000</double>
-              </property>
-              <property name="value">
-               <double>4.000000000000000</double>
-              </property>
-             </widget>
-            </item>
             <item row="0" column="2">
              <widget class="QLabel" name="label_108">
               <property name="text">
@@ -180,49 +161,6 @@
               </property>
              </widget>
             </item>
-            <item row="0" column="1">
-             <widget class="QSpinBox" name="spinBox_decimation">
-              <property name="minimum">
-               <number>-32</number>
-              </property>
-              <property name="maximum">
-               <number>32</number>
-              </property>
-              <property name="value">
-               <number>1</number>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="2">
-             <widget class="QLabel" name="label_134">
-              <property name="text">
-               <string>Path to a depth distortion model to apply (output from depth calibration).</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="2">
-             <widget class="QLabel" name="label_132">
-              <property name="text">
-               <string>3D cloud maximum depth (0 means no limit).</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="2">
-             <widget class="QLabel" name="label_133">
-              <property name="text">
-               <string>3D cloud minimum depth.</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
             <item row="2" column="1">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
               <property name="suffix">
@@ -242,16 +180,131 @@
               </property>
              </widget>
             </item>
-            <item row="3" column="1">
+            <item row="6" column="1">
              <widget class="QLineEdit" name="lineEdit_distortionModel"/>
             </item>
-            <item row="3" column="0">
+            <item row="6" column="0">
              <widget class="QToolButton" name="toolButton_distortionModel">
               <property name="text">
                <string>...</string>
               </property>
              </widget>
             </item>
+            <item row="4" column="1">
+             <widget class="QSpinBox" name="spinBox_fillDepthHoles">
+              <property name="suffix">
+               <string> pixels</string>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="1">
+             <widget class="QSpinBox" name="spinBox_fillDepthHolesError">
+              <property name="suffix">
+               <string> %</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="2">
+             <widget class="QLabel" name="label_132">
+              <property name="text">
+               <string>3D cloud maximum depth (0 means no limit).</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="2">
+             <widget class="QLabel" name="label_133">
+              <property name="text">
+               <string>3D cloud minimum depth.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="2">
+             <widget class="QLabel" name="label_197">
+              <property name="text">
+               <string>Fill depth hole size (0 means no fill).</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+              <property name="textInteractionFlags">
+               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
+              <property name="suffix">
+               <string> m</string>
+              </property>
+              <property name="decimals">
+               <number>1</number>
+              </property>
+              <property name="maximum">
+               <double>100.000000000000000</double>
+              </property>
+              <property name="singleStep">
+               <double>0.100000000000000</double>
+              </property>
+              <property name="value">
+               <double>4.000000000000000</double>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QSpinBox" name="spinBox_decimation">
+              <property name="minimum">
+               <number>-32</number>
+              </property>
+              <property name="maximum">
+               <number>32</number>
+              </property>
+              <property name="value">
+               <number>1</number>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="2">
+             <widget class="QLabel" name="label_134">
+              <property name="text">
+               <string>Path to a depth distortion model to apply (output from depth calibration).</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="2">
+             <widget class="QLabel" name="label_198">
+              <property name="text">
+               <string>Fill depth hole error.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+              <property name="textInteractionFlags">
+               <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="2">
+             <widget class="QLabel" name="label_135">
+              <property name="text">
+               <string>ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image).</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="1">
+             <widget class="QLineEdit" name="lineEdit_roiRatios"/>
+            </item>
            </layout>
           </item>
           <item>
@@ -1052,43 +1105,7 @@ 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="2" 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="1" column="1">
-             <widget class="QLabel" name="label_textureMapping">
-              <property name="text">
-               <string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Only available on Export or when clouds are not assembled.</string>
-              </property>
-              <property name="wordWrap">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="1">
-             <widget class="QLabel" name="label_16">
-              <property name="text">
-               <string>Min polygon cluster size</string>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="0">
+            <item row="5" column="0">
              <widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
               <property name="maximum">
                <number>999</number>
@@ -1098,7 +1115,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
             <item row="2" column="1">
              <widget class="QLabel" name="label_meshDecimation">
               <property name="text">
-               <string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons).</string>
+               <string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons). Can be used only when dense reconstruction flavor is selected.</string>
               </property>
               <property name="wordWrap">
                <bool>true</bool>
@@ -1168,6 +1185,59 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
               </property>
              </widget>
             </item>
+            <item row="2" 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="1" column="1">
+             <widget class="QLabel" name="label_textureMapping">
+              <property name="text">
+               <string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Only available on Export or when clouds are not assembled.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="1">
+             <widget class="QLabel" name="label_16">
+              <property name="text">
+               <string>Min polygon cluster size</string>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="1">
+             <widget class="QLabel" name="label_meshDecimation_3">
+              <property name="text">
+               <string>Clean mesh from polygons without color or texture.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="4" column="0">
+             <widget class="QCheckBox" name="checkBox_cleanMesh">
+              <property name="text">
+               <string/>
+              </property>
+             </widget>
+            </item>
            </layout>
           </item>
           <item>

guilib/src/ui/preferencesDialog.ui

@@ -64,8 +64,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>678</width>
-            <height>2632</height>
+            <width>673</width>
+            <height>2649</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>3</number>
+                <number>1</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -487,7 +487,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="5" column="0">
+                      <item row="6" column="0">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_voxel">
                         <property name="suffix">
                          <string> m</string>
@@ -506,7 +506,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="6" column="2">
+                      <item row="7" column="2">
                        <widget class="QLabel" name="label_168">
                         <property name="text">
                          <string>3D cloud noise filtering radius (0=disabled). Done after voxel filtering.</string>
@@ -538,6 +538,88 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
+                      <item row="18" column="2">
+                       <widget class="QLabel" name="label_123">
+                        <property name="text">
+                         <string>Show 3D features.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="13" column="0">
+                       <widget class="QCheckBox" name="checkBox_showScans">
+                        <property name="text">
+                         <string/>
+                        </property>
+                        <property name="checked">
+                         <bool>true</bool>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="13" column="1">
+                       <widget class="QCheckBox" name="checkBox_showOdomScans">
+                        <property name="text">
+                         <string/>
+                        </property>
+                        <property name="checked">
+                         <bool>true</bool>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="13" column="2">
+                       <widget class="QLabel" name="label_110">
+                        <property name="text">
+                         <string>Show scans.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="8" column="0">
+                       <widget class="QSpinBox" name="spinBox_noiseMinNeighbors">
+                        <property name="minimum">
+                         <number>1</number>
+                        </property>
+                        <property name="maximum">
+                         <number>1000</number>
+                        </property>
+                        <property name="value">
+                         <number>5</number>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="3" column="2">
+                       <widget class="QLabel" name="label_132">
+                        <property name="text">
+                         <string>3D cloud maximum depth (0 means no limit).</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="1" column="1">
+                       <widget class="QCheckBox" name="checkBox_showOdomClouds">
+                        <property name="text">
+                         <string/>
+                        </property>
+                        <property name="checked">
+                         <bool>true</bool>
+                        </property>
+                       </widget>
+                      </item>
                       <item row="4" column="0">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
                         <property name="suffix">
@@ -557,7 +639,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="17" column="1">
+                      <item row="18" column="1">
                        <widget class="QCheckBox" name="checkBox_showOdomFeatures">
                         <property name="text">
                          <string/>
@@ -567,53 +649,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="17" column="2">
-                       <widget class="QLabel" name="label_123">
-                        <property name="text">
-                         <string>Show 3D features.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="12" column="0">
-                       <widget class="QCheckBox" name="checkBox_showScans">
-                        <property name="text">
-                         <string/>
-                        </property>
-                        <property name="checked">
-                         <bool>true</bool>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="12" column="1">
-                       <widget class="QCheckBox" name="checkBox_showOdomScans">
-                        <property name="text">
-                         <string/>
-                        </property>
-                        <property name="checked">
-                         <bool>true</bool>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="12" column="2">
-                       <widget class="QLabel" name="label_110">
-                        <property name="text">
-                         <string>Show scans.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="13" column="0">
+                      <item row="14" column="0">
                        <widget class="QSpinBox" name="spinBox_downsamplingScan">
                         <property name="minimum">
                          <number>1</number>
@@ -623,7 +659,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="13" column="2">
+                      <item row="14" column="2">
                        <widget class="QLabel" name="label_273">
                         <property name="text">
                          <string>Scan downsampling step size.</string>
@@ -636,7 +672,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="14" column="0">
+                      <item row="15" column="0">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
                         <property name="suffix">
                          <string> m</string>
@@ -655,7 +691,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="14" column="1">
+                      <item row="15" column="1">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom">
                         <property name="suffix">
                          <string> m</string>
@@ -674,7 +710,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="15" column="1">
+                      <item row="16" column="1">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
                         <property name="suffix">
                          <string/>
@@ -693,7 +729,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="7" column="2">
+                      <item row="8" column="2">
                        <widget class="QLabel" name="label_169">
                         <property name="text">
                          <string>3D cloud noise filtering min neighbors.</string>
@@ -706,7 +742,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="18" column="1">
+                      <item row="19" column="1">
                        <widget class="QSpinBox" name="spinBox_ptsize_odom_features">
                         <property name="minimum">
                          <number>1</number>
@@ -716,7 +752,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="18" column="2">
+                      <item row="19" column="2">
                        <widget class="QLabel" name="label_166">
                         <property name="text">
                          <string>Feature point size.</string>
@@ -729,7 +765,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="10" column="0">
+                      <item row="11" column="0">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
                         <property name="suffix">
                          <string/>
@@ -748,7 +784,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="11" column="0">
+                      <item row="12" column="0">
                        <widget class="QSpinBox" name="spinBox_ptsize">
                         <property name="minimum">
                          <number>1</number>
@@ -761,7 +797,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="11" column="2">
+                      <item row="12" column="2">
                        <widget class="QLabel" name="label_157">
                         <property name="text">
                          <string>3D cloud point size (1..64).</string>
@@ -774,7 +810,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="16" column="1">
+                      <item row="17" column="1">
                        <widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
                         <property name="minimum">
                          <number>1</number>
@@ -784,7 +820,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="17" column="0">
+                      <item row="18" column="0">
                        <widget class="QCheckBox" name="checkBox_showFeatures">
                         <property name="text">
                          <string/>
@@ -871,7 +907,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="19" column="2">
+                      <item row="20" column="2">
                        <widget class="QLabel" name="label_213">
                         <property name="text">
                          <string>Show graphs.</string>
@@ -910,7 +946,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="5" column="2">
+                      <item row="6" column="2">
                        <widget class="QLabel" name="label_171">
                         <property name="text">
                          <string>3D cloud voxel filtering size (0=disabled).</string>
@@ -923,7 +959,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="6" column="0">
+                      <item row="7" column="0">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_noiseRadius">
                         <property name="suffix">
                          <string> m</string>
@@ -942,33 +978,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="7" column="0">
-                       <widget class="QSpinBox" name="spinBox_noiseMinNeighbors">
-                        <property name="minimum">
-                         <number>1</number>
-                        </property>
-                        <property name="maximum">
-                         <number>1000</number>
-                        </property>
-                        <property name="value">
-                         <number>5</number>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="3" column="2">
-                       <widget class="QLabel" name="label_132">
-                        <property name="text">
-                         <string>3D cloud maximum depth (0 means no limit).</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="18" column="0">
+                      <item row="19" column="0">
                        <widget class="QSpinBox" name="spinBox_ptsize_features">
                         <property name="minimum">
                          <number>1</number>
@@ -978,7 +988,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="8" column="2">
+                      <item row="9" column="2">
                        <widget class="QLabel" name="label_210">
                         <property name="text">
                          <string>3D cloud normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys  7, 8 and 9).</string>
@@ -991,7 +1001,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="13" column="1">
+                      <item row="14" column="1">
                        <widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
                         <property name="minimum">
                          <number>1</number>
@@ -1001,7 +1011,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="14" column="2">
+                      <item row="15" column="2">
                        <widget class="QLabel" name="label_271">
                         <property name="text">
                          <string>Scan voxel size.</string>
@@ -1014,7 +1024,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="15" column="0">
+                      <item row="16" column="0">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
                         <property name="suffix">
                          <string/>
@@ -1033,7 +1043,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="15" column="2">
+                      <item row="16" column="2">
                        <widget class="QLabel" name="label_156">
                         <property name="text">
                          <string>Scan opacity.</string>
@@ -1046,7 +1056,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="8" column="0">
+                      <item row="9" column="0">
                        <widget class="QSpinBox" name="spinBox_normalKSearch">
                         <property name="minimum">
                          <number>0</number>
@@ -1059,7 +1069,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="10" column="1">
+                      <item row="11" column="1">
                        <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
                         <property name="suffix">
                          <string/>
@@ -1078,7 +1088,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="10" column="2">
+                      <item row="11" column="2">
                        <widget class="QLabel" name="label_155">
                         <property name="text">
                          <string>3D cloud opacity.</string>
@@ -1091,7 +1101,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="11" column="1">
+                      <item row="12" column="1">
                        <widget class="QSpinBox" name="spinBox_ptsize_odom">
                         <property name="minimum">
                          <number>1</number>
@@ -1104,7 +1114,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="16" column="0">
+                      <item row="17" column="0">
                        <widget class="QSpinBox" name="spinBox_ptsize_scan">
                         <property name="minimum">
                          <number>1</number>
@@ -1114,7 +1124,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="16" column="2">
+                      <item row="17" column="2">
                        <widget class="QLabel" name="label_158">
                         <property name="text">
                          <string>Scan point size (1..64).</string>
@@ -1140,16 +1150,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="1" column="1">
-                       <widget class="QCheckBox" name="checkBox_showOdomClouds">
-                        <property name="text">
-                         <string/>
-                        </property>
-                        <property name="checked">
-                         <bool>true</bool>
-                        </property>
-                       </widget>
-                      </item>
                       <item row="1" column="2">
                        <widget class="QLabel" name="label_119">
                         <property name="text">
@@ -1163,7 +1163,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="20" column="2">
+                      <item row="21" column="2">
                        <widget class="QLabel" name="label_243">
                         <property name="text">
                          <string>Show labels.</string>
@@ -1176,7 +1176,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="19" column="0">
+                      <item row="20" column="0">
                        <widget class="QCheckBox" name="checkBox_showGraphs">
                         <property name="text">
                          <string/>
@@ -1186,7 +1186,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="20" column="0">
+                      <item row="21" column="0">
                        <widget class="QCheckBox" name="checkBox_showLabels">
                         <property name="text">
                          <string/>
@@ -1196,7 +1196,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="9" column="2">
+                      <item row="10" column="2">
                        <widget class="QLabel" name="label_338">
                         <property name="text">
                          <string>Gain compensation.</string>
@@ -1209,7 +1209,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
-                      <item row="9" column="0">
+                      <item row="10" column="0">
                        <widget class="QCheckBox" name="checkBox_gainCompensation">
                         <property name="text">
                          <string/>
@@ -1219,6 +1219,25 @@ Show a yellow background when the number of odometry inliers goes under this thr
                         </property>
                        </widget>
                       </item>
+                      <item row="5" column="2">
+                       <widget class="QLabel" name="label_353">
+                        <property name="text">
+                         <string>3D cloud ROI ratios [left, right, top, bottom] between 0 and 1.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="5" column="0">
+                       <widget class="QLineEdit" name="lineEdit_roiRatios"/>
+                      </item>
+                      <item row="5" column="1">
+                       <widget class="QLineEdit" name="lineEdit_roiRatios_odom"/>
+                      </item>
                      </layout>
                     </item>
                     <item>