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MLS: added output voxel size parameter

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This commit is contained in:
matlabbe
2018-09-28 09:45:43 -04:00
parent 02fdd677cf
commit 95e87fed14
2 changed files with 47 additions and 14 deletions
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18
guilib/src/ExportCloudsDialog.cpp
View File

@@ -148,6 +148,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->spinBox_randomPoints, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged())); connect(_ui->spinBox_randomPoints, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_dilationVoxelSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged())); connect(_ui->doubleSpinBox_dilationVoxelSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->spinBox_dilationSteps, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged())); connect(_ui->spinBox_dilationSteps, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_mls_outputVoxelSize, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
_ui->stackedWidget_upsampling->setCurrentIndex(_ui->comboBox_upsamplingMethod->currentIndex()); _ui->stackedWidget_upsampling->setCurrentIndex(_ui->comboBox_upsamplingMethod->currentIndex());
connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_upsampling, SLOT(setCurrentIndex(int))); connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_upsampling, SLOT(setCurrentIndex(int)));
connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), this, SLOT(updateMLSGrpVisibility())); connect(_ui->comboBox_upsamplingMethod, SIGNAL(currentIndexChanged(int)), this, SLOT(updateMLSGrpVisibility()));
@@ -335,6 +336,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("mls_point_density", _ui->spinBox_randomPoints->value()); settings.setValue("mls_point_density", _ui->spinBox_randomPoints->value());
settings.setValue("mls_dilation_voxel_size", _ui->doubleSpinBox_dilationVoxelSize->value()); settings.setValue("mls_dilation_voxel_size", _ui->doubleSpinBox_dilationVoxelSize->value());
settings.setValue("mls_dilation_iterations", _ui->spinBox_dilationSteps->value()); settings.setValue("mls_dilation_iterations", _ui->spinBox_dilationSteps->value());
settings.setValue("mls_output_voxel_size", _ui->doubleSpinBox_mls_outputVoxelSize->value());
settings.setValue("gain", _ui->checkBox_gainCompensation->isChecked()); settings.setValue("gain", _ui->checkBox_gainCompensation->isChecked());
settings.setValue("gain_radius", _ui->doubleSpinBox_gainRadius->value()); settings.setValue("gain_radius", _ui->doubleSpinBox_gainRadius->value());
@@ -469,6 +471,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->spinBox_randomPoints->setValue(settings.value("mls_point_density", _ui->spinBox_randomPoints->value()).toInt()); _ui->spinBox_randomPoints->setValue(settings.value("mls_point_density", _ui->spinBox_randomPoints->value()).toInt());
_ui->doubleSpinBox_dilationVoxelSize->setValue(settings.value("mls_dilation_voxel_size", _ui->doubleSpinBox_dilationVoxelSize->value()).toDouble()); _ui->doubleSpinBox_dilationVoxelSize->setValue(settings.value("mls_dilation_voxel_size", _ui->doubleSpinBox_dilationVoxelSize->value()).toDouble());
_ui->spinBox_dilationSteps->setValue(settings.value("mls_dilation_iterations", _ui->spinBox_dilationSteps->value()).toInt()); _ui->spinBox_dilationSteps->setValue(settings.value("mls_dilation_iterations", _ui->spinBox_dilationSteps->value()).toInt());
_ui->doubleSpinBox_mls_outputVoxelSize->setValue(settings.value("mls_output_voxel_size", _ui->doubleSpinBox_mls_outputVoxelSize->value()).toInt());
_ui->checkBox_gainCompensation->setChecked(settings.value("gain", _ui->checkBox_gainCompensation->isChecked()).toBool()); _ui->checkBox_gainCompensation->setChecked(settings.value("gain", _ui->checkBox_gainCompensation->isChecked()).toBool());
_ui->doubleSpinBox_gainRadius->setValue(settings.value("gain_radius", _ui->doubleSpinBox_gainRadius->value()).toDouble()); _ui->doubleSpinBox_gainRadius->setValue(settings.value("gain_radius", _ui->doubleSpinBox_gainRadius->value()).toDouble());
@@ -596,10 +599,11 @@ void ExportCloudsDialog::restoreDefaults()
_ui->spinBox_polygonialOrder->setValue(2); _ui->spinBox_polygonialOrder->setValue(2);
_ui->comboBox_upsamplingMethod->setCurrentIndex(0); _ui->comboBox_upsamplingMethod->setCurrentIndex(0);
_ui->doubleSpinBox_sampleRadius->setValue(0.01); _ui->doubleSpinBox_sampleRadius->setValue(0.01);
_ui->doubleSpinBox_sampleStep->setValue(0.0); _ui->doubleSpinBox_sampleStep->setValue(0.005);
_ui->spinBox_randomPoints->setValue(0); _ui->spinBox_randomPoints->setValue(10);
_ui->doubleSpinBox_dilationVoxelSize->setValue(0.01); _ui->doubleSpinBox_dilationVoxelSize->setValue(0.005);
_ui->spinBox_dilationSteps->setValue(0); _ui->spinBox_dilationSteps->setValue(1);
_ui->doubleSpinBox_mls_outputVoxelSize->setValue(0);
_ui->checkBox_gainCompensation->setChecked(false); _ui->checkBox_gainCompensation->setChecked(false);
_ui->doubleSpinBox_gainRadius->setValue(0.02); _ui->doubleSpinBox_gainRadius->setValue(0.02);
@@ -1691,16 +1695,16 @@ bool ExportCloudsDialog::getExportedClouds(
if(_ui->checkBox_assemble->isChecked()) if(_ui->checkBox_assemble->isChecked())
{ {
// Re-voxelize to make sure to have uniform density // Re-voxelize to make sure to have uniform density
if(_ui->doubleSpinBox_voxelSize_assembled->value()) if(_ui->doubleSpinBox_mls_outputVoxelSize->value())
{ {
_progressDialog->appendText(tr("Voxelize cloud (%1 points, voxel size = %2 m)...") _progressDialog->appendText(tr("Voxelize cloud (%1 points, voxel size = %2 m)...")
.arg(cloudWithNormals->size()) .arg(cloudWithNormals->size())
.arg(_ui->doubleSpinBox_voxelSize_assembled->value())); .arg(_ui->doubleSpinBox_mls_outputVoxelSize->value()));
QApplication::processEvents(); QApplication::processEvents();
cloudWithNormals = util3d::voxelize( cloudWithNormals = util3d::voxelize(
cloudWithNormals, cloudWithNormals,
_ui->doubleSpinBox_voxelSize_assembled->value()); _ui->doubleSpinBox_mls_outputVoxelSize->value());
} }
_progressDialog->appendText(tr("Update %1 normals with %2 camera views...").arg(cloudWithNormals->size()).arg(poses.size())); _progressDialog->appendText(tr("Update %1 normals with %2 camera views...").arg(cloudWithNormals->size()).arg(poses.size()));

43
guilib/src/ui/exportCloudsDialog.ui
View File

@@ -23,9 +23,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>-1112</y>
<width>778</width> <width>773</width>
<height>4697</height> <height>4339</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_13"> <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -890,12 +890,29 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1">
<widget class="QLabel" name="label_90">
<property name="text">
<string>Output voxel size. Used to filter superposed points after upsampling.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_mls_outputVoxelSize">
<property name="decimals">
<number>3</number>
</property>
</widget>
</item>
</layout> </layout>
</item> </item>
<item> <item>
<widget class="QStackedWidget" name="stackedWidget_upsampling"> <widget class="QStackedWidget" name="stackedWidget_upsampling">
<property name="currentIndex"> <property name="currentIndex">
<number>0</number> <number>4</number>
</property> </property>
<widget class="QWidget" name="page"> <widget class="QWidget" name="page">
<layout class="QVBoxLayout" name="verticalLayout_3"> <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -1000,7 +1017,11 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</widget> </widget>
</item> </item>
<item row="0" column="0"> <item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_sampleRadius"/> <widget class="QDoubleSpinBox" name="doubleSpinBox_sampleRadius">
<property name="decimals">
<number>3</number>
</property>
</widget>
</item> </item>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QLabel" name="label_7"> <widget class="QLabel" name="label_7">
@@ -1013,7 +1034,11 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</widget> </widget>
</item> </item>
<item row="1" column="0"> <item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_sampleStep"/> <widget class="QDoubleSpinBox" name="doubleSpinBox_sampleStep">
<property name="decimals">
<number>3</number>
</property>
</widget>
</item> </item>
</layout> </layout>
</item> </item>
@@ -1119,7 +1144,11 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</widget> </widget>
</item> </item>
<item row="0" column="0"> <item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_dilationVoxelSize"/> <widget class="QDoubleSpinBox" name="doubleSpinBox_dilationVoxelSize">
<property name="decimals">
<number>3</number>
</property>
</widget>
</item> </item>
<item row="1" column="1"> <item row="1" column="1">
<widget class="QLabel" name="label_11"> <widget class="QLabel" name="label_11">