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Export clouds/poses: frame reference can be selected when clouds are not assembled

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This commit is contained in:
matlabbe
2017-05-10 15:53:02 -04:00
parent ee04ad500a
commit 98184c31de
4 changed files with 324 additions and 170 deletions
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285
guilib/src/ui/exportCloudsDialog.ui
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@@ -23,89 +23,25 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-3080</y>
<width>778</width>
<height>3701</height>
<y>0</y>
<width>773</width>
<height>3795</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_assemble">
<item row="10" column="1">
<widget class="QLabel" name="label_binaryFile_12">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_binaryFile_2">
<property name="text">
<string>Assemble clouds/meshes to a single output cloud/mesh.</string>
<string>Meshing.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_binary">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_normal">
<property name="text">
<string>Set the number of k nearest neighbors to use for the normal estimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_gainCompensation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_binaryFile_8">
<property name="text">
<string>Regenerate clouds. This can be used to regenerate the point clouds at higher density than those used for online visualization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_binaryFile_11">
<property name="text">
<string>Gain compensation. Normalize brightness of images.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="minimum">
<number>3</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_voxel">
<property name="text">
<string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</string>
@@ -115,38 +51,65 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_binaryFile">
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="minimum">
<number>3</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="checkBox_meshing">
<property name="text">
<string>Binary file.</string>
<string/>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_binaryFile_9">
<property name="text">
<string>Cloud filtering. Remove sparse points that are far from surfaces.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_pipeline">
<item>
<property name="text">
<string>Organized Point Cloud</string>
</property>
</item>
<item>
<property name="text">
<string>Dense Point Cloud</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_12">
<item row="8" column="0">
<widget class="QCheckBox" name="checkBox_smoothing">
<property name="text">
<string>Reconstruction flavor.</string>
<string/>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_filtering">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_regenerate">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_binaryFile_10">
<property name="text">
<string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
<property name="suffix">
<string> m</string>
@@ -165,51 +128,41 @@
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_binaryFile_10">
<item row="0" column="1">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
<string>Reconstruction flavor.</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_pipeline">
<item>
<property name="text">
<string>Organized Point Cloud</string>
</property>
</item>
<item>
<property name="text">
<string>Dense Point Cloud</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_binaryFile">
<property name="text">
<string>Binary file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_regenerate">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_filtering">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_smoothing">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_binaryFile_9">
<widget class="QLabel" name="label_binaryFile_8">
<property name="text">
<string>Cloud filtering. Remove sparse points that are far from surfaces.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_binaryFile_12">
<property name="text">
<string>Meshing.</string>
<string>Regenerate clouds. This can be used to regenerate the point clouds at higher density than those used for online visualization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -217,12 +170,88 @@
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_meshing">
<widget class="QCheckBox" name="checkBox_gainCompensation">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_normal">
<property name="text">
<string>Set the number of k nearest neighbors to use for the normal estimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_binary">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_binaryFile_2">
<property name="text">
<string>Assemble clouds/meshes to a single output cloud/mesh.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_assemble">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_gainCompensation">
<property name="text">
<string>Gain compensation. Normalize brightness of images.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_frame">
<property name="text">
<string>Output frame.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QComboBox" name="comboBox_frame">
<item>
<property name="text">
<string>Map</string>
</property>
</item>
<item>
<property name="text">
<string>Robot</string>
</property>
</item>
<item>
<property name="text">
<string>Camera</string>
</property>
</item>
</widget>
</item>
</layout>
</item>
<item>