mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Export: added random sample filter, added proportional radius filter, refactored when normals are computed (now after the clouds are assembled and voxelized), moved ceiling and floor filtering inside assembling loop.
This commit is contained in:
matlabbe
@@ -151,6 +151,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
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connect(_ui->checkBox_assemble, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
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connect(_ui->checkBox_assemble, SIGNAL(clicked(bool)), this, SLOT(updateReconstructionFlavor()));
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connect(_ui->doubleSpinBox_voxelSize_assembled, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_randomSamples_assembled, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->comboBox_frame, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->comboBox_frame, SIGNAL(currentIndexChanged(int)), this, SLOT(updateReconstructionFlavor()));
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@@ -383,6 +384,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
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settings.setValue("assemble", _ui->checkBox_assemble->isChecked());
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settings.setValue("assemble_voxel",_ui->doubleSpinBox_voxelSize_assembled->value());
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settings.setValue("assemble_samples",_ui->spinBox_randomSamples_assembled->value());
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settings.setValue("frame",_ui->comboBox_frame->currentIndex());
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settings.setValue("subtract",_ui->checkBox_subtraction->isChecked());
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@@ -555,6 +557,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
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_ui->checkBox_assemble->setChecked(settings.value("assemble", _ui->checkBox_assemble->isChecked()).toBool());
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}
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_ui->doubleSpinBox_voxelSize_assembled->setValue(settings.value("assemble_voxel", _ui->doubleSpinBox_voxelSize_assembled->value()).toDouble());
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_ui->spinBox_randomSamples_assembled->setValue(settings.value("assemble_samples", _ui->spinBox_randomSamples_assembled->value()).toInt());
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_ui->comboBox_frame->setCurrentIndex(settings.value("frame", _ui->comboBox_frame->currentIndex()).toInt());
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_ui->checkBox_subtraction->setChecked(settings.value("subtract",_ui->checkBox_subtraction->isChecked()).toBool());
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@@ -724,6 +727,7 @@ void ExportCloudsDialog::restoreDefaults()
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_ui->checkBox_assemble->setChecked(true);
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_ui->doubleSpinBox_voxelSize_assembled->setValue(0.01);
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_ui->spinBox_randomSamples_assembled->setValue(0);
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_ui->comboBox_frame->setCurrentIndex(0);
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_ui->checkBox_subtraction->setChecked(false);
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@@ -1900,6 +1904,7 @@ bool ExportCloudsDialog::getExportedClouds(
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assembledCloud->points[i].normal_y = normals->points[i].normal_y;
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assembledCloud->points[i].normal_z = normals->points[i].normal_z;
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}
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_progressDialog->appendText(tr("Adjusting normals to viewpoints (%1 points)...").arg(assembledCloud->size()));
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// adjust with point of views
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util3d::adjustNormalsToViewPoints(
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@@ -1909,6 +1914,18 @@ bool ExportCloudsDialog::getExportedClouds(
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assembledCloud);
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}
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if(_ui->spinBox_randomSamples_assembled->value()>0 &&
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(int)assembledCloud->size() > _ui->spinBox_randomSamples_assembled->value())
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{
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_progressDialog->appendText(tr("Random samples filtering (in=%1 points, samples=%2)...")
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.arg(assembledCloud->size())
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.arg(_ui->spinBox_randomSamples_assembled->value()));
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assembledCloud = util3d::randomSampling(assembledCloud, _ui->spinBox_randomSamples_assembled->value());
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_progressDialog->appendText(tr("Random samples filtering (out=%1 points, samples=%2)... done!")
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.arg(assembledCloud->size())
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.arg(_ui->spinBox_randomSamples_assembled->value()));
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}
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clouds.insert(std::make_pair(0, std::make_pair(assembledCloud, indices)));
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}
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@@ -23,83 +23,25 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-3537</y>
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<y>0</y>
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<width>998</width>
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<height>5673</height>
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<height>5713</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_13">
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<item>
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<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QComboBox" name="comboBox_pipeline">
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<item>
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<property name="text">
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<string>Organized Point Cloud</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Dense Point Cloud</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_12">
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<property name="text">
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<string>Reconstruction flavor.</string>
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</property>
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</widget>
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</item>
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<item row="11" column="0">
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<widget class="QCheckBox" name="checkBox_regenerate">
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<item row="17" column="0">
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<widget class="QCheckBox" name="checkBox_meshing">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="12" column="0">
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<widget class="QCheckBox" name="checkBox_filtering">
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<item row="17" column="1">
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<widget class="QLabel" name="label_binaryFile_12">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="11" column="1">
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<widget class="QLabel" name="label_regenerate">
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<property name="text">
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<string>Regenerate clouds. This can be used to regenerate the point clouds at higher density than those used for online visualization.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_voxel">
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<property name="text">
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<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>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_binaryFile_2">
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<property name="text">
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<string>Assemble clouds/meshes to a single output cloud/mesh.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_frame">
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<property name="text">
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<string>Output frame.</string>
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<string>Meshing.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -116,17 +58,37 @@
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</property>
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</widget>
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</item>
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<item row="13" column="0">
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<item row="5" column="1">
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<widget class="QLabel" name="label_frame">
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<property name="text">
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<string>Output frame.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="11" column="1">
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<widget class="QLabel" name="label_binaryFile_10">
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<property name="text">
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<string>Nodes filtering. Filter nodes to be exported in a specified region .</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="14" column="0">
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<widget class="QCheckBox" name="checkBox_smoothing">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="12" column="1">
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<widget class="QLabel" name="label_binaryFile_9">
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<item row="14" column="1">
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<widget class="QLabel" name="label_smoothing">
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<property name="text">
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<string>Cloud filtering.</string>
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<string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -143,37 +105,25 @@
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</property>
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</widget>
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</item>
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<item row="13" column="1">
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<widget class="QLabel" name="label_smoothing">
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<item row="16" column="0">
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<widget class="QCheckBox" name="checkBox_cameraProjection">
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<property name="text">
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<string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
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<string/>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_binaryFile_11">
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<property name="text">
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<string>From RGB-D images. If not checked, clouds will be generated from laser scans.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="8" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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||||
<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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||||
<property name="value">
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||||
<double>0.005000000000000</double>
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||||
</property>
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||||
</widget>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="checkBox_assemble">
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<item row="11" column="0">
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<widget class="QCheckBox" name="checkBox_nodes_filtering">
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<property name="text">
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<string/>
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</property>
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@@ -189,6 +139,56 @@
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</property>
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</widget>
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</item>
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<item row="12" column="0">
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<widget class="QCheckBox" name="checkBox_regenerate">
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||||
<property name="text">
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||||
<string/>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="15" column="1">
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||||
<widget class="QLabel" name="label_gainCompensation">
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||||
<property name="text">
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||||
<string>Gain compensation. Normalize brightness of images.</string>
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||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
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||||
</property>
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||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="comboBox_pipeline">
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||||
<item>
|
||||
<property name="text">
|
||||
<string>Organized Point Cloud</string>
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</property>
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||||
</item>
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||||
<item>
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||||
<property name="text">
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||||
<string>Dense Point Cloud</string>
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||||
</property>
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||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QComboBox" name="comboBox_intensityColormap">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>GrayScale</string>
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||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>RedYellow</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Rainbow</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QComboBox" name="comboBox_frame">
|
||||
<item>
|
||||
@@ -213,6 +213,100 @@
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_assemble">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_intensityColormap">
|
||||
<property name="text">
|
||||
<string>Intensity colormap.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.005000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_fromDepth">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_gainCompensation">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QLabel" name="label_regenerate">
|
||||
<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="1" column="1">
|
||||
<widget class="QLabel" name="label_12">
|
||||
<property name="text">
|
||||
<string>Reconstruction flavor.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_filtering">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" 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="3" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_binary">
|
||||
<property name="text">
|
||||
@@ -223,22 +317,22 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_binaryFile_11">
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_voxel">
|
||||
<property name="text">
|
||||
<string>From RGB-D images. If not checked, clouds will be generated from laser scans.</string>
|
||||
<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>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_fromDepth">
|
||||
<item row="13" column="1">
|
||||
<widget class="QLabel" name="label_binaryFile_9">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<string>Cloud filtering.</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
@@ -253,53 +347,7 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_intensityColormap">
|
||||
<property name="text">
|
||||
<string>Intensity colormap.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QComboBox" name="comboBox_intensityColormap">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>GrayScale</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>RedYellow</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Rainbow</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" 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="15" column="1">
|
||||
<item row="16" column="1">
|
||||
<widget class="QLabel" name="label_cameraProjection">
|
||||
<property name="text">
|
||||
<string>Camera projection. This can be used to colorize point cloud created from scans and/or export camera IDs for each point of the cloud.</string>
|
||||
@@ -309,51 +357,29 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_gainCompensation">
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_voxel_2">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_cameraProjection">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="1">
|
||||
<widget class="QLabel" name="label_binaryFile_12">
|
||||
<property name="text">
|
||||
<string>Meshing.</string>
|
||||
<string>Number of samples to keep, done with a random sample filter. Only used when clouds are assembled. Set 0 to disable.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_meshing">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<item row="9" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_randomSamples_assembled">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_binaryFile_10">
|
||||
<property name="text">
|
||||
<string>Nodes filtering. Filter nodes to be exported in a specified region .</string>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
<property name="singleStep">
|
||||
<number>10000</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_nodes_filtering">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<property name="value">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user