Export Added RoiRatios parameter to texturing (#171)

app/android/jni/RTABMapApp.cpp

@@ -2735,6 +2735,7 @@ bool RTABMapApp::exportMesh(
 										cameraModels,
 										optimizedMaxTextureDistance,
 										optimizedMinTextureClusterSize,
+										std::vector<float>(),
 										&progressionStatus_,
 										&vertexToPixels);
 								LOGI("Texturing... done! %fs", timer.ticks());

corelib/include/rtabmap/core/util3d_surface.h

@@ -139,6 +139,7 @@ pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
 		const std::map<int, CameraModel> & cameraModels,
 		float maxDistance = 0.0f, // max camera distance to polygon to apply texture
 		int minClusterSize = 50, // minimum size of polygons clusters textured
+		const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
 		const ProgressState * state = 0,
 		std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);
 

corelib/src/pcl18/surface/impl/texture_mapping.hpp

@@ -1416,7 +1416,24 @@ pcl::TextureMapping<PointInT>::getPointUVCoordinates(const PointInT &pt, const C
 
 		// project point on camera's image plane
 		UV_coordinates.x = static_cast<float> ((focal_x * (pt.x / pt.z) + cx) / sizeX); //horizontal
-    UV_coordinates.y = 1.0f - static_cast<float> ((focal_y * (pt.y / pt.z) + cy) / sizeY); //vertical
+		UV_coordinates.y = static_cast<float> ((focal_y * (pt.y / pt.z) + cy) / sizeY); //vertical
+
+		if(cam.roi.size() == 4)
+		{
+			if( UV_coordinates.x < cam.roi[0]/sizeX ||
+				UV_coordinates.y < cam.roi[1]/sizeY ||
+				UV_coordinates.x > (cam.roi[0]+cam.roi[2])/sizeX ||
+				UV_coordinates.y > (cam.roi[1]+cam.roi[3])/sizeY)
+			{
+				// point is NOT in region of interest of the camera
+				UV_coordinates.x = -1.0f;
+				UV_coordinates.y = -1.0f;
+				return false;
+			}
+		}
+
+		// original code of PCL inverted y
+		UV_coordinates.y = 1.0f - UV_coordinates.y;
 
 		// point is visible!
 		if (UV_coordinates.x >= 0.0 && UV_coordinates.x <= 1.0 && UV_coordinates.y >= 0.0 && UV_coordinates.y <= 1.0)

corelib/src/pcl18/surface/texture_mapping.h

@@ -77,6 +77,7 @@ namespace pcl
       double height;
       double width;
       std::string texture_file;
+      std::vector<double> roi; // [x, y, width, height]
 
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     };

corelib/src/util2d.cpp

@@ -1147,28 +1147,30 @@ cv::Rect computeRoi(const cv::Size & imageSize, const std::vector<float> & roiRa
 		UDEBUG("roi = %d, %d, %d, %d", roi.x, roi.y, roi.width, roi.height);
 
 		//left roi
-		if(roiRatios[0] > 0 && roiRatios[0] < 1 - roiRatios[1])
+		if(roiRatios[0] > 0 && roiRatios[0] < 1.0f - roiRatios[1])
 		{
 			roi.x = width * roiRatios[0];
 		}
 
 		//right roi
-		if(roiRatios[1] > 0 && roiRatios[1] < 1 - roiRatios[0])
+		if(roiRatios[1] > 0 && roiRatios[1] < 1.0f - roiRatios[0])
 		{
-			roi.width -= width * roiRatios[1] + width * roiRatios[0];
+			roi.width -= width * roiRatios[1];
 		}
+		roi.width -= roi.x;
 
 		//top roi
-		if(roiRatios[2] > 0 && roiRatios[2] < 1 - roiRatios[3])
+		if(roiRatios[2] > 0 && roiRatios[2] < 1.0f - roiRatios[3])
 		{
 			roi.y = height * roiRatios[2];
 		}
 
 		//bottom roi
-		if(roiRatios[3] > 0 && roiRatios[3] < 1 - roiRatios[2])
+		if(roiRatios[3] > 0 && roiRatios[3] < 1.0f - roiRatios[2])
 		{
-			roi.height -= height * roiRatios[3] + height * roiRatios[2];
+			roi.height -= height * roiRatios[3];
 		}
+		roi.height -= roi.y;
 		UDEBUG("roi = %d, %d, %d, %d", roi.x, roi.y, roi.width, roi.height);
 
 		return roi;

corelib/src/util3d.cpp

@@ -992,10 +992,10 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
 				cv::Mat depth(sensorData.depthRaw(), cv::Rect(subDepthWidth*i, 0, subDepthWidth, sensorData.depthRaw().rows));
 				CameraModel model = sensorData.cameraModels()[i];
 				if( roiRatios.size() == 4 &&
-					(roiRatios[0] > 0.0f ||
+					((roiRatios[0] > 0.0f && roiRatios[0] <= 1.0f) ||
-					roiRatios[1] > 0.0f ||
+					 (roiRatios[1] > 0.0f && roiRatios[1] <= 1.0f) ||
-					roiRatios[2] > 0.0f ||
+					 (roiRatios[2] > 0.0f && roiRatios[2] <= 1.0f) ||
-					roiRatios[3] > 0.0f))
+					 (roiRatios[3] > 0.0f && roiRatios[3] <= 1.0f)))
 				{
 					cv::Rect roiDepth = util2d::computeRoi(depth, roiRatios);
 					cv::Rect roiRgb = util2d::computeRoi(rgb, roiRatios);

corelib/src/util3d_surface.cpp

@@ -573,9 +573,11 @@ pcl::PolygonMesh::Ptr createMesh(
 
 pcl::texture_mapping::CameraVector createTextureCameras(
 		const std::map<int, Transform> & poses,
-		const std::map<int, CameraModel> & cameraModels)
+		const std::map<int, CameraModel> & cameraModels,
+		const std::vector<float> & roiRatios)
 {
 	UASSERT(poses.size() == cameraModels.size());
+	UASSERT(roiRatios.empty() || roiRatios.size() == 4);
 	pcl::texture_mapping::CameraVector cameras(poses.size());
 	std::map<int, Transform>::const_iterator poseIter=poses.begin();
 	std::map<int, CameraModel>::const_iterator modelIter=cameraModels.begin();
@@ -602,6 +604,14 @@ pcl::texture_mapping::CameraVector createTextureCameras(
 		cam.height=modelIter->second.imageHeight();
 		cam.width=modelIter->second.imageWidth();
 		cam.texture_file = uFormat("%d", poseIter->first);
+		if(!roiRatios.empty())
+		{
+			cam.roi.resize(4);
+			cam.roi[0] = cam.width * roiRatios[0]; // left -> x
+			cam.roi[1] = cam.height * roiRatios[2]; // top -> y
+			cam.roi[2] = cam.width * (1.0 - roiRatios[1]) - cam.roi[0]; // right -> width
+			cam.roi[3] = cam.height * (1.0 - roiRatios[3]) - cam.roi[1]; // bottom -> height
+		}
 		cameras[oi++] = cam;
 	}
 	return cameras;
@@ -613,6 +623,7 @@ pcl::TextureMesh::Ptr createTextureMesh(
 		const std::map<int, CameraModel> & cameraModels,
 		float maxDistance,
 		int minClusterSize,
+		const std::vector<float> & roiRatios,
 		const ProgressState * state,
 		std::vector<std::map<int, pcl::PointXY> > * vertexToPixels)
 {
@@ -629,7 +640,8 @@ pcl::TextureMesh::Ptr createTextureMesh(
 	// create cameras
 	pcl::texture_mapping::CameraVector cameras = createTextureCameras(
 			poses,
-			cameraModels);
+			cameraModels,
+			roiRatios);
 
 	// Create materials for each texture (and one extra for occluded faces)
 	textureMesh->tex_materials.resize (cameras.size () + 1);

guilib/src/ExportCloudsDialog.cpp

@@ -159,6 +159,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->comboBox_meshingTextureSize, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_meshingTextureMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->spinBox_mesh_minTextureClusterSize, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->lineEdit_meshingTextureRoiRatios, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_cameraFilter, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_cameraFilter, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
 	connect(_ui->doubleSpinBox_cameraFilterRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -286,6 +287,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex());
 	settings.setValue("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value());
 	settings.setValue("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value());
+	settings.setValue("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text());
 	settings.setValue("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked());
 	settings.setValue("mesh_textureCameraFilteringRadius", _ui->doubleSpinBox_cameraFilterRadius->value());
 	settings.setValue("mesh_textureCameraFilteringAngle", _ui->doubleSpinBox_cameraFilterAngle->value());
@@ -384,6 +386,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_ui->comboBox_meshingTextureSize->setCurrentIndex(settings.value("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex()).toInt());
 	_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(settings.value("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value()).toDouble());
 	_ui->spinBox_mesh_minTextureClusterSize->setValue(settings.value("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value()).toDouble());
+	_ui->lineEdit_meshingTextureRoiRatios->setText(settings.value("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text()).toString());
 	_ui->checkBox_cameraFilter->setChecked(settings.value("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked()).toBool());
 	_ui->doubleSpinBox_cameraFilterRadius->setValue(settings.value("mesh_textureCameraFilteringRadius", _ui->doubleSpinBox_cameraFilterRadius->value()).toDouble());
 	_ui->doubleSpinBox_cameraFilterAngle->setValue(settings.value("mesh_textureCameraFilteringAngle", _ui->doubleSpinBox_cameraFilterAngle->value()).toDouble());
@@ -482,6 +485,7 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->comboBox_meshingTextureSize->setCurrentIndex(5); // 4096
 	_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(3.0);
 	_ui->spinBox_mesh_minTextureClusterSize->setValue(50);
+	_ui->lineEdit_meshingTextureRoiRatios->setText("");
 	_ui->checkBox_cameraFilter->setChecked(false);
 	_ui->doubleSpinBox_cameraFilterRadius->setValue(0.1);
 	_ui->doubleSpinBox_cameraFilterAngle->setValue(30);
@@ -1940,12 +1944,42 @@ bool ExportCloudsDialog::getExportedClouds(
 
 						TexturingState texturingState(_progressDialog);
 						_progressDialog->setMaximumSteps(_progressDialog->maximumSteps()+iter->second->polygons.size()/10000+1);
+
+						std::vector<float> roiRatios;
+						QStringList strings = _ui->lineEdit_meshingTextureRoiRatios->text().split(' ');
+						if(!_ui->lineEdit_meshingTextureRoiRatios->text().isEmpty())
+						{
+							if(strings.size()==4)
+							{
+								roiRatios.resize(4);
+								roiRatios[0]=strings[0].toDouble();
+								roiRatios[1]=strings[1].toDouble();
+								roiRatios[2]=strings[2].toDouble();
+								roiRatios[3]=strings[3].toDouble();
+								if(!(roiRatios[0]>=0.0f && roiRatios[0]<=1.0f &&
+									roiRatios[1]>=0.0f && roiRatios[1]<=1.0f &&
+									roiRatios[2]>=0.0f && roiRatios[2]<=1.0f &&
+									roiRatios[3]>=0.0f && roiRatios[3]<=1.0f))
+								{
+									roiRatios.clear();
+								}
+							}
+							if(roiRatios.empty())
+							{
+								QString msg = tr("Wrong ROI format. Region of Interest (ROI) must have 4 values [left right top bottom] between 0 and 1 separated by space (%1), ignoring it for texturing...").arg(_ui->lineEdit_meshingTextureRoiRatios->text());
+								UWARN(msg.toStdString().c_str());
+								_progressDialog->appendText(msg, Qt::darkYellow);
+								_progressDialog->setAutoClose(false);
+							}
+						}
+
 						textureMesh = util3d::createTextureMesh(
 								iter->second,
 								cameraPoses,
 								cameraModels,
 								_ui->doubleSpinBox_meshingTextureMaxDistance->value(),
 								_ui->spinBox_mesh_minTextureClusterSize->value(),
+								roiRatios,
 								&texturingState,
 								cameraPoses.size()>1?&textureVertexToPixels:0); // only get vertexToPixels if merged clouds with multi textures
 

guilib/src/ui/exportCloudsDialog.ui

@@ -23,9 +23,9 @@
       <property name="geometry">
        <rect>
         <x>0</x>
-        <y>-1967</y>
+        <y>-1802</y>
-        <width>773</width>
+        <width>778</width>
-        <height>3396</height>
+        <height>3385</height>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1373,40 +1373,61 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
             <layout class="QVBoxLayout" name="verticalLayout_16">
              <item>
               <layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
-               <item row="0" column="1">
+               <item row="7" column="0">
-                <widget class="QLabel" name="label_meshingTextureFormat">
+                <widget class="QComboBox" name="comboBox_blendingDecimation">
+                 <item>
                   <property name="text">
-                  <string>Texture format.</string>
+                   <string>Auto</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>1</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>2</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>4</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>8</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>16</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>32</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>64</string>
+                  </property>
+                 </item>
+                </widget>
+               </item>
+               <item row="6" column="1">
+                <widget class="QLabel" name="label_exposureFusion_2">
+                 <property name="text">
+                  <string>Blending. Only used with dense reconstruction flavor and if clouds are assembled.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                 </widget>
                </item>
-               <item row="8" column="0">
+               <item row="3" column="1">
-                <widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
-                 <property name="suffix">
-                  <string> %</string>
-                 </property>
-                 <property name="minimum">
-                  <number>0</number>
-                 </property>
-                 <property name="maximum">
-                  <number>49</number>
-                 </property>
-                </widget>
-               </item>
-               <item row="3" column="0">
-                <widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
-                 <property name="minimum">
-                  <number>0</number>
-                 </property>
-                 <property name="maximum">
-                  <number>99999</number>
-                 </property>
-                </widget>
-               </item>
-               <item row="2" column="1">
                 <widget class="QLabel" name="label_meshingTextureSize_2">
                  <property name="text">
                   <string>Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor.</string>
@@ -1416,20 +1437,42 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="10" column="1">
+               <item row="3" column="0">
-                <widget class="QLabel" name="label_exposureFusion">
+                <widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
+                 <property name="suffix">
+                  <string> m</string>
+                 </property>
+                 <property name="decimals">
+                  <number>1</number>
+                 </property>
+                 <property name="minimum">
+                  <double>0.000000000000000</double>
+                 </property>
+                 <property name="maximum">
+                  <double>99.000000000000000</double>
+                 </property>
+                 <property name="singleStep">
+                  <double>1.000000000000000</double>
+                 </property>
+                 <property name="value">
+                  <double>3.000000000000000</double>
+                 </property>
+                </widget>
+               </item>
+               <item row="8" column="1">
+                <widget class="QLabel" name="label_meshingTextureSize_5">
                  <property name="text">
-                  <string>Exposure fusion. Only used when textures are merged and brightness/contrast balance ratios are used (merging original texture + 1 for each ratios).</string>
+                  <string>Brightness and contrast balance low ratio. Only used when textures are merged.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
                  </property>
                 </widget>
                </item>
-               <item row="4" column="1">
+               <item row="0" column="1">
-                <widget class="QLabel" name="label_meshingTextureSize_3">
+                <widget class="QLabel" name="label_meshingTextureFormat">
                  <property name="text">
-                  <string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
+                  <string>Texture format.</string>
                  </property>
                  <property name="wordWrap">
                   <bool>true</bool>
@@ -1460,13 +1503,43 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="4" column="0">
+               <item row="9" column="0">
+                <widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
+                 <property name="suffix">
+                  <string> %</string>
+                 </property>
+                 <property name="minimum">
+                  <number>0</number>
+                 </property>
+                 <property name="maximum">
+                  <number>49</number>
+                 </property>
+                </widget>
+               </item>
+               <item row="6" column="0">
+                <widget class="QCheckBox" name="checkBox_blending">
+                 <property name="text">
+                  <string/>
+                 </property>
+                </widget>
+               </item>
+               <item row="5" column="0">
                 <widget class="QCheckBox" name="checkBox_cameraFilter">
                  <property name="text">
                   <string/>
                  </property>
                 </widget>
                </item>
+               <item row="9" column="1">
+                <widget class="QLabel" name="label_meshingTextureSize_6">
+                 <property name="text">
+                  <string>Brightness and contrast balance high ratio. Only used when textures are merged.</string>
+                 </property>
+                 <property name="wordWrap">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
                <item row="1" column="0">
                 <widget class="QComboBox" name="comboBox_meshingTextureSize">
                  <item>
@@ -1516,27 +1589,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </item>
                 </widget>
                </item>
-               <item row="7" column="1">
+               <item row="8" column="0">
-                <widget class="QLabel" name="label_meshingTextureSize_5">
-                 <property name="text">
-                  <string>Brightness and contrast balance low ratio. Only used when textures are merged.</string>
-                 </property>
-                 <property name="wordWrap">
-                  <bool>true</bool>
-                 </property>
-                </widget>
-               </item>
-               <item row="3" column="1">
-                <widget class="QLabel" name="label_meshingTextureSize_4">
-                 <property name="text">
-                  <string>Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor.</string>
-                 </property>
-                 <property name="wordWrap">
-                  <bool>true</bool>
-                 </property>
-                </widget>
-               </item>
-               <item row="7" column="0">
                 <widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioLow">
                  <property name="suffix">
                   <string> %</string>
@@ -1549,63 +1602,24 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="2" column="0">
+               <item row="11" column="0">
-                <widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
-                 <property name="suffix">
-                  <string> m</string>
-                 </property>
-                 <property name="decimals">
-                  <number>1</number>
-                 </property>
-                 <property name="minimum">
-                  <double>0.000000000000000</double>
-                 </property>
-                 <property name="maximum">
-                  <double>99.000000000000000</double>
-                 </property>
-                 <property name="singleStep">
-                  <double>1.000000000000000</double>
-                 </property>
-                 <property name="value">
-                  <double>3.000000000000000</double>
-                 </property>
-                </widget>
-               </item>
-               <item row="8" column="1">
-                <widget class="QLabel" name="label_meshingTextureSize_6">
-                 <property name="text">
-                  <string>Brightness and contrast balance high ratio. Only used when textures are merged.</string>
-                 </property>
-                 <property name="wordWrap">
-                  <bool>true</bool>
-                 </property>
-                </widget>
-               </item>
-               <item row="10" column="0">
                 <widget class="QCheckBox" name="checkBox_exposureFusion">
                  <property name="text">
                   <string/>
                  </property>
                 </widget>
                </item>
-               <item row="5" column="0">
+               <item row="4" column="0">
-                <widget class="QCheckBox" name="checkBox_blending">
+                <widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
-                 <property name="text">
+                 <property name="minimum">
-                  <string/>
+                  <number>0</number>
+                 </property>
+                 <property name="maximum">
+                  <number>99999</number>
                  </property>
                 </widget>
                </item>
-               <item row="5" column="1">
+               <item row="7" column="1">
-                <widget class="QLabel" name="label_exposureFusion_2">
-                 <property name="text">
-                  <string>Blending. Only used with dense reconstruction flavor and if clouds are assembled.</string>
-                 </property>
-                 <property name="wordWrap">
-                  <bool>true</bool>
-                 </property>
-                </widget>
-               </item>
-               <item row="6" column="1">
                 <widget class="QLabel" name="label_exposureFusion_3">
                  <property name="text">
                   <string>Blending decimation. </string>
@@ -1615,50 +1629,49 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="6" column="0">
+               <item row="4" column="1">
-                <widget class="QComboBox" name="comboBox_blendingDecimation">
+                <widget class="QLabel" name="label_meshingTextureSize_4">
-                 <item>
                  <property name="text">
-                   <string>Auto</string>
+                  <string>Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor.</string>
                  </property>
-                 </item>
+                 <property name="wordWrap">
-                 <item>
+                  <bool>true</bool>
-                  <property name="text">
-                   <string>1</string>
                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>2</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>4</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>8</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>16</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>32</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>64</string>
-                  </property>
-                 </item>
                 </widget>
                </item>
+               <item row="5" column="1">
+                <widget class="QLabel" name="label_meshingTextureSize_3">
+                 <property name="text">
+                  <string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
+                 </property>
+                 <property name="wordWrap">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="11" column="1">
+                <widget class="QLabel" name="label_exposureFusion">
+                 <property name="text">
+                  <string>Exposure fusion. Only used when textures are merged and brightness/contrast balance ratios are used (merging original texture + 1 for each ratios).</string>
+                 </property>
+                 <property name="wordWrap">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="1">
+                <widget class="QLabel" name="label_meshingTextureSize_7">
+                 <property name="text">
+                  <string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
+                 </property>
+                 <property name="wordWrap">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="0">
+                <widget class="QLineEdit" name="lineEdit_meshingTextureRoiRatios"/>
+               </item>
               </layout>
              </item>
              <item>

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-433</y>
+            <y>-641</y>
             <width>678</width>
             <height>2701</height>
            </rect>
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>5</number>
+                <number>20</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -775,7 +775,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          <item row="5" column="2">
                           <widget class="QLabel" name="label_353">
                            <property name="text">
-                            <string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
+                            <string>ROI ratios [left right top bottom] between 0 and 1.</string>
                            </property>
                            <property name="wordWrap">
                             <bool>true</bool>
@@ -11484,7 +11484,7 @@ Lower the ratio -&gt; higher the precision. 0 means disabled, matching the neare
                          <item row="5" column="1">
                           <widget class="QLabel" name="label_261">
                            <property name="text">
-                            <string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
+                            <string>ROI ratios [left right top bottom] between 0 and 1.</string>
                            </property>
                            <property name="wordWrap">
                             <bool>true</bool>