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Camera projection: Added max depth error option to colorize more points

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matlabbe
2025-05-10 18:20:29 -07:00
parent 6b5b1c9617
commit a3d4028faa
5 changed files with 250 additions and 176 deletions
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guilib/src/ExportCloudsDialog.cpp
+5
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@@ -209,6 +209,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
connect(_ui->spinBox_camProjDecimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_camProjMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_camProjMaxAngle, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->doubleSpinBox_camProjMaxDepthError, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_camProjDistanceToCamPolicy, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_camProjKeepPointsNotSeenByCameras, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
connect(_ui->checkBox_camProjRecolorPoints, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
@@ -443,6 +444,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
settings.setValue("cam_proj_decimation", _ui->spinBox_camProjDecimation->value());
settings.setValue("cam_proj_max_distance", _ui->doubleSpinBox_camProjMaxDistance->value());
settings.setValue("cam_proj_max_angle", _ui->doubleSpinBox_camProjMaxAngle->value());
settings.setValue("cam_proj_max_depth_error", _ui->doubleSpinBox_camProjMaxDepthError->value());
settings.setValue("cam_proj_distance_policy", _ui->checkBox_camProjDistanceToCamPolicy->isChecked());
settings.setValue("cam_proj_keep_points", _ui->checkBox_camProjKeepPointsNotSeenByCameras->isChecked());
settings.setValue("cam_proj_recolor_points", _ui->checkBox_camProjRecolorPoints->isChecked());
@@ -628,6 +630,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
_ui->spinBox_camProjDecimation->setValue(settings.value("cam_proj_decimation", _ui->spinBox_camProjDecimation->value()).toInt());
_ui->doubleSpinBox_camProjMaxDistance->setValue(settings.value("cam_proj_max_distance", _ui->doubleSpinBox_camProjMaxDistance->value()).toDouble());
_ui->doubleSpinBox_camProjMaxAngle->setValue(settings.value("cam_proj_max_angle", _ui->doubleSpinBox_camProjMaxAngle->value()).toDouble());
_ui->doubleSpinBox_camProjMaxDepthError->setValue(settings.value("cam_proj_max_depth_error", _ui->doubleSpinBox_camProjMaxDepthError->value()).toDouble());
_ui->checkBox_camProjDistanceToCamPolicy->setChecked(settings.value("cam_proj_distance_policy", _ui->checkBox_camProjDistanceToCamPolicy->isChecked()).toBool());
_ui->checkBox_camProjKeepPointsNotSeenByCameras->setChecked(settings.value("cam_proj_keep_points", _ui->checkBox_camProjKeepPointsNotSeenByCameras->isChecked()).toBool());
_ui->checkBox_camProjRecolorPoints->setChecked(settings.value("cam_proj_recolor_points", _ui->checkBox_camProjRecolorPoints->isChecked()).toBool());
@@ -810,6 +813,7 @@ void ExportCloudsDialog::restoreDefaults()
_ui->spinBox_camProjDecimation->setValue(1);
_ui->doubleSpinBox_camProjMaxDistance->setValue(0);
_ui->doubleSpinBox_camProjMaxAngle->setValue(0);
_ui->doubleSpinBox_camProjMaxDepthError->setValue(0);
_ui->checkBox_camProjDistanceToCamPolicy->setChecked(true);
_ui->checkBox_camProjKeepPointsNotSeenByCameras->setChecked(false);
_ui->checkBox_camProjRecolorPoints->setChecked(true);
@@ -2911,6 +2915,7 @@ bool ExportCloudsDialog::getExportedClouds(
cameraModelsProj,
_ui->doubleSpinBox_camProjMaxDistance->value(),
_ui->doubleSpinBox_camProjMaxAngle->value()*M_PI/180.0,
_ui->doubleSpinBox_camProjMaxDepthError->value(),
roiRatios,
projMask,
_ui->checkBox_camProjDistanceToCamPolicy->isChecked(),