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Added bilateral filtering option. CloudViewer: lighting and edge visibility options.

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matlabbe
2016-11-03 17:04:31 -04:00
parent 70dbac10c7
commit a7971373a6
14 changed files with 593 additions and 28 deletions
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90
guilib/src/ui/preferencesDialog.ui
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@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<y>-427</y>
<width>673</width>
<height>2520</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>1</number>
<number>5</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -2400,7 +2400,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
@@ -2551,6 +2551,88 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_bilateral">
<property name="title">
<string>Bilateral Filtering of the Depth Image</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_78" columnstretch="0,1">
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_bilateral_sigmaR">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000100000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.005000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_344">
<property name="text">
<string>Standard deviation of the Gaussian for the intensity difference. Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (depth in our case).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_bilateral_sigmaS">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>5.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_345">
<property name="text">
<string>Size of the Gaussian bilateral filter window to use. Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
@@ -4637,7 +4719,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
<item>
<widget class="QLabel" name="label_16">
<property name="text">
<string>If you want to use ICP registration, the sensor data should have laser scan. Laser scans can be created from the depth images (see option below) or loaded from the source selected. The latter parameters can be used to reduce the point cloud size directly in the capturing thread.</string>
<string>If you want to use ICP registration, the sensor data should have laser scan. Laser scans can be created from the depth images (see option below) or loaded from the source selected. These parameters can be used to reduce the point cloud size directly in the capturing thread.</string>
</property>
<property name="wordWrap">
<bool>true</bool>