mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Added Poisson surface reconstruction in export options
This commit is contained in:
matlabbe
@@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<width>814</width>
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<height>667</height>
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<height>680</height>
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</rect>
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</property>
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<property name="windowTitle">
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@@ -23,9 +23,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-1311</y>
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<y>-1525</y>
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<width>773</width>
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<height>1902</height>
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<height>2568</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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@@ -1052,7 +1052,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<layout class="QVBoxLayout" name="verticalLayout_15">
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<item>
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<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
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<item row="1" column="0">
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
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<property name="decimals">
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<number>2</number>
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@@ -1071,47 +1071,103 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<item row="1" column="1">
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<widget class="QLabel" name="label_textureMapping">
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<property name="text">
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<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Only available on Export or when clouds are not assembled.</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_16">
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<property name="text">
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<string>Min polygon cluster size</string>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<item row="4" column="0">
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<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
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<property name="maximum">
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<number>999</number>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_meshDecimation">
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<property name="text">
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<string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Cannot be used if texturing is on and organized mesh flavor is selected.</string>
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<string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons).</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="0" column="0">
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<item row="1" column="0">
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<widget class="QCheckBox" name="checkBox_textureMapping">
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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="0" column="0">
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<widget class="QComboBox" name="comboBox_meshingApproach">
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<item>
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<property name="text">
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<string>Fast GP3</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>Poisson</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="0" column="1">
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<widget class="QLabel" name="label_textureMapping">
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<widget class="QLabel" name="label_denseReconstruction">
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<property name="text">
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<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format.</string>
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<string>Surface reconstruction approach. Can be used only when dense reconstruction flavor is selected. Poisson is available only when clouds are assembled.</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="3" column="1">
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<widget class="QLabel" name="label_meshDecimation_2">
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<property name="text">
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<string>Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). 0 means disabled.</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="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_transferColorRadius">
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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>2</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>10.000000000000000</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>0.050000000000000</double>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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@@ -1188,6 +1244,189 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_poisson">
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<property name="title">
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<string>Poisson Surface Reconstruction</string>
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</property>
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<property name="checkable">
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<bool>false</bool>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,0">
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<item row="0" column="1">
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<widget class="QLabel" name="label_172">
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<property name="text">
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<string>Depth. Increasing the depth increase the output mesh size but it would be more precise (also longer to compute).</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="7" column="1">
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<widget class="QLabel" name="label_177">
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<property name="text">
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<string>Samples per node. Set the minimum number of sample points that should fall within an octree node as the octree construction is adapted to sampling density. Note for noise-free samples, small values in the range [1.0 - 5.0] can be used. For more noisy samples, larger values in the range [15.0 - 20.0] may be needed to provide a smoother, noise-reduced, reconstruction.</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="QSpinBox" name="spinBox_poisson_iso">
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<property name="minimum">
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<number>1</number>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_176">
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<property name="text">
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<string>Manifold flag. Enabling this flag tells the reconstructor to add the polygon barycenter when triangulating polygons with more than three vertices.</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="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_poisson_samples">
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<property name="decimals">
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<number>1</number>
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</property>
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<property name="minimum">
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<double>0.100000000000000</double>
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</property>
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<property name="maximum">
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<double>30.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_poisson_scale">
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<property name="decimals">
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<number>1</number>
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</property>
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<property name="minimum">
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<double>1.000000000000000</double>
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</property>
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<property name="maximum">
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<double>2.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_181">
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<property name="text">
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<string>Point weight.</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_182">
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<property name="text">
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<string>Min depth.</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="0" column="0">
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<widget class="QSpinBox" name="spinBox_poisson_depth">
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<property name="minimum">
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<number>1</number>
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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_178">
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<property name="text">
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<string>Iso divide. Set the depth at which a block iso-surface extractor should be used to extract the iso-surface note Using this parameter helps reduce the memory overhead at the cost of a small increase in extraction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)</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="9" column="1">
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<widget class="QLabel" name="label_179">
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<property name="text">
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<string>Solver divide. Set the the depth at which a block Gauss-Seidel solver is used to solve the Laplacian equation. Note that using this parameter helps reduce the memory overhead at the cost of a small increase in reconstruction time. (In practice, we have found that for reconstructions of depth 9 or higher a subdivide depth of 7 or 8 can greatly reduce the memory usage.)</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_180">
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<property name="text">
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<string>Scale. Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube.</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="2" column="0">
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<widget class="QCheckBox" name="checkBox_poisson_manifold">
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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="9" column="0">
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<widget class="QSpinBox" name="spinBox_poisson_solver">
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<property name="minimum">
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<number>1</number>
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</property>
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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_173">
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<property name="text">
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<string>Output polygons flag. Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating of the results of Marching Cubes).</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="1" column="0">
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<widget class="QCheckBox" name="checkBox_poisson_outputPolygons">
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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="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_poisson_pointWeight">
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<property name="decimals">
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<number>1</number>
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</property>
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<property name="minimum">
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<double>0.100000000000000</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="QSpinBox" name="spinBox_poisson_minDepth">
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<property name="minimum">
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<number>1</number>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_organized">
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<property name="title">
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