ExportCloudsDialog 0 0 1032 869 Export 3D Clouds true 0 -3479 998 5642 Organized Point Cloud Dense Point Cloud Reconstruction flavor. Regenerate clouds. This can be used to regenerate the point clouds at higher density than those used for online visualization. true Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged. true Assemble clouds/meshes to a single output cloud/mesh. true Output frame. true 0 20 Cloud filtering. true Binary file (for ply and pcd outputs). true Cloud smoothing using Moving Least Squares algorithm (MLS). true m 3 1.000000000000000 0.010000000000000 0.005000000000000 Set the number of k nearest neighbors to use for the normal estimation. Set 0 to disable. true Map Robot Camera Scan true From RGB-D images. If not checked, clouds will be generated from laser scans. true true Set the search radius for the normal estimation. true 0.010000000000000 Intensity colormap. true GrayScale RedYellow Rainbow Gain compensation. Normalize brightness of images. true Camera projection. This can be used to colorize point cloud created from scans and/or export camera IDs for each point of the cloud. true Meshing. true Nodes filtering. Filter nodes to be exported in a specified region . true Nodes Filtering Set min and max range values on each axis. Nodes inside those ranges will be exported. If the min and max are equals, there is no filtering on that axis. For example for 2D map, set Z min and Z max to 0. To filter just in altitude, set only Z ranges. true X max true Length along X-Axis Y min true m 0 -9999999.000000000000000 9999999.000000000000000 Width along Y-Axis Y max true Height along Z-Axis Z min true Width along Y-Axis Z max true X min true Qt::Horizontal 40 20 m 0 -9999999.000000000000000 9999999.000000000000000 m 0 -9999999.000000000000000 9999999.000000000000000 m 0 -9999999.000000000000000 9999999.000000000000000 m 0 -9999999.000000000000000 9999999.000000000000000 m 0 -9999999.000000000000000 9999999.000000000000000 Regenerate Scans -32 32 1 Downsampling step. true Minimum range. true m 1 100.000000000000000 0.100000000000000 0.000000000000000 m 1 1000.000000000000000 0.100000000000000 0.000000000000000 Maximum range (0 means no limit). true Regenerate Clouds false Path to a depth distortion model to apply (output from depth calibration). true ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image). true m 2 100.000000000000000 0.100000000000000 4.000000000000000 Fill depth hole error. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse m 2 100.000000000000000 0.100000000000000 0.000000000000000 3D cloud decimation (1-2-4-8-...). Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value). true Cloud subtraction. Superposed points from different nodes are filtered. true Fill depth hole size (0 means no fill). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 3D cloud maximum depth (0 means no limit). true -32 32 1 % ... 3D cloud minimum depth. true Bilateral filtering of the depth image. Reduce noise in depth images. true pixels Bilateral Filtering of the Depth Image false 4 0.000100000000000 1.000000000000000 0.001000000000000 0.005000000000000 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). true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 0.100000000000000 100.000000000000000 1.000000000000000 5.000000000000000 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. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Cloud Subtraction false Minimum points of the previous cloud in the fixed point radius in order to substract the point in the new cloud. Increasing this value reduces the black contours between clouds. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Point angle used to keep only points with similar normal between the current cloud and the previous one. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0.010000000000000 1.000000000000000 0.010000000000000 0.020000000000000 Point radius used to find close points between the current cloud and the previous one. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 degrees 0 180.000000000000000 30.000000000000000 Cloud Filtering false m 3 0.000000000000000 1.000000000000000 0.010000000000000 0.020000000000000 Search radius. true 1 100 2 Minimum neighbors in the search radius. true m 2 -1000.000000000000000 1000.000000000000000 0.100000000000000 0.000000000000000 Ceiling filtering height. true m 2 -1000.000000000000000 1000.000000000000000 0.100000000000000 0.000000000000000 Floor filtering height. true m 2 0.000000000000000 1000.000000000000000 0.100000000000000 0.000000000000000 Footprint width. true m 2 0.000000000000000 1000.000000000000000 0.100000000000000 0.000000000000000 Footprint length. true m 2 -1000.000000000000000 1000.000000000000000 0.100000000000000 0.000000000000000 Footprint height. If negative, the footprint is filtered between [-height:height] around the base frame, otherwise it is [0:height] true Cloud Smoothing false false WARNING: This adds significative time to process, though the clouds will be more smooth. true m 3 1.000000000000000 0.010000000000000 0.040000000000000 NONE DISTINCT_CLOUD SAMPLE_LOCAL_PLANE RANDOM_UNIFORM_DENSITY VOXEL_GRID_DILATION MLS search radius: Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting. Guidelines: 4 times the voxel size, 0.025 for voxel=0. true Upsampling method. true Polygonial order. Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimation (value=0). true 0 4 2 Output voxel size. Used to filter superposed points after upsampling. true 3 4 NONE No upsampling will be done, only the input points will be projected to their own MLS surfaces. true Qt::Vertical 20 0 DISTINCT_CLOUD Will project the points of the distinct cloud to the closest point on the MLS surface. true Qt::Vertical 20 0 SAMPLE_LOCAL_PLANE The local plane of each input point will be sampled in a circular fashion. true Set the step size for the local plane sampling. true 3 Set the radius of the circle in the local point plane that will be sampled. true 3 Qt::Vertical 20 0 RANDOM_UNIFORM_DENSITY The local plane of each input point will be sampled using an uniform random distribution such that the density of points is constant throughout the cloud. true Set the parameter that specifies the desired number of points within the search radius. true Qt::Vertical 20 0 VOXEL_GRID_DILATION The input cloud will be inserted into a voxel grid. This voxel grid will be dilated and the resulting points will be projected to the MLS surface of the closest point in the input cloud. The result is a point cloud with filled holes and a constant point density. true Set the voxel size for the voxel grid. true 3 Set the number of dilation steps of the voxel grid. true Qt::Vertical 20 0 Gain Compensation false 1 0.100000000000000 1000.000000000000000 1.000000000000000 100.000000000000000 Do full compensation between all locations (longer to do but quality is better). Otherwise, compensation is done only between linked locations. true 2 0.000000000000000 1.000000000000000 0.010000000000000 0.050000000000000 Correspondence radius true Beta. The lower, the higher the compensation is but images are darker. When texturing, brightness and contrast balance below can be activated to re-increase brightness (e.g., set high ratio to 20%). true m 3 0.001000000000000 10.000000000000000 0.010000000000000 0.020000000000000 Min overlap (%) true Gain on each RGB channel separatly. true Camera Projection false deg 0 0.000000000000000 180.000000000000000 1.000000000000000 0.000000000000000 Keep points not seen by the cameras. These points will be set with a pure red color (255,0,0) if the cloud was created from laser scans. true Distance to camera policy. The closest camera from a point is used to colorize the point. If disabled, the camera for which the point projection is the closest of the image center is used to colorize the point. true Maximum distance from the camera for points to be colorized by this camera (0 means infinite). true Maximum angle between camera and point's normal to apply color (0 means disabled). true m 1 0.000000000000000 99.000000000000000 1.000000000000000 0.000000000000000 ID format of the camera selected for each point. true By Node ID: cameras of same node have same ID By Camera Index: of a multi-cameras setup By Node ID and Camera Index: NodeID*10+CameraIndex Disabled By Node ID By Camera Index By Node ID and Camera Index ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. true Recolor points from camera projection. This would be used to color laser scans with the cameras. true Meshing false Clean mesh from polygons without color or texture. true Surface reconstruction approach. Poisson is available when clouds are assembled and dense reconstruction flavor is selected. CPU-TSDF is available when clouds are assembled, organized reconstruction flavor is selected and RTAB-Map is built with CPU-TSDF support. OpenChisel is available when clouds are assembled and RTAB-Map is built with OpenChisel support. true 2 0.000000000000000 0.990000000000000 0.100000000000000 0.000000000000000 Transferring color radius. Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). Negative means disabled, 0 means take the nearest point. true Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons). Can be used when organized mesh approach is not selected. Can reduce a lot texturing time. true Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Available on Export or when clouds are not assembled. true Fast GP3 Poisson CPU-TSDF Organized Open Chisel (TSDF) m 2 -1.000000000000000 10.000000000000000 0.010000000000000 0.050000000000000 -1 99999 Minimum polygon cluster size (-1 means that only the biggest cluster is kept). Maximum polygons (0=no max). Another way to do mesh quadric decimation, the factor will be computed depending on the polygons generated. true 0 10000000 50000 9 Texturing false false % 0 49 Brightness and contrast balance high ratio. Only used when textures are merged. true Auto 1 2 4 8 16 32 64 Blending decimation. true ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. true Maximum output textures. true Blending. Only used with dense reconstruction flavor and if clouds are assembled. true Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor. true m 1 0.000000000000000 99.000000000000000 1.000000000000000 3.000000000000000 Brightness and contrast balance low ratio. Only used when textures are merged. true Texture format. true .jpg .png Disabled 256x256 512x512 1024x1024 2048x2048 4096x4096 8192x8192 16384x16384 32768x32768 Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor. true Output texture size. If not set or when clouds are not assembled, all textures are saved separately. Warning: values higher than 2048 may not be compatible with all GPUs. true % 0 49 0 99999 Camera filtering. Some criteria to select which cameras are used for texturing. true Exposure fusion. Only used when textures are merged and brightness/contrast balance ratios are used (merging original texture + 1 for each ratios). true 1 20 Maximum depth error between reconstructed mesh projection in camera and corresponding value in depth image to apply texturing (negative means disabled, 0 means that longest edge length of the face is used as maximum error). true m 2 -1.000000000000000 99.000000000000000 0.050000000000000 0.000000000000000 Maximum angle between camera and face to apply texture (0 means disabled). true deg 0 0.000000000000000 180.000000000000000 1.000000000000000 0.000000000000000 MultiBand texturing. Only available on export and RTAB-Map should be built with AliceVision support. true Distance to camera policy. The closest camera from a polygon is used to texture the polygon. If disabled, the camera for which the polygon projection is the closest of the image center is used to texture the polygon. true Camera Filtering m 3 0.000000000000000 0.100000000000000 Only one camera in a fixed radius and angle is used for texturing. Radius of 0 m means disabled. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 0 0.000000000000000 9999.000000000000000 0.000000000000000 deg 1 180.000000000000000 30.000000000000000 Laplacian variance threshold. Below this threshold, the image is considered blurred. 0 means disabled. 50 can be good default. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse rad/s 3 0.000000000000000 0.100000000000000 m/s 3 0.000000000000000 0.100000000000000 Maximum speed to keep a camera view for texturing. Images taken on fast motions would be more blurry. 0 means disabled. 0.1 m/s and 0.4 rad/s can be good defaults. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse MultiBand Texturing Downscaling to 4 or 8 will reduce the texture quality but speed up the computation time. Set Texture Downscale to 1 instead of 2 to get the maximum possible resolution with the resolution of your images. The output texture size will be divided by this value, e.g., with texture size of 8192 and downscale value of 2, the output will be 4096. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Unwrap method. Method to unwrap input mesh if it does not have UV coordinates Basic (> 600k faces) fast and simple. Can generate multiple atlases LSCM (<= 600k faces): optimize space. Generates one atlas ABF (<= 300k faces): optimize space and stretch. Generates one atlas. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 16 2 Texture edge padding size in pixel. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Angle hard threshold. 0 to disable angle hard threshold filtering. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1 180.000000000000000 90.000000000000000 Best score threshold. 0 to disable filtering based on threshold to relative best score. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse 1.000000000000000 0.100000000000000 100 5 Fill Texture holes with plausible values. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Basic LSCM ABF Force visible by all vertices. Triangle visibility is based on the union of vertices visibility. true Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse Greedy Projection Triangulation (GP3) Meshing false false Set the multiplier of the nearest neighbor distance to obtain the final search radius for each point (this will make the algorithm adapt to different point densities in the cloud). true m 3 1.000000000000000 0.010000000000000 0.040000000000000 Sphere radius that is to be used for determining the k-nearest neighbors used for triangulating (GP3). Guidelines: 4 times the voxel size, 0.025 for voxel=0. true 1 0.100000000000000 100.000000000000000 1.000000000000000 2.500000000000000 Poisson Surface Reconstruction false false Depth. Lowering this parameter decreases reconstruction time, but geometry precision is lower. Minimum polygon size: map length / 2^depth), you can start tuning from depth of 8 or 9. 0 means that depth is chosen so that polygon size is just under target polygon size below. true 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. true 1 Manifold flag. Enabling this flag tells the reconstructor to add the polygon barycenter when triangulating polygons with more than three vertices. true 1 0.100000000000000 30.000000000000000 1 1.000000000000000 2.000000000000000 Point weight. true Min depth. true 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.) true 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.) true Scale. Set the ratio between the diameter of the cube used for reconstruction and the diameter of the samples' bounding cube. true 1 Output polygons flag. Enabling this flag tells the reconstructor to output a polygon mesh (rather than triangulating of the results of Marching Cubes). Disabled when exporting to file, if mesh decimation is set or when texturing. true 1 0.100000000000000 1 0 Target polygon size used to compute Poisson's depth based on the map size. true m 3 0.010000000000000 0.100000000000000 0.030000000000000 CPU-TSDF Reconstruction <html><head/><body><p><a href="https://github.com/sdmiller/cpu_tsdf"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/sdmiller/cpu_tsdf</span></a></p></body></html> true true m 1 0.100000000000000 9999.000000000000000 1.000000000000000 12.000000000000000 Volume size. true m 3 0.001000000000000 99.000000000000000 0.010000000000000 0.010000000000000 Resolution. true m 2 0.000000000000000 1.000000000000000 0.010000000000000 0.030000000000000 Depth truncation positive limit. Maximum distance a voxel will be set to positive. true m 2 0.000000000000000 1.000000000000000 0.010000000000000 0.030000000000000 Depth truncation negative limit. Maximum distance a voxel will be set to negative. true 1 99 Set the number of random samples per surface point the octree should split on. If you don't know what this does, it's almost certainly best to leave it at 1. true 1 0.000000000000000 99.000000000000000 0.500000000000000 0.000000000000000 Minimum weight of a voxel to be added in the mesh. true m 4 0.000000000000000 9.000000000000000 0.005000000000000 0.005000000000000 Flatten radius (0=disabled). true Organized Meshing Triangle size true Quad true true deg 0 1.000000000000000 99.000000000000000 15.000000000000000 Angle tolerance true pix 1 99 OpenChisel Reconstruction <html><head/><body><p><a href="https://github.com/personalrobotics/OpenChisel"><span style=" text-decoration: underline; color:#0000ff;">https://github.com/personalrobotics/OpenChisel</span></a></p><p>Parameters below match those in chisel_ros package. Voxel resolution is taken from the general voxel parameter above, it should not be null. <br/><span style=" font-weight:600;">Issue: </span>If voxel size or chunk size are changed after exporting/viewing one time, the app should be restarted to avoid black meshes.</p></body></html> true true truncation_constant true chunk_size_z true truncation_linear true integration_weight true near_plane_dist true chunk_size_y true 1 99 16 6 0.000001000000000 1.000000000000000 0.001000000000000 0.001504000000000 1 99 16 1 99 16 chunk_size_x true truncation_scale true truncation_quadratic true use_voxel_carving true carving_dist_m true far_plane_dist true 6 0.000001000000000 1.000000000000000 0.001000000000000 0.001504000000000 6 0.000001000000000 1.000000000000000 0.001000000000000 0.001504000000000 1 0.100000000000000 100.000000000000000 0.001000000000000 0.100000000000000 1 99 16 true m 2 0.010000000000000 1.000000000000000 0.001000000000000 0.010000000000000 m 2 0.000000000000000 100.000000000000000 0.001000000000000 0.010000000000000 m 2 0.000000000000000 100.000000000000000 0.001000000000000 0.000000000000000 Simplify generated mesh by merging close vertices together. Required for some post mesh filtering approaches to work properly. true true Qt::Vertical 20 0 Qt::Vertical 0 0 Qt::Vertical 20 0 Qt::Vertical 20 0 Qt::Horizontal QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults|QDialogButtonBox::Save buttonBox accepted() ExportCloudsDialog accept() 248 254 157 274 buttonBox rejected() ExportCloudsDialog reject() 316 260 286 274