mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
1251 lines
45 KiB
XML
1251 lines
45 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
|
|
<ui version="4.0">
|
|
<class>ExportCloudsDialog</class>
|
|
<widget class="QDialog" name="ExportCloudsDialog">
|
|
<property name="geometry">
|
|
<rect>
|
|
<x>0</x>
|
|
<y>0</y>
|
|
<width>814</width>
|
|
<height>667</height>
|
|
</rect>
|
|
</property>
|
|
<property name="windowTitle">
|
|
<string>Export 3D Clouds</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_2" stretch="1,0,0">
|
|
<item>
|
|
<widget class="QScrollArea" name="scrollArea">
|
|
<property name="widgetResizable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<widget class="QWidget" name="scrollAreaWidgetContents">
|
|
<property name="geometry">
|
|
<rect>
|
|
<x>0</x>
|
|
<y>0</y>
|
|
<width>773</width>
|
|
<height>1648</height>
|
|
</rect>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_13">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_normalKSearch">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>20</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QCheckBox" name="checkBox_assemble">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_binaryFile_2">
|
|
<property name="text">
|
|
<string>Assemble clouds/meshes to a single output cloud/mesh.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_binary">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.005000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_normal">
|
|
<property name="text">
|
|
<string>Set the number of k nearest neighbors to use for the normal estimation.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_12">
|
|
<property name="text">
|
|
<string>Reconstruction flavor.</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QComboBox" name="comboBox_pipeline">
|
|
<item>
|
|
<property name="text">
|
|
<string>Organized Point Cloud</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>Dense Point Cloud</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_binaryFile">
|
|
<property name="text">
|
|
<string>Binary file.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="4" column="1">
|
|
<widget class="QLabel" name="label_voxel">
|
|
<property name="text">
|
|
<string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_regenerate">
|
|
<property name="title">
|
|
<string>Regenerate Clouds</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_14">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_decimation">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>32</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_108">
|
|
<property name="text">
|
|
<string>3D cloud decimation (1-2-4-8-...).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>4.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_132">
|
|
<property name="text">
|
|
<string>3D cloud maximum depth (0 means no limit).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_133">
|
|
<property name="text">
|
|
<string>3D cloud minimum depth.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_subtraction">
|
|
<property name="title">
|
|
<string>Cloud Subtraction</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1">
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_174">
|
|
<property name="text">
|
|
<string>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.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_193">
|
|
<property name="text">
|
|
<string>Point angle used to keep only points with similar normal between the current cloud and the previous one.</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_subtractPointFilteringRadius">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.020000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_192">
|
|
<property name="text">
|
|
<string>Point radius used to find close points between the current cloud and the previous one.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="textInteractionFlags">
|
|
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_subtractFilteringMinPts">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_subtractPointFilteringAngle">
|
|
<property name="suffix">
|
|
<string> degrees</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>180.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>30.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_filtering">
|
|
<property name="title">
|
|
<string>Cloud Filtering (remove noisy points)</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_filteringRadius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.020000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_110">
|
|
<property name="text">
|
|
<string>Radius search.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_filteringMinNeighbors">
|
|
<property name="minimum">
|
|
<number>1</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>100</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>2</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_112">
|
|
<property name="text">
|
|
<string>Minimum neighbors in the search radius.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_mls">
|
|
<property name="title">
|
|
<string>Cloud Smoothing using Moving Least Squares algorithm (MLS)</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout">
|
|
<item>
|
|
<widget class="QLabel" name="label">
|
|
<property name="text">
|
|
<string>WARNING: This adds significative time to process, though the clouds will be more smooth.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_mlsRadius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.040000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QComboBox" name="comboBox_upsamplingMethod">
|
|
<item>
|
|
<property name="text">
|
|
<string>NONE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>DISTINCT_CLOUD</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>SAMPLE_LOCAL_PLANE</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>RANDOM_UNIFORM_DENSITY</string>
|
|
</property>
|
|
</item>
|
|
<item>
|
|
<property name="text">
|
|
<string>VOXEL_GRID_DILATION</string>
|
|
</property>
|
|
</item>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_87">
|
|
<property name="text">
|
|
<string>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.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_88">
|
|
<property name="text">
|
|
<string>Upsampling method.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_89">
|
|
<property name="text">
|
|
<string>Polygonial order. Sets whether the surface and normal are approximated using a polynomial, or only via tangent estimation (value=0).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_polygonialOrder">
|
|
<property name="minimum">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>4</number>
|
|
</property>
|
|
<property name="value">
|
|
<number>2</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QStackedWidget" name="stackedWidget_upsampling">
|
|
<property name="currentIndex">
|
|
<number>0</number>
|
|
</property>
|
|
<widget class="QWidget" name="page">
|
|
<layout class="QVBoxLayout" name="verticalLayout_3">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox">
|
|
<property name="title">
|
|
<string>NONE</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_8">
|
|
<item>
|
|
<widget class="QLabel" name="label_2">
|
|
<property name="text">
|
|
<string>No upsampling will be done, only the input points will be projected to their own MLS surfaces.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_2">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_2">
|
|
<layout class="QVBoxLayout" name="verticalLayout_4">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_2">
|
|
<property name="title">
|
|
<string>DISTINCT_CLOUD</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_9">
|
|
<item>
|
|
<widget class="QLabel" name="label_3">
|
|
<property name="text">
|
|
<string>Will project the points of the distinct cloud to the closest point on the MLS surface.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_3">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_3">
|
|
<layout class="QVBoxLayout" name="verticalLayout_7">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_3">
|
|
<property name="title">
|
|
<string>SAMPLE_LOCAL_PLANE</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_10">
|
|
<item>
|
|
<widget class="QLabel" name="label_4">
|
|
<property name="text">
|
|
<string>The local plane of each input point will be sampled in a circular fashion.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_8">
|
|
<property name="text">
|
|
<string>Set the step size for the local plane sampling.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_sampleRadius"/>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_7">
|
|
<property name="text">
|
|
<string>Set the radius of the circle in the local point plane that will be sampled.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_sampleStep"/>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_4">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_4">
|
|
<layout class="QVBoxLayout" name="verticalLayout_6">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_4">
|
|
<property name="title">
|
|
<string>RANDOM_UNIFORM_DENSITY</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_11">
|
|
<item>
|
|
<widget class="QLabel" name="label_5">
|
|
<property name="text">
|
|
<string>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.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,1">
|
|
<item row="0" column="0">
|
|
<widget class="QSpinBox" name="spinBox_randomPoints"/>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_9">
|
|
<property name="text">
|
|
<string>Set the parameter that specifies the desired number of points within the search radius.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_5">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<widget class="QWidget" name="page_5">
|
|
<layout class="QVBoxLayout" name="verticalLayout_5">
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_5">
|
|
<property name="title">
|
|
<string>VOXEL_GRID_DILATION</string>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_12">
|
|
<item>
|
|
<widget class="QLabel" name="label_6">
|
|
<property name="text">
|
|
<string>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.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_10">
|
|
<property name="text">
|
|
<string>Set the voxel size for the voxel grid.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_dilationVoxelSize"/>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_11">
|
|
<property name="text">
|
|
<string>Set the number of dilation steps of the voxel grid.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QSpinBox" name="spinBox_dilationSteps"/>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_6">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_gain">
|
|
<property name="title">
|
|
<string>Gain Compensation</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_binaryFile_3">
|
|
<property name="text">
|
|
<string>Correspondence radius</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_binaryFile_5">
|
|
<property name="text">
|
|
<string>Beta</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainRadius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>10.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.020000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_binaryFile_4">
|
|
<property name="text">
|
|
<string>Alpha</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainAlpha">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.001000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainBeta">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1000.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>100.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_binaryFile_6">
|
|
<property name="text">
|
|
<string>Min overlap (%)</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainOverlap">
|
|
<property name="suffix">
|
|
<string/>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.050000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_meshing">
|
|
<property name="title">
|
|
<string>Meshing</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>true</bool>
|
|
</property>
|
|
<layout class="QVBoxLayout" name="verticalLayout_15">
|
|
<item>
|
|
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
|
|
<property name="decimals">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>0.990000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.100000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="1">
|
|
<widget class="QLabel" name="label_16">
|
|
<property name="text">
|
|
<string>Min polygon cluster size</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="3" column="0">
|
|
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
|
|
<property name="maximum">
|
|
<number>999</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_meshDecimation">
|
|
<property name="text">
|
|
<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>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QCheckBox" name="checkBox_textureMapping">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_textureMapping">
|
|
<property name="text">
|
|
<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_gp3">
|
|
<property name="title">
|
|
<string>Greedy Projection Triangulation (GP3) Meshing</string>
|
|
</property>
|
|
<property name="checkable">
|
|
<bool>false</bool>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>false</bool>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_169">
|
|
<property name="text">
|
|
<string>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).</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Radius">
|
|
<property name="suffix">
|
|
<string> m</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>3</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="singleStep">
|
|
<double>0.010000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>0.040000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_168">
|
|
<property name="text">
|
|
<string>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.</string>
|
|
</property>
|
|
<property name="wordWrap">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Mu">
|
|
<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>2.500000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<widget class="QGroupBox" name="groupBox_organized">
|
|
<property name="title">
|
|
<string>Organized Meshing</string>
|
|
</property>
|
|
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
|
|
<item row="2" column="1">
|
|
<widget class="QLabel" name="label_15">
|
|
<property name="text">
|
|
<string>Triangle size</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="1">
|
|
<widget class="QLabel" name="label_quad">
|
|
<property name="text">
|
|
<string>Quad</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="1" column="0">
|
|
<widget class="QCheckBox" name="checkBox_mesh_quad">
|
|
<property name="text">
|
|
<string/>
|
|
</property>
|
|
<property name="checked">
|
|
<bool>true</bool>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="0">
|
|
<widget class="QDoubleSpinBox" name="doubleSpinBox_mesh_angleTolerance">
|
|
<property name="suffix">
|
|
<string> deg</string>
|
|
</property>
|
|
<property name="decimals">
|
|
<number>0</number>
|
|
</property>
|
|
<property name="minimum">
|
|
<double>1.000000000000000</double>
|
|
</property>
|
|
<property name="maximum">
|
|
<double>99.000000000000000</double>
|
|
</property>
|
|
<property name="value">
|
|
<double>15.000000000000000</double>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="0" column="1">
|
|
<widget class="QLabel" name="label_14">
|
|
<property name="text">
|
|
<string>Angle tolerance</string>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
<item row="2" column="0">
|
|
<widget class="QSpinBox" name="spinBox_mesh_triangleSize">
|
|
<property name="suffix">
|
|
<string> pix</string>
|
|
</property>
|
|
<property name="minimum">
|
|
<number>2</number>
|
|
</property>
|
|
<property name="maximum">
|
|
<number>99</number>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_8">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_9">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>0</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer_7">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
</widget>
|
|
</item>
|
|
<item>
|
|
<spacer name="verticalSpacer">
|
|
<property name="orientation">
|
|
<enum>Qt::Vertical</enum>
|
|
</property>
|
|
<property name="sizeHint" stdset="0">
|
|
<size>
|
|
<width>20</width>
|
|
<height>0</height>
|
|
</size>
|
|
</property>
|
|
</spacer>
|
|
</item>
|
|
<item>
|
|
<widget class="QDialogButtonBox" name="buttonBox">
|
|
<property name="orientation">
|
|
<enum>Qt::Horizontal</enum>
|
|
</property>
|
|
<property name="standardButtons">
|
|
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults|QDialogButtonBox::Save</set>
|
|
</property>
|
|
</widget>
|
|
</item>
|
|
</layout>
|
|
</widget>
|
|
<resources/>
|
|
<connections>
|
|
<connection>
|
|
<sender>buttonBox</sender>
|
|
<signal>accepted()</signal>
|
|
<receiver>ExportCloudsDialog</receiver>
|
|
<slot>accept()</slot>
|
|
<hints>
|
|
<hint type="sourcelabel">
|
|
<x>248</x>
|
|
<y>254</y>
|
|
</hint>
|
|
<hint type="destinationlabel">
|
|
<x>157</x>
|
|
<y>274</y>
|
|
</hint>
|
|
</hints>
|
|
</connection>
|
|
<connection>
|
|
<sender>buttonBox</sender>
|
|
<signal>rejected()</signal>
|
|
<receiver>ExportCloudsDialog</receiver>
|
|
<slot>reject()</slot>
|
|
<hints>
|
|
<hint type="sourcelabel">
|
|
<x>316</x>
|
|
<y>260</y>
|
|
</hint>
|
|
<hint type="destinationlabel">
|
|
<x>286</x>
|
|
<y>274</y>
|
|
</hint>
|
|
</hints>
|
|
</connection>
|
|
</connections>
|
|
</ui>
|