0.11.4: API change: added minDepth parameter to cloudFromXXXXX() methods and removed voxel parameter

CMakeLists.txt

@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 11)
-SET(RTABMAP_PATCH_VERSION 3)
+SET(RTABMAP_PATCH_VERSION 4)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   

app/android/jni/RTABMapApp.cpp

@@ -416,7 +416,7 @@ int RTABMapApp::Render()
 							pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
 							pcl::IndicesPtr indices(new std::vector<int>);
 							LOGI("Creating node cloud %d (image size=%dx%d)", id, data.imageRaw().cols, data.imageRaw().rows);
-							cloud = rtabmap::util3d::cloudRGBFromSensorData(data, data.imageRaw().rows/data.depthRaw().rows, maxCloudDepth_, 0, 0, indices.get());
+							cloud = rtabmap::util3d::cloudRGBFromSensorData(data, data.imageRaw().rows/data.depthRaw().rows, maxCloudDepth_, 0, indices.get());
 
 							if(cloud->size() && indices->size())
 							{

corelib/include/rtabmap/core/CameraThread.h

@@ -91,6 +91,7 @@ private:
 	bool _scanFromDepth;
 	int _scanDecimation;
 	float _scanMaxDepth;
+	float _scanMinDepth;
 	float _scanVoxelSize;
 	int _scanNormalsK;
 	StereoDense * _stereoDense;

corelib/include/rtabmap/core/util3d.h

@@ -79,6 +79,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
 		float fx, float fy,
 		int decimation = 1,
 		float maxDepth = 0.0f,
+		float minDepth = 0.0f,
 		std::vector<int> * validIndices = 0);
 
 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
@@ -88,6 +89,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
 		float fx, float fy,
 		int decimation = 1,
 		float maxDepth = 0.0f,
+		float minDepth = 0.0f,
 		std::vector<int> * validIndices = 0);
 
 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDisparity(
@@ -95,6 +97,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDisparity(
 		const StereoCameraModel & model,
 		int decimation = 1,
 		float maxDepth = 0.0f,
+		float minDepth = 0.0f,
 		std::vector<int> * validIndices = 0);
 
 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDisparityRGB(
@@ -103,6 +106,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDisparityRGB(
 		const StereoCameraModel & model,
 		int decimation = 1,
 		float maxDepth = 0.0f,
+		float minDepth = 0.0f,
 		std::vector<int> * validIndices = 0);
 
 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
@@ -111,29 +115,26 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
 		const StereoCameraModel & model,
 		int decimation = 1,
 		float maxDepth = 0.0f,
+		float minDepth = 0.0f,
 		std::vector<int> * validIndices = 0);
 
 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
 		const SensorData & sensorData,
 		int decimation = 1,
 		float maxDepth = 0.0f,
-		float voxelSize = 0.0f,
+		float minDepth = 0.0f,
-		int samples = 0,
 		std::vector<int> * validIndices = 0);
 
 /**
- * Create an RGB cloud from the images contained in SensorData. If "voxelSize" and
+ * Create an RGB cloud from the images contained in SensorData. If there is only one camera,
- * "samples" are not set (0), the returned cloud is organized. Otherwise, all NaN
+ * the returned cloud is organized. Otherwise, all NaN
  * points are removed and the cloud will be dense.
  *
- * Note that multiple RGB-D camera images will result in a dense cloud.
- *
  * @param sensorData, the sensor data.
  * @param decimation, images are decimated by this factor before projecting points to 3D. The factor
  * should be a factor of the image width and height.
  * @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
- * @param voxelSize, use a voxel grid filter with this size of voxel.
+ * @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
- * @param samples, random sampling filtering target cloud size.
  * @param validIndices, the indices of valid points in the cloud
  * @return a RGB cloud.
  */
@@ -141,8 +142,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
 		const SensorData & sensorData,
 		int decimation = 1,
 		float maxDepth = 0.0f,
-		float voxelSize = 0.0f,
+		float minDepth = 0.0f,
-		int samples = 0,
 		std::vector<int> * validIndices = 0);
 
 pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
@@ -152,6 +152,7 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
 					float cx,
 					float cy,
 					float maxDepth = 0,
+					float minDepth = 0,
 					const Transform & localTransform = Transform::getIdentity());
 
 // return CV_32FC3

corelib/src/CameraThread.cpp

@@ -53,6 +53,7 @@ CameraThread::CameraThread(Camera * camera, const ParametersMap & parameters) :
 		_scanFromDepth(false),
 		_scanDecimation(4),
 		_scanMaxDepth(4.0f),
+		_scanMinDepth(0.0f),
 		_scanVoxelSize(0.0f),
 		_scanNormalsK(0),
 		_stereoDense(new StereoBM(parameters))
@@ -174,7 +175,7 @@ void CameraThread::mainLoop()
 				UASSERT(_scanDecimation >= 1);
 				UTimer timer;
 				pcl::IndicesPtr validIndices(new std::vector<int>);
-				pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, _scanDecimation, _scanMaxDepth, 0.0f, 0, validIndices.get());
+				pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, _scanDecimation, _scanMaxDepth, _scanMinDepth, validIndices.get());
 				float maxPoints = (data.depthRaw().rows/_scanDecimation)*(data.depthRaw().cols/_scanDecimation);
 				if(_scanVoxelSize>0.0f)
 				{

corelib/src/Graph.cpp

@@ -616,7 +616,7 @@ std::map<int, Transform> radiusPosesFiltering(
 		float angle,
 		bool keepLatest)
 {
-	if(poses.size() > 1 && radius > 0.0f)
+	if(poses.size() > 2 && radius > 0.0f)
 	{
 		pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
 		cloud->resize(poses.size());
@@ -710,6 +710,10 @@ std::map<int, Transform> radiusPosesFiltering(
 			keptPoses.insert(std::make_pair(names.at(*iter), transforms.at(*iter)));
 		}
 
+		// make sure the first and last poses are still here
+		keptPoses.insert(*poses.begin());
+		keptPoses.insert(*poses.rbegin());
+
 		return keptPoses;
 	}
 	else

corelib/src/Rtabmap.cpp

@@ -1928,10 +1928,8 @@ bool Rtabmap::process(
 								{
 									// path filtering
 									std::map<int, Transform> filteredPath = graph::radiusPosesFiltering(path, _proximityFilteringRadius, 0, true);
-									// make sure the nearest and farthest poses are still here
+									// make sure the current pose is still here
 									filteredPath.insert(*path.find(nearestId));
-									filteredPath.insert(*path.begin());
-									filteredPath.insert(*path.rbegin());
 									path = filteredPath;
 								}
 							}

corelib/src/util3d.cpp

@@ -245,6 +245,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDepth(
 		float fx, float fy,
 		int decimation,
 		float maxDepth,
+		float minDepth,
 		std::vector<int> * validIndices)
 {
 	UASSERT(!imageDepth.empty() && (imageDepth.type() == CV_16UC1 || imageDepth.type() == CV_32FC1));
@@ -275,7 +276,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDepth(
 			pcl::PointXYZ & pt = cloud->at((h/decimation)*cloud->width + (w/decimation));
 
 			pcl::PointXYZ ptXYZ = projectDepthTo3D(imageDepth, w, h, cx, cy, fx, fy, false);
-			if(maxDepth<=0.0f || ptXYZ.z <= maxDepth)
+			if(pcl::isFinite(ptXYZ) && ptXYZ.z>=minDepth && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
 			{
 				pt.x = ptXYZ.x;
 				pt.y = ptXYZ.y;
@@ -307,6 +308,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
 		float fx, float fy,
 		int decimation,
 		float maxDepth,
+		float minDepth,
 		std::vector<int> * validIndices)
 {
 	UDEBUG("");
@@ -381,7 +383,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
 			}
 
 			pcl::PointXYZ ptXYZ = projectDepthTo3D(imageDepth, w*rgbToDepthFactorX, h*rgbToDepthFactorY, depthCx, depthCy, depthFx, depthFy, false);
-			if(pcl::isFinite(ptXYZ) && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
+			if(pcl::isFinite(ptXYZ) && ptXYZ.z>=minDepth && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
 			{
 				pt.x = ptXYZ.x;
 				pt.y = ptXYZ.y;
@@ -415,6 +417,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDisparity(
 		const StereoCameraModel & model,
 		int decimation,
 		float maxDepth,
+		float minDepth,
 		std::vector<int> * validIndices)
 {
 	UASSERT(imageDisparity.type() == CV_32FC1 || imageDisparity.type()==CV_16SC1);
@@ -443,7 +446,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDisparity(
 			{
 				float disp = float(imageDisparity.at<short>(h,w))/16.0f;
 				cv::Point3f pt = projectDisparityTo3D(cv::Point2f(w, h), disp, model);
-				if(maxDepth <= 0.0f || pt.z <= maxDepth)
+				if(pt.z >= minDepth && (maxDepth <= 0.0f || pt.z <= maxDepth))
 				{
 					cloud->at((h/decimation)*cloud->width + (w/decimation)) = pcl::PointXYZ(pt.x, pt.y, pt.z);
 					if(validIndices)
@@ -469,7 +472,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFromDisparity(
 			{
 				float disp = imageDisparity.at<float>(h,w);
 				cv::Point3f pt = projectDisparityTo3D(cv::Point2f(w, h), disp, model);
-				if(maxDepth <= 0.0f || pt.z <= maxDepth)
+				if(pt.z > minDepth && (maxDepth <= 0.0f || pt.z <= maxDepth))
 				{
 					cloud->at((h/decimation)*cloud->width + (w/decimation)) = pcl::PointXYZ(pt.x, pt.y, pt.z);
 					if(validIndices)
@@ -500,6 +503,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDisparityRGB(
 		const StereoCameraModel & model,
 		int decimation,
 		float maxDepth,
+		float minDepth,
 		std::vector<int> * validIndices)
 {
 	UASSERT(!imageRgb.empty() && !imageDisparity.empty());
@@ -554,7 +558,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDisparityRGB(
 
 			float disp = imageDisparity.type()==CV_16SC1?float(imageDisparity.at<short>(h,w))/16.0f:imageDisparity.at<float>(h,w);
 			cv::Point3f ptXYZ = projectDisparityTo3D(cv::Point2f(w, h), disp, model);
-			if(util3d::isFinite(ptXYZ) && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
+			if(util3d::isFinite(ptXYZ) && ptXYZ.z >= minDepth && (maxDepth<=0.0f || ptXYZ.z <= maxDepth))
 			{
 				pt.x = ptXYZ.x;
 				pt.y = ptXYZ.y;
@@ -583,6 +587,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
 		const StereoCameraModel & model,
 		int decimation,
 		float maxDepth,
+		float minDepth,
 		std::vector<int> * validIndices)
 {
 	UASSERT(!imageLeft.empty() && !imageRight.empty());
@@ -622,6 +627,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromStereoImages(
 			modelDecimation,
 			decimation,
 			maxDepth,
+			minDepth,
 			validIndices);
 }
 
@@ -629,8 +635,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
 		const SensorData & sensorData,
 		int decimation,
 		float maxDepth,
-		float voxelSize,
+		float minDepth,
-		int samples,
 		std::vector<int> * validIndices)
 {
 	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
@@ -652,36 +657,16 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
 						sensorData.cameraModels()[i].fy(),
 						decimation,
 						maxDepth,
+						minDepth,
 						sensorData.cameraModels().size()==1?validIndices:0);
 
-				if(tmp->size())
-				{
-					bool filtered = false;
-
-					if(tmp->size() && voxelSize)
-					{
-						tmp = util3d::voxelize(tmp, voxelSize);
-						filtered = true;
-					}
-
-					if(tmp->size() && samples)
-					{
-						tmp = util3d::randomSampling(tmp, samples);
-						filtered = true;
-					}
-
-					if(tmp->size() && !filtered && sensorData.cameraModels().size() > 1)
-					{
-						tmp = util3d::removeNaNFromPointCloud(tmp);
-					}
-
 				if(tmp->size())
 				{
 					tmp = util3d::transformPointCloud(tmp, sensorData.cameraModels()[i].localTransform());
-					}
 
 					if(sensorData.cameraModels().size() > 1)
 					{
+						tmp = util3d::removeNaNFromPointCloud(tmp);
 						*cloud += *tmp;
 					}
 					else
@@ -695,11 +680,6 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
 				UERROR("Camera model %d is invalid", i);
 			}
 		}
-
-		if(cloud->size() && voxelSize && sensorData.cameraModels().size() > 1)
-		{
-			cloud = util3d::voxelize(cloud, voxelSize);
-		}
 	}
 	else if(!sensorData.imageRaw().empty() && !sensorData.rightRaw().empty() && sensorData.stereoCameraModel().isValidForProjection())
 	{
@@ -720,15 +700,11 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
 				sensorData.stereoCameraModel(),
 				decimation,
 				maxDepth,
+				minDepth,
 				validIndices);
 
 		if(cloud->size())
 		{
-			if(cloud->size() && voxelSize)
-			{
-				cloud = util3d::voxelize(cloud, voxelSize);
-			}
-
 			if(cloud->size())
 			{
 				cloud = util3d::transformPointCloud(cloud, sensorData.stereoCameraModel().left().localTransform());
@@ -742,8 +718,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
 		const SensorData & sensorData,
 		int decimation,
 		float maxDepth,
-		float voxelSize,
+		float minDepth,
-		int samples,
 		std::vector<int> * validIndices)
 {
 	UASSERT(!sensorData.imageRaw().empty());
@@ -785,35 +760,16 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
 						sensorData.cameraModels()[i].fy(),
 						decimation,
 						maxDepth,
+						minDepth,
 						sensorData.cameraModels().size() == 1?validIndices:0);
 
-				if(tmp->size())
-				{
-					bool filtered = false;
-					if(tmp->size() && voxelSize)
-					{
-						tmp = util3d::voxelize(tmp, voxelSize);
-						filtered = true;
-					}
-
-					if(tmp->size() && samples)
-					{
-						tmp = util3d::randomSampling(tmp, samples);
-						filtered = true;
-					}
-
-					if(tmp->size() && !filtered && sensorData.cameraModels().size() > 1)
-					{
-						tmp = util3d::removeNaNFromPointCloud(tmp);
-					}
-
 				if(tmp->size())
 				{
 					tmp = util3d::transformPointCloud(tmp, sensorData.cameraModels()[i].localTransform());
-					}
 
 					if(sensorData.cameraModels().size() > 1)
 					{
+						tmp = util3d::removeNaNFromPointCloud(tmp);
 						*cloud += *tmp;
 					}
 					else
@@ -828,11 +784,6 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
 			}
 		}
 
-		if(cloud->size() && voxelSize && sensorData.cameraModels().size() > 1)
-		{
-			cloud = util3d::voxelize(cloud, voxelSize);
-		}
-
 		if(cloud->is_dense && validIndices)
 		{
 			//generate indices for all points (they are all valid)
@@ -852,21 +803,14 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
 				sensorData.stereoCameraModel(),
 				decimation,
 				maxDepth,
+				minDepth,
 				validIndices);
 
-		if(cloud->size())
-		{
-			if(cloud->size() && voxelSize)
-			{
-				cloud = util3d::voxelize(cloud, voxelSize);
-			}
-
 		if(cloud->size())
 		{
 			cloud = util3d::transformPointCloud(cloud, sensorData.stereoCameraModel().left().localTransform());
 		}
 	}
-	}
 	return cloud;
 }
 
@@ -877,6 +821,7 @@ pcl::PointCloud<pcl::PointXYZ> laserScanFromDepthImage(
 					float cx,
 					float cy,
 					float maxDepth,
+					float minDepth,
 					const Transform & localTransform)
 {
 	UASSERT(depthImage.type() == CV_16UC1 || depthImage.type() == CV_32FC1);
@@ -891,7 +836,7 @@ pcl::PointCloud<pcl::PointXYZ> laserScanFromDepthImage(
 		for(int i=0; i<depthImage.cols; ++i)
 		{
 			pcl::PointXYZ pt = util3d::projectDepthTo3D(depthImage, i, middle, cx, cy, fx, fy, false);
-			if(pcl::isFinite(pt) && (maxDepth == 0 || pt.z < maxDepth))
+			if(pcl::isFinite(pt) && pt.z >= minDepth && (maxDepth == 0 || pt.z < maxDepth))
 			{
 				if(!localTransform.isIdentity())
 				{

guilib/include/rtabmap/gui/LoopClosureViewer.h

@@ -56,7 +56,7 @@ public:
 public slots:
 	void setDecimation(int decimation) {decimation_ = decimation;}
 	void setMaxDepth(int maxDepth) {maxDepth_ = maxDepth;}
-	void setSamples(int samples) {samples_ = samples;}
+	void setMinDepth(int minDepth) {minDepth_ = minDepth;}
 	void updateView(const Transform & AtoB = Transform());
 
 protected:
@@ -71,7 +71,7 @@ private:
 
 	int decimation_;
 	float maxDepth_;
-	int samples_;
+	float minDepth_;
 };
 
 } /* namespace rtabmap */

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -148,6 +148,7 @@ public:
 	bool isCloudsShown(int index) const;      // 0=map, 1=odom
 	int getCloudDecimation(int index) const;   // 0=map, 1=odom
 	double getCloudMaxDepth(int index) const;  // 0=map, 1=odom
+	double getCloudMinDepth(int index) const;  // 0=map, 1=odom
 	double getCloudOpacity(int index) const;   // 0=map, 1=odom
 	int getCloudPointSize(int index) const;    // 0=map, 1=odom
 
@@ -340,6 +341,7 @@ private:
 	QVector<QCheckBox*> _3dRenderingShowClouds;
 	QVector<QSpinBox*> _3dRenderingDecimation;
 	QVector<QDoubleSpinBox*> _3dRenderingMaxDepth;
+	QVector<QDoubleSpinBox*> _3dRenderingMinDepth;
 	QVector<QDoubleSpinBox*> _3dRenderingOpacity;
 	QVector<QSpinBox*> _3dRenderingPtSize;
 	QVector<QCheckBox*> _3dRenderingShowScans;

guilib/src/DatabaseViewer.cpp

@@ -239,6 +239,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
 	connect(ui_->spinBox_projDecimation, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
 	connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
+	connect(ui_->doubleSpinBox_projMinDepth, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
 	connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
 	connect(ui_->spinBox_projClusterSize, SIGNAL(editingFinished()), this, SLOT(updateGrid()));
 
@@ -268,6 +269,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->doubleSpinBox_gridCellSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->spinBox_projDecimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_projMaxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
+	connect(ui_->doubleSpinBox_projMinDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_projMaxAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->spinBox_projClusterSize, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
 	connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
@@ -276,6 +278,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 
 	connect(ui_->spinBox_icp_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_icp_maxDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
+	connect(ui_->doubleSpinBox_icp_minDepth, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->checkBox_icp_laserScan, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
 	
 	connect(ui_->doubleSpinBox_detectMore_radius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -388,6 +391,7 @@ void DatabaseViewer::readSettings()
 	ui_->doubleSpinBox_gridCellSize->setValue(settings.value("gridCellSize", ui_->doubleSpinBox_gridCellSize->value()).toDouble());
 	ui_->spinBox_projDecimation->setValue(settings.value("projDecimation", ui_->spinBox_projDecimation->value()).toInt());
 	ui_->doubleSpinBox_projMaxDepth->setValue(settings.value("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value()).toDouble());
+	ui_->doubleSpinBox_projMinDepth->setValue(settings.value("projMinDepth", ui_->doubleSpinBox_projMinDepth->value()).toDouble());
 	ui_->doubleSpinBox_projMaxAngle->setValue(settings.value("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value()).toDouble());
 	ui_->spinBox_projClusterSize->setValue(settings.value("projClusterSize", ui_->spinBox_projClusterSize->value()).toInt());
 	ui_->groupBox_posefiltering->setChecked(settings.value("poseFiltering", ui_->groupBox_posefiltering->isChecked()).toBool());
@@ -411,6 +415,7 @@ void DatabaseViewer::readSettings()
 	settings.beginGroup("icp");
 	ui_->spinBox_icp_decimation->setValue(settings.value("decimation", ui_->spinBox_icp_decimation->value()).toInt());
 	ui_->doubleSpinBox_icp_maxDepth->setValue(settings.value("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value()).toDouble());
+	ui_->doubleSpinBox_icp_minDepth->setValue(settings.value("minDepth", ui_->doubleSpinBox_icp_minDepth->value()).toDouble());
 	ui_->checkBox_icp_laserScan->setChecked(settings.value("icpLaserScan", ui_->checkBox_icp_laserScan->isChecked()).toBool());
 	settings.endGroup();
 	// Visual parameters
@@ -474,6 +479,7 @@ void DatabaseViewer::writeSettings()
 	settings.setValue("gridCellSize", ui_->doubleSpinBox_gridCellSize->value());
 	settings.setValue("projDecimation", ui_->spinBox_projDecimation->value());
 	settings.setValue("projMaxDepth", ui_->doubleSpinBox_projMaxDepth->value());
+	settings.setValue("projMinDepth", ui_->doubleSpinBox_projMinDepth->value());
 	settings.setValue("projMaxAngle", ui_->doubleSpinBox_projMaxAngle->value());
 	settings.setValue("projClusterSize", ui_->spinBox_projClusterSize->value());
 	settings.setValue("poseFiltering", ui_->groupBox_posefiltering->isChecked());
@@ -497,6 +503,7 @@ void DatabaseViewer::writeSettings()
 	settings.beginGroup("icp");
 	settings.setValue("decimation", ui_->spinBox_icp_decimation->value());
 	settings.setValue("maxDepth", ui_->doubleSpinBox_icp_maxDepth->value());
+	settings.setValue("minDepth", ui_->doubleSpinBox_icp_minDepth->value());
 	settings.setValue("icpLaserScan", ui_->checkBox_icp_laserScan->isChecked());
 	settings.endGroup();
 	
@@ -1710,10 +1717,15 @@ void DatabaseViewer::generate3DMap()
 							pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
 							UASSERT(data.imageRaw().empty() || data.imageRaw().type()==CV_8UC3 || data.imageRaw().type() == CV_8UC1);
 							UASSERT(data.depthOrRightRaw().empty() || data.depthOrRightRaw().type()==CV_8UC1 || data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1);
-							cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, assemble?0.01:0);
+							pcl::IndicesPtr validIndices(new std::vector<int>);
+							cloud = util3d::cloudRGBFromSensorData(data, decimation, maxDepth, 0, validIndices.get());
 
 							if(assemble)
 							{
+								if(cloud->size())
+								{
+									cloud = util3d::voxelize(cloud, validIndices, 0.01);
+
 									if(cloud->size())
 									{
 										cloud = rtabmap::util3d::transformPointCloud(cloud, pose);
@@ -1726,6 +1738,7 @@ void DatabaseViewer::generate3DMap()
 											*assembledCloud += *cloud;
 										}
 									}
+								}
 								UINFO("Created cloud %d (%d points)", iter->first, (int)cloud->size());
 								progressDialog.appendText(QString("Created cloud %1 (%2 points)").arg(iter->first).arg(cloud->size()));
 							}
@@ -3282,10 +3295,16 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
 						if(!data.depthOrRightRaw().empty())
 						{
 							pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
+							pcl::IndicesPtr validIndices(new std::vector<int>);
 							cloud = util3d::cloudFromSensorData(data,
 									ui_->spinBox_projDecimation->value(),
 									ui_->doubleSpinBox_projMaxDepth->value(),
-									ui_->doubleSpinBox_gridCellSize->value());
+									ui_->doubleSpinBox_projMinDepth->value(),
+									validIndices.get());
+							if(ui_->doubleSpinBox_gridCellSize->value())
+							{
+								cloud = util3d::voxelize(cloud, validIndices, ui_->doubleSpinBox_gridCellSize->value());
+							}
 
 							if(cloud->size())
 							{
@@ -3607,9 +3626,10 @@ void DatabaseViewer::updateGraphView()
 
 void DatabaseViewer::updateGrid()
 {
-	if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth && sender()!=ui_->doubleSpinBox_projMaxAngle && sender()!=ui_->spinBox_projClusterSize) ||
+	if((sender() != ui_->spinBox_projDecimation && sender() != ui_->doubleSpinBox_projMaxDepth && sender() != ui_->doubleSpinBox_projMinDepth && sender()!=ui_->doubleSpinBox_projMaxAngle && sender()!=ui_->spinBox_projClusterSize) ||
 	   (sender() == ui_->spinBox_projDecimation && ui_->groupBox_gridFromProjection->isChecked()) ||
 	   (sender() == ui_->doubleSpinBox_projMaxDepth && ui_->groupBox_gridFromProjection->isChecked()) ||
+	   (sender() == ui_->doubleSpinBox_projMinDepth && ui_->groupBox_gridFromProjection->isChecked()) ||
 	   (sender() == ui_->doubleSpinBox_projMaxAngle && ui_->groupBox_gridFromProjection->isChecked()) ||
 	   (sender() == ui_->spinBox_projClusterSize && ui_->groupBox_gridFromProjection->isChecked()))
 	{
@@ -3723,11 +3743,13 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent, bool update
 		pcl::PointCloud<pcl::PointXYZ>::Ptr cloudFrom = util3d::cloudFromSensorData(
 				dataFrom,
 				ui_->spinBox_icp_decimation->value(),
-				ui_->doubleSpinBox_icp_maxDepth->value());
+				ui_->doubleSpinBox_icp_maxDepth->value(),
+				ui_->doubleSpinBox_icp_minDepth->value());
 		pcl::PointCloud<pcl::PointXYZ>::Ptr cloudTo = util3d::cloudFromSensorData(
 				dataTo,
 				ui_->spinBox_icp_decimation->value(),
-				ui_->doubleSpinBox_icp_maxDepth->value());
+				ui_->doubleSpinBox_icp_maxDepth->value(),
+				ui_->doubleSpinBox_icp_minDepth->value());
 		int maxLaserScans = cloudFrom->size();
 		dataFrom.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudFrom), Transform()), maxLaserScans, 0);
 		dataTo.setLaserScanRaw(util3d::laserScanFromPointCloud(*util3d::removeNaNFromPointCloud(cloudTo), Transform()), maxLaserScans, 0);

guilib/src/ExportCloudsDialog.cpp

@@ -75,6 +75,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->groupBox_regenerate, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
 	connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_maxDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_minDepth, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 
 	connect(_ui->groupBox_filtering, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_filteringRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
@@ -143,6 +144,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("regenerate", _ui->groupBox_regenerate->isChecked());
 	settings.setValue("regenerate_decimation", _ui->spinBox_decimation->value());
 	settings.setValue("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value());
+	settings.setValue("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value());
 
 
 	settings.setValue("filtering", _ui->groupBox_filtering->isChecked());
@@ -197,6 +199,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_ui->groupBox_regenerate->setChecked(settings.value("regenerate", _ui->groupBox_regenerate->isChecked()).toBool());
 	_ui->spinBox_decimation->setValue(settings.value("regenerate_decimation", _ui->spinBox_decimation->value()).toInt());
 	_ui->doubleSpinBox_maxDepth->setValue(settings.value("regenerate_max_depth", _ui->doubleSpinBox_maxDepth->value()).toDouble());
+	_ui->doubleSpinBox_minDepth->setValue(settings.value("regenerate_min_depth", _ui->doubleSpinBox_minDepth->value()).toDouble());
 
 	_ui->groupBox_filtering->setChecked(settings.value("filtering", _ui->groupBox_filtering->isChecked()).toBool());
 	_ui->doubleSpinBox_filteringRadius->setValue(settings.value("filtering_radius", _ui->doubleSpinBox_filteringRadius->value()).toDouble());
@@ -245,6 +248,7 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->groupBox_regenerate->setChecked(false);
 	_ui->spinBox_decimation->setValue(1);
 	_ui->doubleSpinBox_maxDepth->setValue(4);
+	_ui->doubleSpinBox_minDepth->setValue(0);
 
 	_ui->groupBox_filtering->setChecked(false);
 	_ui->doubleSpinBox_filteringRadius->setValue(0.02);
@@ -1015,11 +1019,19 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 								d,
 								_ui->spinBox_decimation->value(),
 								_ui->doubleSpinBox_maxDepth->value(),
-								// Don't voxelize if we create organized mesh
+								_ui->doubleSpinBox_minDepth->value(),
-								_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()?0:_ui->doubleSpinBox_voxelSize_assembled->value(),
-								0,
 								indices.get());
 
+						// Don't voxelize if we create organized mesh
+						if(!(_ui->comboBox_pipeline->currentIndex()==0 && _ui->groupBox_meshing->isChecked()))
+						{
+							cloudWithoutNormals = util3d::voxelize(cloudWithoutNormals, indices, _ui->doubleSpinBox_voxelSize_assembled->value());
+							indices->resize(cloudWithoutNormals->size());
+							for(unsigned int i=0; i<indices->size(); ++i)
+							{
+								indices->at(i) = i;
+							}
+						}
 
 						cloud = util3d::computeNormals(
 								cloudWithoutNormals,

guilib/src/LoopClosureViewer.cpp

@@ -44,7 +44,7 @@ LoopClosureViewer::LoopClosureViewer(QWidget * parent) :
 	QWidget(parent),
 	decimation_(1),
 	maxDepth_(0),
-	samples_(0)
+	minDepth_(0)
 {
 	ui_ = new Ui_loopClosureViewer();
 	ui_->setupUi(this);
@@ -73,17 +73,17 @@ void LoopClosureViewer::updateView(const Transform & transform)
 	{
 		int decimation = 1;
 		float maxDepth = 0;
-		int samples = 0;
+		float minDepth = 0;
 
 		if(!ui_->checkBox_rawCloud->isChecked())
 		{
			decimation = decimation_;
 			maxDepth = maxDepth_;
-			samples = samples_;
+			minDepth = minDepth_;
 		}
 
 		UDEBUG("decimation = %d", decimation);
 		UDEBUG("maxDepth = %f", maxDepth);
-		UDEBUG("samples = %d", samples);
+		UDEBUG("minDepth = %d", minDepth);
 
 		Transform t;
 		if(!transform.isNull())
@@ -106,8 +106,8 @@ void LoopClosureViewer::updateView(const Transform & transform)
 		{
 			//cloud 3d
 			pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA, cloudB;
-			cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, 0.0f, samples);
+			cloudA = util3d::cloudRGBFromSensorData(sA_.sensorData(), decimation, maxDepth, minDepth);
-			cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, 0.0f, samples);
+			cloudB = util3d::cloudRGBFromSensorData(sB_.sensorData(), decimation, maxDepth, minDepth);
 
 			//cloud 2d
 			pcl::PointCloud<pcl::PointXYZ>::Ptr scanA, scanB;

guilib/src/MainWindow.cpp

@@ -861,8 +861,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom)
 					cloud = util3d::cloudRGBFromSensorData(odom.data(),
 							_preferencesDialog->getCloudDecimation(1),
 							_preferencesDialog->getCloudMaxDepth(1),
-							0,
+							_preferencesDialog->getCloudMinDepth(1),
-							0,
 							indices.get());
 					if(indices->size())
 					{
@@ -1726,8 +1725,6 @@ void MainWindow::updateMapCloud(
 		float radius = _preferencesDialog->getCloudFilteringRadius();
 		float angle = _preferencesDialog->getCloudFilteringAngle()*CV_PI/180.0; // convert to rad
 		poses = rtabmap::graph::radiusPosesFiltering(posesIn, radius, angle);
-		// make sure the last is here
-		poses.insert(*posesIn.rbegin());
 		for(std::map<int, Transform>::iterator iter= poses.begin(); iter!=poses.end(); ++iter)
 		{
 			std::map<int, int>::const_iterator jter = mapIdsIn.find(iter->first);
@@ -2167,8 +2164,7 @@ void MainWindow::createAndAddCloudToMap(int nodeId, const Transform & pose, int
 		cloudWithoutNormals = util3d::cloudRGBFromSensorData(data,
 				_preferencesDialog->getCloudDecimation(0),
 				_preferencesDialog->getCloudMaxDepth(0),
-				0,
+				_preferencesDialog->getCloudMinDepth(0),
-				0,
 				indices.get());
 
 		//compute normals

guilib/src/OdometryViewer.cpp

@@ -235,11 +235,18 @@ void OdometryViewer::processData(const rtabmap::OdometryEvent & odom)
 		// visualization: buffering the clouds
 		// Create the new cloud
 		pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
+		pcl::IndicesPtr validIndices(new std::vector<int>);
 		cloud = util3d::cloudRGBFromSensorData(
 				odom.data(),
 				validDecimationValue_,
-				0.0f,
+				0,
-				voxelSpin_->value());
+				0,
+				validIndices.get());
+
+		if(voxelSpin_->value())
+		{
+			cloud = util3d::voxelize(cloud, validIndices, voxelSpin_->value());
+		}
 
 		if(cloud->size())
 		{

guilib/src/PreferencesDialog.cpp

@@ -281,6 +281,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_3dRenderingMaxDepth[0] = _ui->doubleSpinBox_maxDepth;
 	_3dRenderingMaxDepth[1] = _ui->doubleSpinBox_maxDepth_odom;
 
+	_3dRenderingMinDepth.resize(2);
+	_3dRenderingMinDepth[0] = _ui->doubleSpinBox_minDepth;
+	_3dRenderingMinDepth[1] = _ui->doubleSpinBox_minDepth_odom;
+
 	_3dRenderingOpacity.resize(2);
 	_3dRenderingOpacity[0] = _ui->doubleSpinBox_opacity;
 	_3dRenderingOpacity[1] = _ui->doubleSpinBox_opacity_odom;
@@ -322,6 +326,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 		connect(_3dRenderingShowClouds[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingDecimation[i], SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingMaxDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
+		connect(_3dRenderingMinDepth[i], SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingShowScans[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 		connect(_3dRenderingShowFeatures[i], SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 
@@ -1138,6 +1143,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 			_3dRenderingShowClouds[i]->setChecked(true);
 			_3dRenderingDecimation[i]->setValue(8);
 			_3dRenderingMaxDepth[i]->setValue(0.0);
+			_3dRenderingMinDepth[i]->setValue(0.0);
 			_3dRenderingShowScans[i]->setChecked(true);
 			_3dRenderingShowFeatures[i]->setChecked(i==0?false:true);
 
@@ -1477,6 +1483,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
 		_3dRenderingShowClouds[i]->setChecked(settings.value(QString("showClouds%1").arg(i), _3dRenderingShowClouds[i]->isChecked()).toBool());
 		_3dRenderingDecimation[i]->setValue(settings.value(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value()).toInt());
 		_3dRenderingMaxDepth[i]->setValue(settings.value(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value()).toDouble());
+		_3dRenderingMinDepth[i]->setValue(settings.value(QString("minDepth%1").arg(i), _3dRenderingMinDepth[i]->value()).toDouble());
 		_3dRenderingShowScans[i]->setChecked(settings.value(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked()).toBool());
 		_3dRenderingShowFeatures[i]->setChecked(settings.value(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked()).toBool());
 
@@ -1859,6 +1866,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
 		settings.setValue(QString("showClouds%1").arg(i), _3dRenderingShowClouds[i]->isChecked());
 		settings.setValue(QString("decimation%1").arg(i), _3dRenderingDecimation[i]->value());
 		settings.setValue(QString("maxDepth%1").arg(i), _3dRenderingMaxDepth[i]->value());
+		settings.setValue(QString("minDepth%1").arg(i), _3dRenderingMinDepth[i]->value());
 		settings.setValue(QString("showScans%1").arg(i), _3dRenderingShowScans[i]->isChecked());
 		settings.setValue(QString("showFeatures%1").arg(i), _3dRenderingShowFeatures[i]->isChecked());
 
@@ -3550,6 +3558,11 @@ double PreferencesDialog::getCloudMaxDepth(int index) const
 	UASSERT(index >= 0 && index <= 1);
 	return _3dRenderingMaxDepth[index]->value();
 }
+double PreferencesDialog::getCloudMinDepth(int index) const
+{
+	UASSERT(index >= 0 && index <= 1);
+	return _3dRenderingMinDepth[index]->value();
+}
 double PreferencesDialog::getCloudOpacity(int index) const
 {
 	UASSERT(index >= 0 && index <= 1);

guilib/src/ui/DatabaseViewer.ui

@@ -976,7 +976,7 @@
      <item>
       <widget class="QToolBox" name="toolBox">
        <property name="currentIndex">
-        <number>1</number>
+        <number>3</number>
        </property>
        <widget class="QWidget" name="page_3">
         <property name="geometry">
@@ -1118,9 +1118,9 @@
         <property name="geometry">
          <rect>
           <x>0</x>
-          <y>0</y>
+          <y>-51</y>
           <width>278</width>
-          <height>578</height>
+          <height>611</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1229,7 +1229,7 @@
                <double>0.400000000000000</double>
               </property>
               <property name="maximum">
-               <double>15.000000000000000</double>
+               <double>999.000000000000000</double>
               </property>
               <property name="singleStep">
                <double>1.000000000000000</double>
@@ -1246,21 +1246,21 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="1">
+            <item row="3" column="1">
              <widget class="QLabel" name="label_66">
               <property name="text">
                <string>Cluster size</string>
               </property>
              </widget>
             </item>
-            <item row="3" column="1">
+            <item row="4" column="1">
              <widget class="QLabel" name="label_67">
               <property name="text">
                <string>Max ground angle</string>
               </property>
              </widget>
             </item>
-            <item row="3" column="0">
+            <item row="4" column="0">
              <widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxAngle">
               <property name="suffix">
                <string> rad</string>
@@ -1282,7 +1282,7 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="0">
+            <item row="3" column="0">
              <widget class="QSpinBox" name="spinBox_projClusterSize">
               <property name="minimum">
                <number>1</number>
@@ -1295,6 +1295,35 @@
               </property>
              </widget>
             </item>
+            <item row="2" column="1">
+             <widget class="QLabel" name="label_40">
+              <property name="text">
+               <string>Cloud min depth</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QDoubleSpinBox" name="doubleSpinBox_projMinDepth">
+              <property name="suffix">
+               <string> m</string>
+              </property>
+              <property name="decimals">
+               <number>1</number>
+              </property>
+              <property name="minimum">
+               <double>0.000000000000000</double>
+              </property>
+              <property name="maximum">
+               <double>999.000000000000000</double>
+              </property>
+              <property name="singleStep">
+               <double>1.000000000000000</double>
+              </property>
+              <property name="value">
+               <double>0.000000000000000</double>
+              </property>
+             </widget>
+            </item>
            </layout>
           </widget>
          </item>
@@ -1501,8 +1530,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>289</width>
+          <width>201</width>
-          <height>182</height>
+          <height>117</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1656,7 +1685,7 @@
            </property>
           </widget>
          </item>
-         <item row="3" column="0">
+         <item row="4" column="0">
           <spacer name="verticalSpacer">
            <property name="orientation">
             <enum>Qt::Vertical</enum>
@@ -1669,6 +1698,19 @@
            </property>
           </spacer>
          </item>
+         <item row="3" column="2">
+          <widget class="QLabel" name="label_19">
+           <property name="text">
+            <string>Min depth</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0">
+          <widget class="QDoubleSpinBox" name="doubleSpinBox_icp_minDepth"/>
+         </item>
         </layout>
        </widget>
       </widget>

guilib/src/ui/exportCloudsDialog.ui

@@ -24,8 +24,8 @@
        <rect>
         <x>0</x>
         <y>0</y>
-        <width>773</width>
+        <width>778</width>
-        <height>1394</height>
+        <height>1318</height>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -203,6 +203,35 @@
               </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>

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-466</y>
             <width>686</width>
             <height>2023</height>
            </rect>
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>14</number>
+                <number>1</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -773,7 +773,17 @@ Show a yellow background when the number of odometry inliers goes under this thr
                        <enum>QFrame::Raised</enum>
                       </property>
                       <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
-                       <item row="11" column="0">
+                       <item row="9" column="0">
+                        <widget class="QCheckBox" name="checkBox_showScans">
+                         <property name="text">
+                          <string/>
+                         </property>
+                         <property name="checked">
+                          <bool>true</bool>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="12" column="0">
                         <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
                          <property name="suffix">
                           <string/>
@@ -792,7 +802,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="8" column="2">
+                       <item row="9" column="2">
                         <widget class="QLabel" name="label_110">
                          <property name="text">
                           <string>Show scans.</string>
@@ -818,7 +828,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="13" column="1">
+                       <item row="14" column="1">
                         <widget class="QCheckBox" name="checkBox_showOdomFeatures">
                          <property name="text">
                           <string/>
@@ -828,7 +838,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="13" column="0">
+                       <item row="14" column="0">
                         <widget class="QCheckBox" name="checkBox_showFeatures">
                          <property name="text">
                           <string/>
@@ -902,7 +912,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="6" column="0">
+                       <item row="7" column="0">
                         <widget class="QSpinBox" name="spinBox_ptsize">
                          <property name="minimum">
                           <number>1</number>
@@ -915,7 +925,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="11" column="1">
+                       <item row="12" column="1">
                         <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
                          <property name="suffix">
                           <string/>
@@ -934,16 +944,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="8" column="0">
-                        <widget class="QCheckBox" name="checkBox_showScans">
-                         <property name="text">
-                          <string/>
-                         </property>
-                         <property name="checked">
-                          <bool>true</bool>
-                         </property>
-                        </widget>
-                       </item>
                        <item row="3" column="2">
                         <widget class="QLabel" name="label_108">
                          <property name="text">
@@ -970,7 +970,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="5" column="2">
+                       <item row="6" column="2">
                         <widget class="QLabel" name="label_155">
                          <property name="text">
                           <string>3D cloud opacity.</string>
@@ -983,7 +983,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="6" column="1">
+                       <item row="7" column="1">
                         <widget class="QSpinBox" name="spinBox_ptsize_odom">
                          <property name="minimum">
                           <number>1</number>
@@ -996,7 +996,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="12" column="1">
+                       <item row="13" column="1">
                         <widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
                          <property name="minimum">
                           <number>1</number>
@@ -1006,7 +1006,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="12" column="2">
+                       <item row="13" column="2">
                         <widget class="QLabel" name="label_158">
                          <property name="text">
                           <string>Scan point size (1..64).</string>
@@ -1019,7 +1019,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="10" column="0">
+                       <item row="11" column="0">
                         <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
                          <property name="suffix">
                           <string> m</string>
@@ -1038,7 +1038,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="10" column="2">
+                       <item row="11" column="2">
                         <widget class="QLabel" name="label_271">
                          <property name="text">
                           <string>Scan voxel size.</string>
@@ -1051,7 +1051,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="9" column="1">
+                       <item row="10" column="1">
                         <widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
                          <property name="minimum">
                           <number>1</number>
@@ -1061,7 +1061,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="11" column="2">
+                       <item row="12" column="2">
                         <widget class="QLabel" name="label_156">
                          <property name="text">
                           <string>Scan opacity.</string>
@@ -1097,7 +1097,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="5" column="0">
+                       <item row="6" column="0">
                         <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
                          <property name="suffix">
                           <string/>
@@ -1116,7 +1116,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="8" column="1">
+                       <item row="9" column="1">
                         <widget class="QCheckBox" name="checkBox_showOdomScans">
                          <property name="text">
                           <string/>
@@ -1126,7 +1126,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="15" column="2">
+                       <item row="16" column="2">
                         <widget class="QLabel" name="label_213">
                          <property name="text">
                           <string>Show graphs.</string>
@@ -1139,7 +1139,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="15" column="0">
+                       <item row="16" column="0">
                         <widget class="QCheckBox" name="checkBox_showGraphs">
                          <property name="text">
                           <string/>
@@ -1149,7 +1149,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="5" column="1">
+                       <item row="6" column="1">
                         <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
                          <property name="suffix">
                           <string/>
@@ -1168,7 +1168,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="12" column="0">
+                       <item row="13" column="0">
                         <widget class="QSpinBox" name="spinBox_ptsize_scan">
                          <property name="minimum">
                           <number>1</number>
@@ -1188,7 +1188,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="16" column="2">
+                       <item row="17" column="2">
                         <widget class="QLabel" name="label_243">
                          <property name="text">
                           <string>Show labels.</string>
@@ -1201,7 +1201,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="16" column="0">
+                       <item row="17" column="0">
                         <widget class="QCheckBox" name="checkBox_showLabels">
                          <property name="text">
                           <string/>
@@ -1211,7 +1211,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="10" column="1">
+                       <item row="11" column="1">
                         <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom">
                          <property name="suffix">
                           <string> m</string>
@@ -1230,7 +1230,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="9" column="2">
+                       <item row="10" column="2">
                         <widget class="QLabel" name="label_273">
                          <property name="text">
                           <string>Scan downsampling step size.</string>
@@ -1243,7 +1243,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="9" column="0">
+                       <item row="10" column="0">
                         <widget class="QSpinBox" name="spinBox_downsamplingScan">
                          <property name="minimum">
                           <number>1</number>
@@ -1253,7 +1253,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="6" column="2">
+                       <item row="7" column="2">
                         <widget class="QLabel" name="label_157">
                          <property name="text">
                           <string>3D cloud point size (1..64).</string>
@@ -1279,7 +1279,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="13" column="2">
+                       <item row="14" column="2">
                         <widget class="QLabel" name="label_123">
                          <property name="text">
                           <string>Show 3D features.</string>
@@ -1292,7 +1292,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="14" column="2">
+                       <item row="15" column="2">
                         <widget class="QLabel" name="label_166">
                          <property name="text">
                           <string>Feature point size.</string>
@@ -1305,7 +1305,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="14" column="1">
+                       <item row="15" column="1">
                         <widget class="QSpinBox" name="spinBox_ptsize_odom_features">
                          <property name="minimum">
                           <number>1</number>
@@ -1315,7 +1315,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="14" column="0">
+                       <item row="15" column="0">
                         <widget class="QSpinBox" name="spinBox_ptsize_features">
                          <property name="minimum">
                           <number>1</number>
@@ -1325,6 +1325,60 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
+                       <item row="5" column="2">
+                        <widget class="QLabel" name="label_150">
+                         <property name="text">
+                          <string>3D cloud minimum depth.</string>
+                         </property>
+                         <property name="wordWrap">
+                          <bool>true</bool>
+                         </property>
+                         <property name="textInteractionFlags">
+                          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="5" 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>
+                       <item row="5" column="1">
+                        <widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth_odom">
+                         <property name="suffix">
+                          <string> m</string>
+                         </property>
+                         <property name="decimals">
+                          <number>1</number>
+                         </property>
+                         <property name="minimum">
+                          <double>0.000000000000000</double>
+                         </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>
                      </widget>
                     </item>