Export clouds/poses: frame reference can be selected when clouds are not assembled

guilib/include/rtabmap/gui/MainWindow.h

@@ -326,6 +326,7 @@ private:
 	LoopClosureViewer * _loopClosureViewer;
 
 	QString _graphSavingFileName;
+	bool _exportPosesFrame;
 	QMap<int, QString> _exportPosesFileName;
 	bool _autoScreenCaptureOdomSync;
 	bool _autoScreenCaptureRAM;

guilib/src/ExportCloudsDialog.cpp

@@ -115,6 +115,8 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->checkBox_assemble, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_assemble, SIGNAL(clicked(bool)), this, SLOT(updateReconstructionFlavor()));
 	connect(_ui->doubleSpinBox_voxelSize_assembled, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->comboBox_frame, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->comboBox_frame, SIGNAL(currentIndexChanged(int)), this, SLOT(updateReconstructionFlavor()));
 
 	connect(_ui->checkBox_subtraction, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_subtraction, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
@@ -263,6 +265,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 
 	settings.setValue("assemble", _ui->checkBox_assemble->isChecked());
 	settings.setValue("assemble_voxel",_ui->doubleSpinBox_voxelSize_assembled->value());
+	settings.setValue("frame",_ui->comboBox_frame->currentIndex());
 
 	settings.setValue("subtract",_ui->checkBox_subtraction->isChecked());
 	settings.setValue("subtract_point_radius",_ui->doubleSpinBox_subtractPointFilteringRadius->value());
@@ -370,6 +373,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 
 	_ui->checkBox_assemble->setChecked(settings.value("assemble", _ui->checkBox_assemble->isChecked()).toBool());
 	_ui->doubleSpinBox_voxelSize_assembled->setValue(settings.value("assemble_voxel", _ui->doubleSpinBox_voxelSize_assembled->value()).toDouble());
+	_ui->comboBox_frame->setCurrentIndex(settings.value("frame", _ui->comboBox_frame->currentIndex()).toInt());
 
 	_ui->checkBox_subtraction->setChecked(settings.value("subtract",_ui->checkBox_subtraction->isChecked()).toBool());
 	_ui->doubleSpinBox_subtractPointFilteringRadius->setValue(settings.value("subtract_point_radius",_ui->doubleSpinBox_subtractPointFilteringRadius->value()).toDouble());
@@ -477,6 +481,7 @@ void ExportCloudsDialog::restoreDefaults()
 
 	_ui->checkBox_assemble->setChecked(true);
 	_ui->doubleSpinBox_voxelSize_assembled->setValue(0.0);
+	_ui->comboBox_frame->setCurrentIndex(0);
 
 	_ui->checkBox_subtraction->setChecked(false);
 	_ui->doubleSpinBox_subtractPointFilteringRadius->setValue(0.02);
@@ -558,10 +563,17 @@ void ExportCloudsDialog::updateReconstructionFlavor()
 	_ui->checkBox_smoothing->setVisible(_ui->comboBox_pipeline->currentIndex() == 1);
 	_ui->checkBox_smoothing->setEnabled(_ui->comboBox_pipeline->currentIndex() == 1);
 
+	_ui->comboBox_frame->setEnabled(!_ui->checkBox_assemble->isChecked() && _ui->checkBox_binary->isEnabled());
+	_ui->comboBox_frame->setVisible(_ui->comboBox_frame->isEnabled());
+	_ui->label_frame->setVisible(_ui->comboBox_frame->isEnabled());
+	_ui->checkBox_gainCompensation->setEnabled(!(_ui->comboBox_frame->isEnabled() && _ui->comboBox_frame->currentIndex() == 2));
+	_ui->checkBox_gainCompensation->setVisible(_ui->checkBox_gainCompensation->isEnabled());
+	_ui->label_gainCompensation->setVisible(_ui->checkBox_gainCompensation->isEnabled());
+
 	_ui->groupBox_regenerate->setVisible(_ui->checkBox_regenerate->isChecked());
 	_ui->groupBox_bilateral->setVisible(_ui->checkBox_bilateral->isChecked());
 	_ui->groupBox_filtering->setVisible(_ui->checkBox_filtering->isChecked());
-	_ui->groupBox_gain->setVisible(_ui->checkBox_gainCompensation->isChecked());
+	_ui->groupBox_gain->setVisible(_ui->checkBox_gainCompensation->isEnabled() && _ui->checkBox_gainCompensation->isChecked());
 	_ui->groupBox_mls->setVisible(_ui->checkBox_smoothing->isEnabled() && _ui->checkBox_smoothing->isChecked());
 	_ui->groupBox_meshing->setVisible(_ui->checkBox_meshing->isChecked());
 	_ui->groupBox_subtraction->setVisible(_ui->checkBox_subtraction->isChecked());
@@ -1060,7 +1072,9 @@ bool ExportCloudsDialog::getExportedClouds(
 					_ui->comboBox_pipeline->currentIndex()==1 &&
 					_ui->checkBox_assemble->isChecked() &&
 					_ui->comboBox_meshingTextureSize->isEnabled() &&
-					_ui->comboBox_meshingTextureSize->currentIndex() > 0))
+					_ui->comboBox_meshingTextureSize->currentIndex() > 0) &&
+				// Don't do compensation if clouds are in camera frame
+				!(_ui->comboBox_frame->isEnabled() && _ui->comboBox_frame->currentIndex()==2))
 		{
 			UASSERT(_compensator == 0);
 			_compensator = new GainCompensator(_ui->doubleSpinBox_gainRadius->value(), _ui->doubleSpinBox_gainOverlap->value(), 0.01, _ui->doubleSpinBox_gainBeta->value());
@@ -1196,7 +1210,7 @@ bool ExportCloudsDialog::getExportedClouds(
 			return false;
 		}
 
-		std::map<int, Transform> viewPoints = poses;
+		std::map<int, Transform> mlsViewPoints = poses;
 		if(_ui->checkBox_smoothing->isEnabled() && _ui->checkBox_smoothing->isChecked())
 		{
 			_progressDialog->appendText(tr("Smoothing the surface using Moving Least Squares (MLS) algorithm... "
@@ -1205,29 +1219,32 @@ bool ExportCloudsDialog::getExportedClouds(
 			uSleep(100);
 			QApplication::processEvents();
 
-			// Adjust view points with local transforms
+			if(_ui->checkBox_assemble->isChecked())
-			for(std::map<int, Transform>::iterator iter= viewPoints.begin(); iter!=viewPoints.end(); ++iter)
 			{
-				std::vector<CameraModel> models;
+				// Adjust view points with local transforms
-				StereoCameraModel stereoModel;
+				for(std::map<int, Transform>::iterator iter= mlsViewPoints.begin(); iter!=mlsViewPoints.end(); ++iter)
-				if(cachedSignatures.contains(iter->first))
 				{
-					const SensorData & data = cachedSignatures.find(iter->first)->sensorData();
+					std::vector<CameraModel> models;
-					models = data.cameraModels();
+					StereoCameraModel stereoModel;
-					stereoModel = data.stereoCameraModel();
+					if(cachedSignatures.contains(iter->first))
-				}
+					{
-				else if(_dbDriver)
+						const SensorData & data = cachedSignatures.find(iter->first)->sensorData();
-				{
+						models = data.cameraModels();
-					_dbDriver->getCalibration(iter->first, models, stereoModel);
+						stereoModel = data.stereoCameraModel();
-				}
+					}
+					else if(_dbDriver)
+					{
+						_dbDriver->getCalibration(iter->first, models, stereoModel);
+					}
 
-				if(models.size() && !models[0].localTransform().isNull())
+					if(models.size() && !models[0].localTransform().isNull())
-				{
+					{
-					iter->second *= models[0].localTransform();
+						iter->second *= models[0].localTransform();
-				}
+					}
-				else if(!stereoModel.localTransform().isNull())
+					else if(!stereoModel.localTransform().isNull())
-				{
+					{
-					iter->second *= stereoModel.localTransform();
+						iter->second *= stereoModel.localTransform();
+					}
 				}
 			}
 		}
@@ -1289,7 +1306,7 @@ bool ExportCloudsDialog::getExportedClouds(
 					_progressDialog->appendText(tr("Update %1 normals with %2 camera views...").arg(cloudWithNormals->size()).arg(poses.size()));
 
 					util3d::adjustNormalsToViewPoints(
-							viewPoints,
+							mlsViewPoints,
 							rawAssembledCloud,
 							rawCameraIndices,
 							cloudWithNormals);
@@ -1422,17 +1439,21 @@ bool ExportCloudsDialog::getExportedClouds(
 							else
 #endif
 							{
-								if(models.size() && !models[0].localTransform().isNull())
+								if((_ui->comboBox_frame->isEnabled() && _ui->comboBox_frame->currentIndex() != 2) ||
+									!iter->second->isOrganized())
 								{
-									viewpoint[0] = models[0].localTransform().x();
+									if(models.size() && !models[0].localTransform().isNull())
-									viewpoint[1] = models[0].localTransform().y();
+									{
-									viewpoint[2] = models[0].localTransform().z();
+										viewpoint[0] = models[0].localTransform().x();
-								}
+										viewpoint[1] = models[0].localTransform().y();
-								else if(!stereoModel.localTransform().isNull())
+										viewpoint[2] = models[0].localTransform().z();
-								{
+									}
-									viewpoint[0] = stereoModel.localTransform().x();
+									else if(!stereoModel.localTransform().isNull())
-									viewpoint[1] = stereoModel.localTransform().y();
+									{
-									viewpoint[2] = stereoModel.localTransform().z();
+										viewpoint[0] = stereoModel.localTransform().x();
+										viewpoint[1] = stereoModel.localTransform().y();
+										viewpoint[2] = stereoModel.localTransform().z();
+									}
 								}
 
 								std::vector<pcl::Vertices> polygons = util3d::organizedFastMesh(
@@ -2184,6 +2205,7 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 		{
 			pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
 			pcl::IndicesPtr indices(new std::vector<int>);
+			Transform localTransform = Transform::getIdentity();
 			if(_ui->checkBox_regenerate->isChecked())
 			{
 				SensorData data;
@@ -2267,12 +2289,14 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 						Eigen::Vector3f viewPoint(0.0f,0.0f,0.0f);
 						if(data.cameraModels().size() && !data.cameraModels()[0].localTransform().isNull())
 						{
+							localTransform = data.cameraModels()[0].localTransform();
 							viewPoint[0] = data.cameraModels()[0].localTransform().x();
 							viewPoint[1] = data.cameraModels()[0].localTransform().y();
 							viewPoint[2] = data.cameraModels()[0].localTransform().z();
 						}
 						else if(!data.stereoCameraModel().localTransform().isNull())
 						{
+							localTransform = data.stereoCameraModel().localTransform();
 							viewPoint[0] = data.stereoCameraModel().localTransform().x();
 							viewPoint[1] = data.stereoCameraModel().localTransform().y();
 							viewPoint[2] = data.stereoCameraModel().localTransform().z();
@@ -2362,12 +2386,14 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 
 				if(models.size() && !models[0].localTransform().isNull())
 				{
+					localTransform = models[0].localTransform();
 					viewPoint[0] = models[0].localTransform().x();
 					viewPoint[1] = models[0].localTransform().y();
 					viewPoint[2] = models[0].localTransform().z();
 				}
 				else if(!stereoModel.localTransform().isNull())
 				{
+					localTransform = stereoModel.localTransform();
 					viewPoint[0] = stereoModel.localTransform().x();
 					viewPoint[1] = stereoModel.localTransform().y();
 					viewPoint[2] = stereoModel.localTransform().z();
@@ -2393,6 +2419,12 @@ std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::Indic
 				{
 					indices = util3d::radiusFiltering(cloud, indices, _ui->doubleSpinBox_filteringRadius->value(), _ui->spinBox_filteringMinNeighbors->value());
 				}
+
+				if((_ui->comboBox_frame->isEnabled() && _ui->comboBox_frame->currentIndex()==2) && cloud->isOrganized())
+				{
+					cloud = util3d::transformPointCloud(cloud, localTransform.inverse()); // put back in camera frame
+				}
+
 				clouds.insert(std::make_pair(iter->first, std::make_pair(cloud, indices)));
 				points = (int)cloud->size();
 				totalIndices = (int)indices->size();
@@ -2502,7 +2534,7 @@ void ExportCloudsDialog::saveClouds(
 						if(iter->second->size())
 						{
 							pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformedCloud;
-							transformedCloud = util3d::transformPointCloud(iter->second, poses.at(iter->first));
+							transformedCloud = util3d::transformPointCloud(iter->second, !_ui->comboBox_frame->isEnabled()||_ui->comboBox_frame->currentIndex()==0?poses.at(iter->first):Transform::getIdentity());
 
 							QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
 							bool success =false;
@@ -2642,14 +2674,14 @@ void ExportCloudsDialog::saveMeshes(
 							{
 								pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZRGB>);
 								pcl::fromPCLPointCloud2(iter->second->cloud, *tmp);
-								tmp = util3d::transformPointCloud(tmp, poses.at(iter->first));
+								tmp = util3d::transformPointCloud(tmp, !_ui->comboBox_frame->isEnabled()||_ui->comboBox_frame->currentIndex()==0?poses.at(iter->first):Transform::getIdentity());
 								pcl::toPCLPointCloud2(*tmp, mesh.cloud);
 							}
 							else
 							{
 								pcl::PointCloud<pcl::PointXYZ>::Ptr tmp(new pcl::PointCloud<pcl::PointXYZ>);
 								pcl::fromPCLPointCloud2(iter->second->cloud, *tmp);
-								tmp = util3d::transformPointCloud(tmp, poses.at(iter->first));
+								tmp = util3d::transformPointCloud(tmp, !_ui->comboBox_frame->isEnabled()||_ui->comboBox_frame->currentIndex()==0?poses.at(iter->first):Transform::getIdentity());
 								pcl::toPCLPointCloud2(*tmp, mesh.cloud);
 							}
 
@@ -3564,7 +3596,7 @@ void ExportCloudsDialog::saveTextureMeshes(
 						}
 						pcl::PointCloud<pcl::PointNormal>::Ptr tmp(new pcl::PointCloud<pcl::PointNormal>);
 						pcl::fromPCLPointCloud2(mesh->cloud, *tmp);
-						tmp = util3d::transformPointCloud(tmp, poses.at(iter->first));
+						tmp = util3d::transformPointCloud(tmp, !_ui->comboBox_frame->isEnabled()||_ui->comboBox_frame->currentIndex()==0?poses.at(iter->first):Transform::getIdentity());
 						pcl::toPCLPointCloud2(*tmp, mesh->cloud);
 
 						QString pathFile = path+QDir::separator()+QString("%1.%3").arg(currentPrefix).arg(suffix);

guilib/src/MainWindow.cpp

@@ -163,6 +163,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_posteriorCurve(0),
 	_likelihoodCurve(0),
 	_rawLikelihoodCurve(0),
+	_exportPosesFrame(0),
 	_autoScreenCaptureOdomSync(false),
 	_autoScreenCaptureRAM(false),
 	_firstCall(true),
@@ -4737,20 +4738,94 @@ void MainWindow::exportPoses(int format)
 {
 	if(_currentPosesMap.size())
 	{
+		std::map<int, Transform> poses;
+		QStringList items;
+		items.push_back("Robot");
+		items.push_back("Camera");
+		items.push_back("Scan");
+		QString item = QInputDialog::getItem(this, tr("Export Poses"), tr("Frame: "), items, _exportPosesFrame, false);
+		if(item.isEmpty())
+		{
+			return;
+		}
+		if(item.compare("Robot") != 0)
+		{
+			bool cameraFrame = item.compare("Camera") == 0;
+			_exportPosesFrame = cameraFrame?1:2;
+			for(std::map<int, Transform>::iterator iter=_currentPosesMap.begin(); iter!=_currentPosesMap.end(); ++iter)
+			{
+				if(_cachedSignatures.contains(iter->first))
+				{
+					Transform localTransform;
+					if(cameraFrame)
+					{
+						if((_cachedSignatures[iter->first].sensorData().cameraModels().size() == 1 &&
+							!_cachedSignatures[iter->first].sensorData().cameraModels().at(0).localTransform().isNull()))
+						{
+							localTransform = _cachedSignatures[iter->first].sensorData().cameraModels().at(0).localTransform();
+						}
+						else if(!_cachedSignatures[iter->first].sensorData().stereoCameraModel().localTransform().isNull())
+						{
+							localTransform = _cachedSignatures[iter->first].sensorData().stereoCameraModel().localTransform();
+						}
+						else if(_cachedSignatures[iter->first].sensorData().cameraModels().size()>1)
+						{
+							UWARN("Multi-camera is not supported (node %d)", iter->first);
+						}
+						else
+						{
+							UWARN("Missing calibration for node %d", iter->first);
+						}
+					}
+					else
+					{
+						if(!_cachedSignatures[iter->first].sensorData().laserScanInfo().localTransform().isNull())
+						{
+							localTransform = _cachedSignatures[iter->first].sensorData().laserScanInfo().localTransform();
+						}
+						else
+						{
+							UWARN("Missing scan info for node %d", iter->first);
+						}
+					}
+					if(!localTransform.isNull())
+					{
+						poses.insert(std::make_pair(iter->first, iter->second * localTransform));
+					}
+				}
+				else
+				{
+					UWARN("Did not find node %d in cache", iter->first);
+				}
+			}
+			if(poses.empty())
+			{
+				QMessageBox::warning(this,
+						tr("Export Poses"),
+						tr("Could not find any \"%1\" frame, exporting in Robot frame instead.").arg(item));
+				poses = _currentPosesMap;
+			}
+		}
+		else
+		{
+			_exportPosesFrame = 0;
+			poses = _currentPosesMap;
+		}
+
 		std::map<int, double> stamps;
 		if(format == 1)
 		{
-			for(std::map<int, Transform>::iterator iter=_currentPosesMap.begin(); iter!=_currentPosesMap.end(); ++iter)
+			for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
 			{
 				if(_cachedSignatures.contains(iter->first))
 				{
 					stamps.insert(std::make_pair(iter->first, _cachedSignatures.value(iter->first).getStamp()));
 				}
 			}
-			if(stamps.size()!=_currentPosesMap.size())
+			if(stamps.size()!=poses.size())
 			{
 				QMessageBox::warning(this, tr("Export poses..."), tr("RGB-D SLAM format: Poses (%1) and stamps (%2) have not the same size! Try again after updating the cache.")
-						.arg(_currentPosesMap.size()).arg(stamps.size()));
+						.arg(poses.size()).arg(stamps.size()));
 				return;
 			}
 		}
@@ -4770,7 +4845,24 @@ void MainWindow::exportPoses(int format)
 		{
 			_exportPosesFileName[format] = path;
 
-			bool saved = graph::exportPoses(path.toStdString(), format, _currentPosesMap, _currentLinksMap, stamps);
+			std::multimap<int, Link> links;
+			if(poses.size() != _currentPosesMap.size())
+			{
+				for(std::multimap<int, Link>::iterator iter=_currentLinksMap.begin(); iter!=_currentLinksMap.end(); ++iter)
+				{
+					if(uContains(poses, iter->second.from()) && uContains(poses, iter->second.to()))
+					{
+						links.insert(*iter);
+					}
+				}
+			}
+			else
+			{
+				links = _currentLinksMap;
+			}
+
+
+			bool saved = graph::exportPoses(path.toStdString(), format, poses, links, stamps);
 
 			if(saved)
 			{

guilib/src/ui/exportCloudsDialog.ui

@@ -23,89 +23,25 @@
       <property name="geometry">
        <rect>
         <x>0</x>
-        <y>-3080</y>
+        <y>0</y>
-        <width>778</width>
+        <width>773</width>
-        <height>3701</height>
+        <height>3795</height>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_13">
        <item>
         <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
-         <item row="2" column="0">
+         <item row="10" column="1">
-          <widget class="QCheckBox" name="checkBox_assemble">
+          <widget class="QLabel" name="label_binaryFile_12">
            <property name="text">
-            <string/>
+            <string>Meshing.</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="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="8" column="0">
-          <widget class="QCheckBox" name="checkBox_gainCompensation">
-           <property name="text">
-            <string/>
-           </property>
-          </widget>
-         </item>
          <item row="5" column="1">
-          <widget class="QLabel" name="label_binaryFile_8">
-           <property name="text">
-            <string>Regenerate clouds. This can be used to regenerate the point clouds at higher density than those used for online visualization.</string>
-           </property>
-           <property name="wordWrap">
-            <bool>true</bool>
-           </property>
-          </widget>
-         </item>
-         <item row="8" column="1">
-          <widget class="QLabel" name="label_binaryFile_11">
-           <property name="text">
-            <string>Gain compensation. Normalize brightness of images.</string>
-           </property>
-           <property name="wordWrap">
-            <bool>true</bool>
-           </property>
-          </widget>
-         </item>
-         <item row="3" column="0">
-          <widget class="QSpinBox" name="spinBox_normalKSearch">
-           <property name="minimum">
-            <number>3</number>
-           </property>
-           <property name="value">
-            <number>20</number>
-           </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>
@@ -115,38 +51,65 @@
            </property>
           </widget>
          </item>
-         <item row="1" column="1">
+         <item row="4" column="0">
-          <widget class="QLabel" name="label_binaryFile">
+          <widget class="QSpinBox" name="spinBox_normalKSearch">
+           <property name="minimum">
+            <number>3</number>
+           </property>
+           <property name="value">
+            <number>20</number>
+           </property>
+          </widget>
+         </item>
+         <item row="10" column="0">
+          <widget class="QCheckBox" name="checkBox_meshing">
            <property name="text">
-            <string>Binary file.</string>
+            <string/>
+           </property>
+          </widget>
+         </item>
+         <item row="7" column="1">
+          <widget class="QLabel" name="label_binaryFile_9">
+           <property name="text">
+            <string>Cloud filtering. Remove sparse points that are far from surfaces.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item row="0" column="0">
+         <item row="8" column="0">
-          <widget class="QComboBox" name="comboBox_pipeline">
+          <widget class="QCheckBox" name="checkBox_smoothing">
-           <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="0" column="1">
-          <widget class="QLabel" name="label_12">
            <property name="text">
-            <string>Reconstruction flavor.</string>
+            <string/>
            </property>
           </widget>
          </item>
-         <item row="4" column="0">
+         <item row="7" column="0">
+          <widget class="QCheckBox" name="checkBox_filtering">
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+         </item>
+         <item row="6" column="0">
+          <widget class="QCheckBox" name="checkBox_regenerate">
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+         </item>
+         <item row="8" column="1">
+          <widget class="QLabel" name="label_binaryFile_10">
+           <property name="text">
+            <string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="5" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
            <property name="suffix">
             <string> m</string>
@@ -165,51 +128,41 @@
            </property>
           </widget>
          </item>
-         <item row="7" column="1">
+         <item row="0" column="1">
-          <widget class="QLabel" name="label_binaryFile_10">
+          <widget class="QLabel" name="label_12">
            <property name="text">
-            <string>Cloud smoothing using Moving Least Squares algorithm (MLS).</string>
+            <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="5" column="0">
-          <widget class="QCheckBox" name="checkBox_regenerate">
-           <property name="text">
-            <string/>
-           </property>
-          </widget>
-         </item>
-         <item row="6" column="0">
-          <widget class="QCheckBox" name="checkBox_filtering">
-           <property name="text">
-            <string/>
-           </property>
-          </widget>
-         </item>
-         <item row="7" column="0">
-          <widget class="QCheckBox" name="checkBox_smoothing">
-           <property name="text">
-            <string/>
-           </property>
-          </widget>
-         </item>
          <item row="6" column="1">
-          <widget class="QLabel" name="label_binaryFile_9">
+          <widget class="QLabel" name="label_binaryFile_8">
            <property name="text">
-            <string>Cloud filtering. Remove sparse points that are far from surfaces.</string>
+            <string>Regenerate clouds. This can be used to regenerate the point clouds at higher density than those used for online visualization.</string>
-           </property>
-           <property name="wordWrap">
-            <bool>true</bool>
-           </property>
-          </widget>
-         </item>
-         <item row="9" column="1">
-          <widget class="QLabel" name="label_binaryFile_12">
-           <property name="text">
-            <string>Meshing.</string>
            </property>
            <property name="wordWrap">
             <bool>true</bool>
@@ -217,12 +170,88 @@
           </widget>
          </item>
          <item row="9" column="0">
-          <widget class="QCheckBox" name="checkBox_meshing">
+          <widget class="QCheckBox" name="checkBox_gainCompensation">
            <property name="text">
             <string/>
            </property>
           </widget>
          </item>
+         <item row="4" 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="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="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="2" column="0">
+          <widget class="QCheckBox" name="checkBox_assemble">
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+         </item>
+         <item row="9" column="1">
+          <widget class="QLabel" name="label_gainCompensation">
+           <property name="text">
+            <string>Gain compensation. Normalize brightness of images.</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="1">
+          <widget class="QLabel" name="label_frame">
+           <property name="text">
+            <string>Output frame.</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0">
+          <widget class="QComboBox" name="comboBox_frame">
+           <item>
+            <property name="text">
+             <string>Map</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>Robot</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>Camera</string>
+            </property>
+           </item>
+          </widget>
+         </item>
         </layout>
        </item>
        <item>