ExportCloudsDialog: Updated TextureMesh export. MainWindow: fixed exporting only visible clouds.

corelib/include/rtabmap/core/util3d.h

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/pcl_base.h>
+#include <pcl/TextureMesh.h>
 #include <rtabmap/core/Transform.h>
 #include <rtabmap/core/SensorData.h>
 #include <opencv2/core/core.hpp>
@@ -201,6 +202,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP concatenateClouds(
 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP concatenateClouds(
 		const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
 
+pcl::TextureMesh::Ptr RTABMAP_EXP concatenateTextureMeshes(
+		const std::list<pcl::TextureMesh::Ptr> & meshes);
+
 /**
  * @brief Concatenate a vector of indices to a single vector.
  *

corelib/src/util3d.cpp

@@ -1316,6 +1316,65 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr concatenateClouds(const std::list<pcl::Po
 	return cloud;
 }
 
+pcl::TextureMesh::Ptr concatenateTextureMeshes(const std::list<pcl::TextureMesh::Ptr> & meshes)
+{
+	pcl::TextureMesh::Ptr output(new pcl::TextureMesh);
+	std::map<std::string, int> addedMaterials; //<file, index>
+	for(std::list<pcl::TextureMesh::Ptr>::const_iterator iter = meshes.begin(); iter!=meshes.end(); ++iter)
+	{
+		// append point cloud
+		int polygonStep = output->cloud.height * output->cloud.width;
+		pcl::PCLPointCloud2 tmp;
+		pcl::concatenatePointCloud(output->cloud, iter->get()->cloud, tmp);
+		output->cloud = tmp;
+
+		UASSERT((*iter)->tex_polygons.size() == (*iter)->tex_coordinates.size() &&
+				(*iter)->tex_polygons.size() == (*iter)->tex_materials.size());
+
+		int materialCount = (*iter)->tex_polygons.size();
+		for(int i=0; i<materialCount; ++i)
+		{
+			std::map<std::string, int>::iterator jter = addedMaterials.find((*iter)->tex_materials[i].tex_file);
+			int index;
+			if(jter != addedMaterials.end())
+			{
+				index = jter->second;
+			}
+			else
+			{
+				addedMaterials.insert(std::make_pair((*iter)->tex_materials[i].tex_file, output->tex_materials.size()));
+				index = output->tex_materials.size();
+				output->tex_materials.push_back((*iter)->tex_materials[i]);
+				output->tex_materials.back().tex_name = uFormat("material_%d", index);
+				output->tex_polygons.resize(output->tex_polygons.size() + 1);
+				output->tex_coordinates.resize(output->tex_coordinates.size() + 1);
+			}
+
+			// update and append polygon indices
+			int oi = output->tex_polygons[index].size();
+			output->tex_polygons[index].resize(output->tex_polygons[index].size() + (*iter)->tex_polygons[i].size());
+			for(unsigned int j=0; j<(*iter)->tex_polygons[i].size(); ++j)
+			{
+				pcl::Vertices polygon = (*iter)->tex_polygons[i][j];
+				for(unsigned int k=0; k<polygon.vertices.size(); ++k)
+				{
+					polygon.vertices[k] += polygonStep;
+				}
+				output->tex_polygons[index][oi+j] = polygon;
+			}
+
+			// append uv coordinates
+			oi = output->tex_coordinates[index].size();
+			output->tex_coordinates[index].resize(output->tex_coordinates[index].size() + (*iter)->tex_coordinates[i].size());
+			for(unsigned int j=0; j<(*iter)->tex_coordinates[i].size(); ++j)
+			{
+				output->tex_coordinates[index][oi+j] = (*iter)->tex_coordinates[i][j];
+			}
+		}
+	}
+	return output;
+}
+
 pcl::IndicesPtr concatenate(const std::vector<pcl::IndicesPtr> & indices)
 {
 	//compute total size

corelib/src/util3d_surface.cpp

@@ -236,7 +236,7 @@ std::vector<pcl::Vertices> filterCloseVerticesFromMesh(
 		const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud,
 		const std::vector<pcl::Vertices> & polygons,
 		float radius,
-		float angle,
+		float angle, // FIXME angle not used
 		bool keepLatestInRadius)
 {
 	UDEBUG("size=%d polygons=%d radius=%f angle=%f keepLatest=%d",
@@ -428,21 +428,14 @@ pcl::TextureMesh::Ptr createTextureMesh(
 		const std::map<int, cv::Mat> & images,
 		const std::string & tmpDirectory)
 {
+	pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
+	textureMesh->cloud = mesh->cloud;
+	textureMesh->tex_polygons.push_back(mesh->polygons);
+
 	// Original from pcl/gpu/kinfu_large_scale/tools/standalone_texture_mapping.cpp:
 	// Author: Raphael Favier, Technical University Eindhoven, (r.mysurname <aT> tue.nl)
 
 	// Create the texturemesh object that will contain our UV-mapped mesh
-	pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
-	textureMesh->cloud = mesh->cloud;
-	std::vector< pcl::Vertices> polygons;
-
-	// push faces into the texturemesh object
-	polygons.resize (mesh->polygons.size ());
-	for(size_t i =0; i < mesh->polygons.size (); ++i)
-	{
-		polygons[i] = mesh->polygons[i];
-	}
-	textureMesh->tex_polygons.push_back(polygons);
 
 	// create cameras
 	pcl::texture_mapping::CameraVector cameras = createTextureCameras(
@@ -498,7 +491,7 @@ pcl::TextureMesh::Ptr createTextureMesh(
 		textureMesh->tex_materials[i] = mesh_material;
 	}
 
-	// Sort faces
+	// Texture by projection
 	pcl::TextureMapping<pcl::PointXYZ> tm; // TextureMapping object that will perform the sort
 	tm.textureMeshwithMultipleCameras(*textureMesh, cameras);
 

guilib/src/ExportCloudsDialog.cpp

@@ -671,6 +671,9 @@ bool ExportCloudsDialog::getExportedClouds(
 			QApplication::processEvents();
 		}
 
+		//used for organized texturing below
+		std::map<int, std::pair<std::map<int, int>, std::pair<int, int> > > organizedIndices;
+
 		//mesh
 		UDEBUG("Meshing=%d", _ui->groupBox_meshing->isChecked()?1:0);
 		if(_ui->groupBox_meshing->isChecked())
@@ -700,9 +703,35 @@ bool ExportCloudsDialog::getExportedClouds(
 
 						pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
 						std::vector<pcl::Vertices> densePolygons;
-						util3d::filterNotUsedVerticesFromMesh(*iter->second, polygons, *denseCloud, densePolygons);
+						std::map<int, int> newToOldIndices = util3d::filterNotUsedVerticesFromMesh(*iter->second, polygons, *denseCloud, densePolygons);
 
-						if(_ui->checkBox_assemble->isChecked())
+						if(!_ui->checkBox_assemble->isChecked() ||
+							 (_ui->checkBox_textureMapping->isEnabled() &&
+							  _ui->checkBox_textureMapping->isChecked() &&
+							  _ui->doubleSpinBox_voxelSize_assembled->value() == 0.0)) // don't assemble now if we are texturing
+						{
+							if(_ui->checkBox_assemble->isChecked())
+							{
+								denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
+							}
+
+							pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
+							pcl::toPCLPointCloud2(*denseCloud, mesh->cloud);
+							mesh->polygons = densePolygons;
+							if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
+							   _ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
+							{
+								int count = mesh->polygons.size();
+								mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
+								_progressDialog->appendText(tr("Mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
+							}
+							else
+							{
+								organizedIndices.insert(std::make_pair(iter->first, std::make_pair(newToOldIndices, std::make_pair(iter->second->width, iter->second->height))));
+							}
+							meshes.insert(std::make_pair(iter->first, mesh));
+						}
+						else
 						{
 							denseCloud = util3d::transformPointCloud(denseCloud, poses.at(iter->first));
 							if(mergedClouds->size() == 0)
@@ -715,46 +744,6 @@ bool ExportCloudsDialog::getExportedClouds(
 								util3d::appendMesh(*mergedClouds, mergedPolygons, *denseCloud, densePolygons);
 							}
 						}
-						else
-						{
-							if(_ui->doubleSpinBox_voxelSize_assembled->value() == 0.0)
-							{
-								pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
-								pcl::toPCLPointCloud2(*denseCloud, mesh->cloud);
-								mesh->polygons = densePolygons;
-								if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
-								   _ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
-								{
-									int count = mesh->polygons.size();
-									mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
-									_progressDialog->appendText(tr("Assembled mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
-								}
-								meshes.insert(std::make_pair(iter->first, mesh));
-							}
-							else
-							{
-								densePolygons = util3d::filterCloseVerticesFromMesh(
-										denseCloud,
-										densePolygons,
-										_ui->doubleSpinBox_voxelSize_assembled->value(),
-										M_PI/4,
-										true);
-								pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr filteredCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
-								std::vector<pcl::Vertices> filteredPolygons;
-								util3d::filterNotUsedVerticesFromMesh(*denseCloud, densePolygons, *filteredCloud, filteredPolygons);
-								pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
-								pcl::toPCLPointCloud2(*filteredCloud, mesh->cloud);
-								mesh->polygons = filteredPolygons;
-								if(_ui->doubleSpinBox_meshDecimationFactor->isEnabled() &&
-								   _ui->doubleSpinBox_meshDecimationFactor->value() > 0.0)
-								{
-									int count = mesh->polygons.size();
-									mesh = util3d::meshDecimation(mesh, (float)_ui->doubleSpinBox_meshDecimationFactor->value());
-									_progressDialog->appendText(tr("Assembled mesh decimation (factor=%1) from %2 to %3 polygons").arg(_ui->doubleSpinBox_meshDecimationFactor->value()).arg(count).arg(mesh->polygons.size()));
-								}
-								meshes.insert(std::make_pair(iter->first, mesh));
-							}
-						}
 					}
 					else
 					{
@@ -769,7 +758,7 @@ bool ExportCloudsDialog::getExportedClouds(
 				{
 					if(_ui->doubleSpinBox_voxelSize_assembled->value())
 					{
-						_progressDialog->appendText(tr("Filtering assembled mesh (points=%1, polygons=%2)...").arg(mergedClouds->size()).arg(mergedPolygons.size()));
+						_progressDialog->appendText(tr("Filtering assembled mesh for close vertices (points=%1, polygons=%2)...").arg(mergedClouds->size()).arg(mergedPolygons.size()));
 						QApplication::processEvents();
 
 						mergedPolygons = util3d::filterCloseVerticesFromMesh(
@@ -865,7 +854,7 @@ bool ExportCloudsDialog::getExportedClouds(
 				else
 				{
 					UASSERT(uContains(poses, iter->first));
-					cameras.insert(std::make_pair(iter->first, Transform::getIdentity()));
+					cameras.insert(std::make_pair(iter->first, _ui->checkBox_assemble->isChecked()?poses.at(iter->first):Transform::getIdentity()));
 				}
 				std::map<int, Transform> cameraPoses;
 				std::map<int, CameraModel> cameraModels;
@@ -899,12 +888,67 @@ bool ExportCloudsDialog::getExportedClouds(
 				}
 				if(cameraPoses.size())
 				{
-					pcl::TextureMesh::Ptr textureMesh = util3d::createTextureMesh(
-							iter->second,
-							cameraPoses,
-							cameraModels,
-							images,
-							dir.filePath("tmp_textures").toStdString());
+					pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
+					std::map<int, std::pair<std::map<int, int>, std::pair<int, int> > >::iterator oter = organizedIndices.find(iter->first);
+					if(iter->first != 0 && oter != organizedIndices.end())
+					{
+						UDEBUG("Texture by pixels");
+						textureMesh->cloud = iter->second->cloud;
+						textureMesh->tex_polygons.push_back(iter->second->polygons);
+						int w = oter->second.second.first;
+						int h = oter->second.second.second;
+						UASSERT(w > 1 && h > 1);
+						UASSERT(textureMesh->tex_polygons.size() && textureMesh->tex_polygons[0].size());
+						textureMesh->tex_coordinates.resize(1);
+						int polygonSize = textureMesh->tex_polygons[0][0].vertices.size();
+						textureMesh->tex_coordinates[0].resize(polygonSize*textureMesh->tex_polygons[0].size());
+						for(unsigned int i=0; i<textureMesh->tex_polygons[0].size(); ++i)
+						{
+							const pcl::Vertices & vertices = textureMesh->tex_polygons[0][i];
+							UASSERT(polygonSize == vertices.vertices.size());
+							for(int k=0; k<polygonSize; ++k)
+							{
+								//uv
+								std::map<int, int>::iterator vter = oter->second.first.find(vertices.vertices[k]);
+								UASSERT(vter != oter->second.first.end());
+								int originalVertex = vter->second;
+								textureMesh->tex_coordinates[0][i*polygonSize+k] = Eigen::Vector2f(
+										float(originalVertex % w) / float(w),   // u
+										float(h - originalVertex / w) / float(h)); // v
+							}
+						}
+						pcl::TexMaterial mesh_material;
+						mesh_material.tex_d = 1.0f;
+						mesh_material.tex_Ns = 75.0f;
+						mesh_material.tex_illum = 1;
+
+						std::stringstream tex_name;
+						tex_name << "material_" << iter->first;
+						tex_name >> mesh_material.tex_name;
+
+						std::string tmpDirectory = dir.filePath("tmp_textures").toStdString();
+						mesh_material.tex_file = uFormat("%s/%s%d.png", tmpDirectory.c_str(), "texture_", iter->first);
+						if(!cv::imwrite(mesh_material.tex_file, images.at(iter->first)))
+						{
+							UERROR("Cannot save texture of image %d", iter->first);
+						}
+						else
+						{
+							UINFO("Saved temporary texture: \"%s\"", mesh_material.tex_file.c_str());
+						}
+
+						textureMesh->tex_materials.push_back(mesh_material);
+					}
+					else
+					{
+						UDEBUG("Texture by projection");
+						textureMesh = util3d::createTextureMesh(
+								iter->second,
+								cameraPoses,
+								cameraModels,
+								images,
+								dir.filePath("tmp_textures").toStdString());
+					}
 
 					textureMeshes.insert(std::make_pair(iter->first, textureMesh));
 				}
@@ -918,6 +962,18 @@ bool ExportCloudsDialog::getExportedClouds(
 				QApplication::processEvents();
 			}
 
+			if(textureMeshes.size() > 1 && _ui->checkBox_assemble->isChecked())
+			{
+				_progressDialog->appendText(tr("Assembling %1 meshes...").arg(textureMeshes.size()));
+				QApplication::processEvents();
+				uSleep(100);
+				QApplication::processEvents();
+
+				pcl::TextureMesh::Ptr assembledMesh = util3d::concatenateTextureMeshes(uValuesList(textureMeshes));
+				textureMeshes.clear();
+				textureMeshes.insert(std::make_pair(0, assembledMesh));
+			}
+
 		}
 
 		return true;
@@ -1202,6 +1258,9 @@ void ExportCloudsDialog::saveMeshes(
 			if(meshes.begin()->second->polygons.size())
 			{
 				_progressDialog->appendText(tr("Saving the mesh (%1 polygons)...").arg(meshes.begin()->second->polygons.size()));
+				QApplication::processEvents();
+				uSleep(100);
+				QApplication::processEvents();
 
 				bool success =false;
 				if(QFileInfo(path).suffix() == "")
@@ -1350,6 +1409,9 @@ void ExportCloudsDialog::saveTextureMeshes(
 			if(meshes.begin()->second->tex_materials.size())
 			{
 				_progressDialog->appendText(tr("Saving the mesh (with %1 textures)...").arg(meshes.begin()->second->tex_materials.size()));
+				QApplication::processEvents();
+				uSleep(100);
+				QApplication::processEvents();
 
 				bool success =false;
 				if(QFileInfo(path).suffix() == "")
@@ -1424,7 +1486,8 @@ void ExportCloudsDialog::saveTextureMeshes(
 							QString fullPath = path+QDir::separator()+currentPrefix+QDir::separator()+info.fileName();
 							// relative path
 							mesh.tex_materials[i].tex_file=(currentPrefix+QDir::separator()+info.fileName()).toStdString();
-							if(!QFile::copy(iter->second->tex_materials[i].tex_file.c_str(), fullPath))
+							if(!QFile::copy(iter->second->tex_materials[i].tex_file.c_str(), fullPath) &&
+									info.fileName().compare("occluded.png") != 0)
 							{
 								_progressDialog->appendText(tr("Failed copying texture \"%1\" to \"%2\".")
 										.arg(iter->second->tex_materials[i].tex_file.c_str()).arg(fullPath), Qt::darkRed);

guilib/src/MainWindow.cpp

@@ -4978,7 +4978,7 @@ void MainWindow::viewScans()
 	}
 
 	_exportScansDialog->viewScans(
-			_currentPosesMap,
+			_ui->widget_mapVisibility->getVisiblePoses(),
 			_currentMapIds,
 			_cachedSignatures,
 			_createdScans,
@@ -4994,7 +4994,7 @@ void MainWindow::exportClouds()
 	}
 
 	_exportCloudsDialog->exportClouds(
-			_currentPosesMap,
+			_ui->widget_mapVisibility->getVisiblePoses(),
 			_currentMapIds,
 			_cachedSignatures,
 			_createdClouds,

guilib/src/MapVisibilityWidget.cpp

@@ -45,6 +45,10 @@ MapVisibilityWidget::MapVisibilityWidget(QWidget * parent) : QWidget(parent) {
 	QVBoxLayout * layout2 = new QVBoxLayout(scrollAreaWidgetContent);
 	scrollAreaWidgetContent->setLayout(layout2);
 	scrollArea->setWidget(scrollAreaWidgetContent);
+
+	QCheckBox * selectAll = new QCheckBox("Select all", this);
+	connect(selectAll, SIGNAL(toggled(bool)), this, SLOT(selectAll(bool)));
+	verticalLayout1->addWidget(selectAll);
 	verticalLayout1->addWidget(scrollArea);
 }
 
@@ -126,4 +130,14 @@ void MapVisibilityWidget::signalVisibility()
 	emit visibilityChanged(check->text().split('(').first().toInt(), check->isChecked());
 }
 
+void MapVisibilityWidget::selectAll(bool checked)
+{
+	QWidget * area = this->findChild<QWidget*>("area");
+	QList<QCheckBox*> checkboxes = area->findChildren<QCheckBox*>();
+	for(int i = 0; i<checkboxes.size(); ++i)
+	{
+		checkboxes[i]->setChecked(checked);
+	}
+}
+
 } /* namespace rtabmap */

guilib/src/MapVisibilityWidget.h

@@ -50,6 +50,7 @@ protected:
 
 private slots:
 	void signalVisibility();
+	void selectAll(bool);
 
 private:
 	void updateCheckBoxes();

guilib/src/ui/exportCloudsDialog.ui

@@ -25,13 +25,13 @@
         <x>0</x>
         <y>0</y>
         <width>773</width>
-        <height>1422</height>
+        <height>1394</height>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_13">
        <item>
         <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
-         <item row="1" column="1">
+         <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>
@@ -41,24 +41,7 @@
            </property>
           </widget>
          </item>
-         <item row="4" column="1">
-          <widget class="QLabel" name="label_12">
-           <property name="text">
-            <string>Reconstruction flavor.</string>
-           </property>
-          </widget>
-         </item>
-         <item row="2" column="1">
-          <widget class="QLabel" name="label_111">
-           <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="2" column="0">
+         <item row="3" column="0">
           <widget class="QSpinBox" name="spinBox_normalKSearch">
            <property name="minimum">
             <number>0</number>
@@ -68,7 +51,7 @@
            </property>
           </widget>
          </item>
-         <item row="0" column="1">
+         <item row="1" column="1">
           <widget class="QLabel" name="label_binaryFile">
            <property name="text">
             <string>Binary file.</string>
@@ -78,7 +61,7 @@
            </property>
           </widget>
          </item>
-         <item row="0" column="0">
+         <item row="1" column="0">
           <widget class="QCheckBox" name="checkBox_binary">
            <property name="text">
             <string/>
@@ -88,29 +71,15 @@
            </property>
           </widget>
          </item>
-         <item row="4" 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="0">
+         <item row="2" column="0">
           <widget class="QCheckBox" name="checkBox_assemble">
            <property name="text">
             <string/>
            </property>
           </widget>
          </item>
-         <item row="3" column="1">
-          <widget class="QLabel" name="label_109">
+         <item row="4" column="1">
+          <widget class="QLabel" name="label_voxel">
            <property name="text">
             <string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</string>
            </property>
@@ -119,7 +88,7 @@
            </property>
           </widget>
          </item>
-         <item row="3" column="0">
+         <item row="4" column="0">
           <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
            <property name="suffix">
             <string> m</string>
@@ -138,6 +107,37 @@
            </property>
           </widget>
          </item>
+         <item row="3" column="1">
+          <widget class="QLabel" name="label_normal">
+           <property name="text">
+            <string>Set the number of k nearest neighbors to use for the normal estimation.</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QLabel" name="label_12">
+           <property name="text">
+            <string>Reconstruction flavor.</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QComboBox" name="comboBox_pipeline">
+           <item>
+            <property name="text">
+             <string>Organized Point Cloud</string>
+            </property>
+           </item>
+           <item>
+            <property name="text">
+             <string>Dense Point Cloud</string>
+            </property>
+           </item>
+          </widget>
+         </item>
         </layout>
        </item>
        <item>