Export: added rgb/gray gain compensation option, added maximum outout textures option (can be useful for #189).

corelib/include/rtabmap/core/GainCompensator.h

@@ -73,18 +73,22 @@ public:
 
 	void apply(
 			int id,
-			pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud) const;
+			pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+			bool rgb = true) const;
 	void apply(
 			int id,
 			pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
-			const pcl::IndicesPtr & indices) const;
+			const pcl::IndicesPtr & indices,
+			bool rgb = true) const;
 	void apply(
 			int id,
 			pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
-			const pcl::IndicesPtr & indices) const;
+			const pcl::IndicesPtr & indices,
+			bool rgb = true) const;
 	void apply(
 			int id,
-			cv::Mat & image) const;
+			cv::Mat & image,
+			bool rgb = true) const;
 
 	double getGain(int id, double * r=0, double * g=0, double * b=0) const;
 	int getIndex(int id) const;

corelib/include/rtabmap/core/util3d.h

@@ -264,7 +264,7 @@ pcl::TextureMesh::Ptr RTABMAP_EXP concatenateTextureMeshes(
 		const std::list<pcl::TextureMesh::Ptr> & meshes);
 
 void RTABMAP_EXP concatenateTextureMaterials(
-		pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, float & scale, std::vector<bool> * materialsKept=0);
+		pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept=0);
 
 /**
  * @brief Concatenate a vector of indices to a single vector.

corelib/src/GainCompensator.cpp

@@ -394,11 +394,12 @@ void applyImpl(
 		int index,
 		typename pcl::PointCloud<PointT>::Ptr & cloud,
 		const pcl::IndicesPtr & indices,
-		const cv::Mat_<double> & gains)
+		const cv::Mat_<double> & gains,
+		bool rgb)
 {
-	double gainR = gains(index, 1);
+	double gainR = gains(index, rgb?1:0);
-	double gainG = gains(index, 2);
+	double gainG = gains(index, rgb?2:0);
-	double gainB = gains(index, 3);
+	double gainB = gains(index, rgb?3:0);
 	UDEBUG("index=%d gain=%f (%f,%f,%f)", index, gains(index, 0), gainR, gainG, gainB);
 	if(indices->size())
 	{
@@ -424,34 +425,38 @@ void applyImpl(
 
 void GainCompensator::apply(
 		int id,
-		pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud) const
+		pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		bool rgb) const
 {
 	pcl::IndicesPtr indices(new std::vector<int>);
-	apply(id, cloud, indices);
+	apply(id, cloud, indices, rgb);
 }
 void GainCompensator::apply(
 		int id,
 		pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
-		const pcl::IndicesPtr & indices) const
+		const pcl::IndicesPtr & indices,
+		bool rgb) const
 {
 	UASSERT_MSG(uContains(idToIndex_, id), uFormat("id=%d idToIndex_.size()=%d", id, (int)idToIndex_.size()).c_str());
-	applyImpl<pcl::PointXYZRGB>(idToIndex_.at(id), cloud, indices, gains_);
+	applyImpl<pcl::PointXYZRGB>(idToIndex_.at(id), cloud, indices, gains_, rgb);
 }
 void GainCompensator::apply(
 		int id,
 		pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
-		const pcl::IndicesPtr & indices) const
+		const pcl::IndicesPtr & indices,
+		bool rgb) const
 {
 	UASSERT_MSG(uContains(idToIndex_, id), uFormat("id=%d idToIndex_.size()=%d", id, (int)idToIndex_.size()).c_str());
-	applyImpl<pcl::PointXYZRGBNormal>(idToIndex_.at(id), cloud, indices, gains_);
+	applyImpl<pcl::PointXYZRGBNormal>(idToIndex_.at(id), cloud, indices, gains_, rgb);
 }
 
 void GainCompensator::apply(
 		int id,
-		cv::Mat & image) const
+		cv::Mat & image,
+		bool rgb) const
 {
 	UASSERT_MSG(uContains(idToIndex_, id), uFormat("id=%d idToIndex_.size()=%d", id, (int)idToIndex_.size()).c_str());
-	if(image.channels() == 1)
+	if(image.channels() == 1 || !rgb)
 	{
 		cv::multiply(image, gains_(idToIndex_.at(id), 0), image);
 	}

corelib/src/util3d.cpp

@@ -1988,9 +1988,13 @@ int gcd(int a, int b) {
     return b == 0 ? a : gcd(b, a % b);
 }
 
-void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, float & scale, std::vector<bool> * materialsKept)
+void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept)
 {
 	UASSERT(textureSize>0 && imageSize.width>0 && imageSize.height>0);
+	if(maxTextures < 1)
+	{
+		maxTextures = 1;
+	}
 	int materials = 0;
 	for(unsigned int i=0; i<mesh.tex_materials.size(); ++i)
 	{
@@ -2012,7 +2016,7 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
 		float factor = 0.1f;
 		float epsilon = 0.001f;
 		scale = 1.0f;
-		while(colCount*rowCount < materials || (factor == 0.1f || scale > 1.0f))
+		while((colCount*rowCount)*maxTextures < materials || (factor == 0.1f || scale > 1.0f))
 		{
 			// first run try scale = 1 (no scaling)
 			if(factor!=0.1f)
@@ -2023,28 +2027,30 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
 			rowCount = float(textureSize)/(scale*float(h));
 			factor+=epsilon; // search the maximum perfect fit
 		}
-		UDEBUG("materials=%d col=%d row=%d factor=%f scale=%f", materials, colCount, rowCount, factor-epsilon, scale);
+		int outputTextures = (materials / (colCount*rowCount))+1;
+		UDEBUG("materials=%d col=%d row=%d output textures=%d factor=%f scale=%f", materials, colCount, rowCount, outputTextures, factor-epsilon, scale);
 
 		UASSERT(mesh.tex_coordinates.size() == mesh.tex_materials.size() && mesh.tex_polygons.size() == mesh.tex_materials.size());
 
 		// prepare size
-		int totalPolygons = 0;
+		std::vector<int> totalPolygons(outputTextures, 0);
-		int totalCoordinates = 0;
+		std::vector<int> totalCoordinates(outputTextures, 0);
+		int count = 0;
 		for(unsigned int i=0; i<mesh.tex_materials.size(); ++i)
 		{
 			if(mesh.tex_polygons[i].size())
 			{
-				totalPolygons+=mesh.tex_polygons[i].size();
+				int indexMaterial = count / (colCount*rowCount);
-				totalCoordinates+=mesh.tex_coordinates[i].size();
+				UASSERT(indexMaterial < outputTextures);
+
+				totalPolygons[indexMaterial]+=mesh.tex_polygons[i].size();
+				totalCoordinates[indexMaterial]+=mesh.tex_coordinates[i].size();
+
+				++count;
 			}
 		}
 
-		std::vector<pcl::Vertices> newPolygons(totalPolygons);
+		pcl::TextureMesh outputMesh;
-#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
-		std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > newCoordinates(totalCoordinates); // UV coordinates
-#else
-		std::vector<Eigen::Vector2f> newCoordinates(totalCoordinates); // UV coordinates
-#endif
 
 		int pi = 0;
 		int ci = 0;
@@ -2061,7 +2067,24 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
 		{
 			if(mesh.tex_polygons[t].size())
 			{
-				int row = ti/colCount;
+				int indexMaterial = ti / (colCount*rowCount);
+				UASSERT(indexMaterial < outputTextures);
+				if(outputMesh.tex_polygons.size() <= indexMaterial)
+				{
+					std::vector<pcl::Vertices> newPolygons(totalPolygons[indexMaterial]);
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+					std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > newCoordinates(totalCoordinates[indexMaterial]); // UV coordinates
+#else
+					std::vector<Eigen::Vector2f> newCoordinates(totalCoordinates[indexMaterial]); // UV coordinates
+#endif
+					outputMesh.tex_polygons.push_back(newPolygons);
+					outputMesh.tex_coordinates.push_back(newCoordinates);
+
+					pi=0;
+					ci=0;
+				}
+
+				int row = (ti/colCount) % rowCount;
 				int col = ti%colCount;
 				float offsetU = scaledWidth * float(col);
 				float offsetV = scaledHeight * float((rowCount - 1) - row) + lowerBorderSize;
@@ -2069,7 +2092,8 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
 
 				for(unsigned int i=0; i<mesh.tex_polygons[t].size(); ++i)
 				{
-					newPolygons[pi++] = mesh.tex_polygons[t].at(i);
+					UASSERT(pi < (int)outputMesh.tex_polygons[indexMaterial].size());
+					outputMesh.tex_polygons[indexMaterial][pi++] = mesh.tex_polygons[t].at(i);
 				}
 
 				for(unsigned int i=0; i<mesh.tex_coordinates[t].size(); ++i)
@@ -2077,12 +2101,12 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
 					const Eigen::Vector2f & v = mesh.tex_coordinates[t].at(i);
 					if(v[0] >= 0 && v[1] >=0)
 					{
-						newCoordinates[ci][0] = v[0]*scaledWidth + offsetU;
+						outputMesh.tex_coordinates[indexMaterial][ci][0] = v[0]*scaledWidth + offsetU;
-						newCoordinates[ci][1] = v[1]*scaledHeight + offsetV;
+						outputMesh.tex_coordinates[indexMaterial][ci][1] = v[1]*scaledHeight + offsetV;
 					}
 					else
 					{
-						newCoordinates[ci] = v;
+						outputMesh.tex_coordinates[indexMaterial][ci] = v;
 					}
 					++ci;
 				}
@@ -2095,13 +2119,20 @@ void concatenateTextureMaterials(pcl::TextureMesh & mesh, const cv::Size & image
 		}
 		pcl::TexMaterial m = mesh.tex_materials.front();
 		mesh.tex_materials.clear();
+		for(int i=0; i<outputTextures; ++i)
+		{
 			m.tex_file = "texture";
 			m.tex_name = "material";
+			if(outputTextures > 1)
+			{
+				m.tex_file += uNumber2Str(i);
+				m.tex_name += uNumber2Str(i);
+			}
+
 			mesh.tex_materials.push_back(m);
-		mesh.tex_coordinates.clear();
+		}
-		mesh.tex_coordinates.push_back(newCoordinates);
+		mesh.tex_coordinates = outputMesh.tex_coordinates;
-		mesh.tex_polygons.clear();
+		mesh.tex_polygons = outputMesh.tex_polygons;
-		mesh.tex_polygons.push_back(newPolygons);
 	}
 }
 

guilib/src/ExportCloudsDialog.cpp

@@ -144,6 +144,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->doubleSpinBox_gainRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_gainOverlap, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_gainBeta, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->checkBox_gainRGB, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->checkBox_gainFull, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->spinBox_textureBrightnessContrastRatioLow, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->spinBox_textureBrightnessContrastRatioHigh, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
@@ -167,6 +168,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 	connect(_ui->checkBox_textureMapping, SIGNAL(stateChanged(int)), this, SLOT(updateReconstructionFlavor()));
 	connect(_ui->comboBox_meshingTextureFormat, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->comboBox_meshingTextureSize, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_mesh_maxTextures, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->doubleSpinBox_meshingTextureMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
 	connect(_ui->spinBox_mesh_minTextureClusterSize, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
 	connect(_ui->lineEdit_meshingTextureRoiRatios, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
@@ -289,6 +291,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("gain_radius", _ui->doubleSpinBox_gainRadius->value());
 	settings.setValue("gain_overlap", _ui->doubleSpinBox_gainOverlap->value());
 	settings.setValue("gain_beta", _ui->doubleSpinBox_gainBeta->value());
+	settings.setValue("gain_rgb", _ui->checkBox_gainRGB->isChecked());
 	settings.setValue("gain_full", _ui->checkBox_gainFull->isChecked());
 
 	settings.setValue("mesh", _ui->checkBox_meshing->isChecked());
@@ -305,6 +308,7 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
 	settings.setValue("mesh_texture", _ui->checkBox_textureMapping->isChecked());
 	settings.setValue("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex());
 	settings.setValue("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex());
+	settings.setValue("mesh_textureMaxCount", _ui->spinBox_mesh_maxTextures->value());
 	settings.setValue("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value());
 	settings.setValue("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value());
 	settings.setValue("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text());
@@ -398,6 +402,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_ui->doubleSpinBox_gainRadius->setValue(settings.value("gain_radius", _ui->doubleSpinBox_gainRadius->value()).toDouble());
 	_ui->doubleSpinBox_gainOverlap->setValue(settings.value("gain_overlap", _ui->doubleSpinBox_gainOverlap->value()).toDouble());
 	_ui->doubleSpinBox_gainBeta->setValue(settings.value("gain_beta", _ui->doubleSpinBox_gainBeta->value()).toDouble());
+	_ui->checkBox_gainRGB->setChecked(settings.value("gain_rgb", _ui->checkBox_gainRGB->isChecked()).toBool());
 	_ui->checkBox_gainFull->setChecked(settings.value("gain_full", _ui->checkBox_gainFull->isChecked()).toBool());
 
 	_ui->checkBox_meshing->setChecked(settings.value("mesh", _ui->checkBox_meshing->isChecked()).toBool());
@@ -414,6 +419,7 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
 	_ui->checkBox_textureMapping->setChecked(settings.value("mesh_texture", _ui->checkBox_textureMapping->isChecked()).toBool());
 	_ui->comboBox_meshingTextureFormat->setCurrentIndex(settings.value("mesh_textureFormat", _ui->comboBox_meshingTextureFormat->currentIndex()).toInt());
 	_ui->comboBox_meshingTextureSize->setCurrentIndex(settings.value("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex()).toInt());
+	_ui->spinBox_mesh_maxTextures->setValue(settings.value("mesh_textureMaxCount", _ui->spinBox_mesh_maxTextures->value()).toInt());
 	_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(settings.value("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value()).toDouble());
 	_ui->spinBox_mesh_minTextureClusterSize->setValue(settings.value("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value()).toDouble());
 	_ui->lineEdit_meshingTextureRoiRatios->setText(settings.value("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text()).toString());
@@ -507,6 +513,7 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->doubleSpinBox_gainRadius->setValue(0.02);
 	_ui->doubleSpinBox_gainOverlap->setValue(0.0);
 	_ui->doubleSpinBox_gainBeta->setValue(10);
+	_ui->checkBox_gainRGB->setChecked(true);
 	_ui->checkBox_gainFull->setChecked(false);
 
 	_ui->checkBox_meshing->setChecked(false);
@@ -523,6 +530,7 @@ void ExportCloudsDialog::restoreDefaults()
 	_ui->checkBox_textureMapping->setChecked(false);
 	_ui->comboBox_meshingTextureFormat->setCurrentIndex(0);
 	_ui->comboBox_meshingTextureSize->setCurrentIndex(5); // 4096
+	_ui->spinBox_mesh_maxTextures->setValue(1);
 	_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(3.0);
 	_ui->spinBox_mesh_minTextureClusterSize->setValue(50);
 	_ui->lineEdit_meshingTextureRoiRatios->setText("0.0 0.0 0.0 0.0");
@@ -834,7 +842,12 @@ void ExportCloudsDialog::viewClouds(
 				cv::Mat globalTexture;
 				if (mesh->tex_materials.size() > 1)
 				{
-					globalTexture = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels);
+					std::vector<cv::Mat> globalTextures;
+					globalTextures = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels, 1);
+					if(globalTextures.size() == 1)
+					{
+						globalTexture = globalTextures[0];
+					}
 				}
 
 				_progressDialog->appendText(tr("Viewing the mesh %1 (%2 polygons)...").arg(iter->first).arg(mesh->tex_polygons.size()?mesh->tex_polygons[0].size():0));
@@ -902,7 +915,7 @@ void ExportCloudsDialog::viewClouds(
 						UASSERT(!globalTexture.empty());
 						if (_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
 						{
-							_compensator->apply(textureId, globalTexture);
+							_compensator->apply(textureId, globalTexture, _ui->checkBox_gainRGB->isChecked());
 						}
 					}
 					else
@@ -1155,7 +1168,7 @@ bool ExportCloudsDialog::getExportedClouds(
 					if(jter!=clouds.end())
 					{
 						double gain = _compensator->getGain(jter->first);;
-						_compensator->apply(jter->first, jter->second.first, jter->second.second);
+						_compensator->apply(jter->first, jter->second.first, jter->second.second, _ui->checkBox_gainRGB->isChecked());
 
 						_progressDialog->appendText(tr("Cloud %1 has gain %2").arg(jter->first).arg(gain));
 						_progressDialog->incrementStep();
@@ -2988,10 +3001,11 @@ double sqr(uchar v)
 	return double(v)*double(v);
 }
 
-cv::Mat ExportCloudsDialog::mergeTextures(
+std::vector<cv::Mat> ExportCloudsDialog::mergeTextures(
 		pcl::TextureMesh & mesh,
 		const QMap<int, Signature> & cachedSignatures,
-		const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels) const
+		const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels,
+		int maxTextures) const
 {
 	//get texture size, if disabled use default 1024
 	int textureSize = 1024;
@@ -3000,7 +3014,7 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 		textureSize = 128 << _ui->comboBox_meshingTextureSize->currentIndex(); // start at 256
 	}
 	UDEBUG("textureSize = %d", textureSize);
-	cv::Mat globalTexture;
+	std::vector<cv::Mat> globalTextures;
 	if(mesh.tex_materials.size() > 1)
 	{
 		std::vector<std::pair<int, int> > textures(mesh.tex_materials.size(), std::pair<int, int>(-1,-1));
@@ -3094,13 +3108,20 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 			float scale = 0.0f;
 			UDEBUG("");
 			std::vector<bool> materialsKept;
-			util3d::concatenateTextureMaterials(mesh, imageSize, textureSize, scale, &materialsKept);
+			util3d::concatenateTextureMaterials(mesh, imageSize, textureSize, maxTextures, scale, &materialsKept);
-			if(scale && mesh.tex_materials.size()==1)
+			if(scale && mesh.tex_materials.size())
 			{
+				int materials = (int)mesh.tex_materials.size();
 				int cols = float(textureSize)/(scale*imageSize.width);
+				int rows = float(textureSize)/(scale*imageSize.height);
 
-				globalTexture = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
+				std::vector<cv::Mat> globalTextureMasks(materials);
-				cv::Mat globalTextureMask = cv::Mat(textureSize, textureSize, CV_8UC1, cv::Scalar::all(0));
+				globalTextures.resize(materials);
+				for(int i=0; i<materials; ++i)
+				{
+					globalTextures[i] = cv::Mat(textureSize, textureSize, imageType, cv::Scalar::all(255));
+					globalTextureMasks[i] = cv::Mat(textureSize, textureSize, CV_8UC1, cv::Scalar::all(0));
+				}
 
 				// used for multi camera texturing, to avoid reloading same texture for sub cameras
 				cv::Mat previousImage;
@@ -3117,9 +3138,12 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 				{
 					if(materialsKept.at(t))
 					{
+						int indexMaterial = oi / (cols*rows);
+						UASSERT(indexMaterial < materials);
+
 						newCamIndex[t] = oi;
 						int u = oi%cols * emptyImage.cols;
-						int v = oi/cols * emptyImage.rows;
+						int v = ((oi/cols) % rows ) * emptyImage.rows;
 						UASSERT(u < textureSize-emptyImage.cols);
 						UASSERT(v < textureSize-emptyImage.rows);
 						imageOrigin[t].x = u;
@@ -3176,15 +3200,15 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 							}
 							if(_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textures[t].first) >= 0)
 							{
-								_compensator->apply(textures[t].first, resizedImage);
+								_compensator->apply(textures[t].first, resizedImage, _ui->checkBox_gainRGB->isChecked());
 							}
-							UASSERT(resizedImage.type() == globalTexture.type());
+							UASSERT(resizedImage.type() == globalTextures[indexMaterial].type());
-							resizedImage.copyTo(globalTexture(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
+							resizedImage.copyTo(globalTextures[indexMaterial](cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
-							emptyImageMask.copyTo(globalTextureMask(cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
+							emptyImageMask.copyTo(globalTextureMasks[indexMaterial](cv::Rect(u, v, resizedImage.cols, resizedImage.rows)));
 						}
 						else
 						{
-							emptyImage.copyTo(globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
+							emptyImage.copyTo(globalTextures[indexMaterial](cv::Rect(u, v, emptyImage.cols, emptyImage.rows)));
 						}
 						++oi;
 					}
@@ -3227,13 +3251,15 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 											N(i, j) += 1;
 											N(j, i) += 1;
 
+											int indexMaterial = i / (cols*rows);
+
 											// uv in globalTexture
 											int ui = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
 											int vi = (1.0-iter->second.y)*emptyImage.rows + imageOrigin[iter->first].y;
 											int uj = jter->second.x*emptyImage.cols + imageOrigin[jter->first].x;
 											int vj = (1.0-jter->second.y)*emptyImage.rows + imageOrigin[jter->first].y;
-											cv::Vec3b * pt1 = globalTexture.ptr<cv::Vec3b>(vi,ui);
+											cv::Vec3b * pt1 = globalTextures[indexMaterial].ptr<cv::Vec3b>(vi,ui);
-											cv::Vec3b * pt2 = globalTexture.ptr<cv::Vec3b>(vj,uj);
+											cv::Vec3b * pt2 = globalTextures[indexMaterial].ptr<cv::Vec3b>(vj,uj);
 
 											I(i, j) += std::sqrt(static_cast<double>(sqr(pt1->val[0]) + sqr(pt1->val[1]) + sqr(pt1->val[2])));
 											I(j, i) += std::sqrt(static_cast<double>(sqr(pt2->val[0]) + sqr(pt2->val[1]) + sqr(pt2->val[2])));
@@ -3323,14 +3349,17 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 
 								UDEBUG("Gain cam%d = %f", newCamIndex[t], gainsGray(newCamIndex[t], 0));
 
-								cv::Mat roi = globalTexture(cv::Rect(u, v, emptyImage.cols, emptyImage.rows));
+								int indexMaterial = newCamIndex[t] / (cols*rows);
+								cv::Mat roi = globalTextures[indexMaterial](cv::Rect(u, v, emptyImage.cols, emptyImage.rows));
 
 								std::vector<cv::Mat> channels;
 								cv::split(roi, channels);
+
 								// assuming BGR
-								cv::multiply(channels[0], gains(newCamIndex[t], 3), channels[0]);
+								cv::multiply(channels[0], gains(newCamIndex[t], _ui->checkBox_gainRGB->isChecked()?3:0), channels[0]);
-								cv::multiply(channels[1], gains(newCamIndex[t], 2), channels[1]);
+								cv::multiply(channels[1], gains(newCamIndex[t], _ui->checkBox_gainRGB->isChecked()?2:0), channels[1]);
-								cv::multiply(channels[2], gains(newCamIndex[t], 1), channels[2]);
+								cv::multiply(channels[2], gains(newCamIndex[t], _ui->checkBox_gainRGB->isChecked()?1:0), channels[2]);
+
 								cv::merge(channels, roi);
 							}
 						}
@@ -3352,17 +3381,20 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 								int polygonSize = mesh.tex_polygons[0][0].vertices.size();
 								UDEBUG("polygon size=%d", polygonSize);
 
-								for(unsigned int i=0; i<mesh.tex_coordinates[0].size(); i+=polygonSize)
+								for(unsigned int k=0; k<mesh.tex_coordinates.size(); ++k)
+								{
+									for(unsigned int i=0; i<mesh.tex_coordinates[k].size(); i+=polygonSize)
 									{
 										for(int j=0; j<polygonSize; ++j)
 										{
-										const Eigen::Vector2f & uc1 = mesh.tex_coordinates[0][i + j];
+											const Eigen::Vector2f & uc1 = mesh.tex_coordinates[k][i + j];
-										const Eigen::Vector2f & uc2 = mesh.tex_coordinates[0][i + (j+1)%polygonSize];
+											const Eigen::Vector2f & uc2 = mesh.tex_coordinates[k][i + (j+1)%polygonSize];
 											Eigen::Vector2f edge = (uc1-uc2)*textureSize;
 											edgeLengths.push_back(fabs(edge[0]));
 											edgeLengths.push_back(fabs(edge[1]));
 										}
 									}
+								}
 								float edgeLength = 0.0f;
 								if(edgeLengths.size())
 								{
@@ -3390,7 +3422,12 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 							UDEBUG("decimation=%d", decimation);
 						}
 
-						cv::Mat blendGains(globalTexture.rows/decimation, globalTexture.cols/decimation, CV_32FC3, cv::Scalar::all(1.0f));
+						std::vector<cv::Mat> blendGains(materials);
+						for(int i=0; i<materials;++i)
+						{
+							blendGains[i] = cv::Mat(globalTextures[i].rows/decimation, globalTextures[i].cols/decimation, CV_32FC3, cv::Scalar::all(1.0f));
+						}
+
 						for(unsigned int p=0; p<textureVertexToPixels.size(); ++p)
 						{
 							if(textureVertexToPixels[p].size() > 1)
@@ -3413,7 +3450,8 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 										{
 											weight = 0.0f;
 										}
-										cv::Vec3b * pt = globalTexture.ptr<cv::Vec3b>(v,u);
+										int indexMaterial = newCamIndex[iter->first] / (cols*rows);
+										cv::Vec3b * pt = globalTextures[indexMaterial].ptr<cv::Vec3b>(v,u);
 										gainsB[k] = static_cast<double>(pt->val[0]) * weight;
 										gainsG[k] = static_cast<double>(pt->val[1]) * weight;
 										gainsR[k] = static_cast<double>(pt->val[2]) * weight;
@@ -3437,11 +3475,12 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 										{
 											int u = iter->second.x*emptyImage.cols + imageOrigin[iter->first].x;
 											int v = (1.0-iter->second.y)*emptyImage.rows + imageOrigin[iter->first].y;
-											cv::Vec3b * pt = globalTexture.ptr<cv::Vec3b>(v,u);
+											int indexMaterial = newCamIndex[iter->first] / (cols*rows);
+											cv::Vec3b * pt = globalTextures[indexMaterial].ptr<cv::Vec3b>(v,u);
 											float gB = targetColor[0]/(pt->val[0]==0?1.0f:pt->val[0]);
 											float gG = targetColor[1]/(pt->val[1]==0?1.0f:pt->val[1]);
 											float gR = targetColor[2]/(pt->val[2]==0?1.0f:pt->val[2]);
-											cv::Vec3f * ptr = blendGains.ptr<cv::Vec3f>(v/decimation, u/decimation);
+											cv::Vec3f * ptr = blendGains[indexMaterial].ptr<cv::Vec3f>(v/decimation, u/decimation);
 											ptr->val[0] = (gB>1.3f)?1.3f:(gB<0.7f)?0.7f:gB;
 											ptr->val[1] = (gG>1.3f)?1.3f:(gG<0.7f)?0.7f:gG;
 											ptr->val[2] = (gR>1.3f)?1.3f:(gR<0.7f)?0.7f:gR;
@@ -3451,6 +3490,8 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 							}
 						}
 
+						for(int i=0; i<materials; ++i)
+						{
 							/*std::vector<cv::Mat> channels;
 							cv::split(blendGains, channels);
 							cv::Mat img;
@@ -3462,8 +3503,8 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 							cv::imwrite("blendSmallR.png", img);*/
 
 							cv::Mat dst;
-						cv::blur(blendGains, dst, cv::Size(3,3));
+							cv::blur(blendGains[i], dst, cv::Size(3,3));
-						cv::resize(dst, blendGains, globalTexture.size(), 0, 0, cv::INTER_LINEAR);
+							cv::resize(dst, blendGains[i], globalTextures[i].size(), 0, 0, cv::INTER_LINEAR);
 
 							/*cv::split(blendGains, channels);
 							channels[0].convertTo(img,CV_8U,128.0,0);
@@ -3473,43 +3514,46 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 							channels[2].convertTo(img,CV_8U,128.0,0);
 							cv::imwrite("blendFullR.png", img);*/
 
-						cv::multiply(globalTexture, blendGains, globalTexture, 1.0, CV_8UC3);
+							cv::multiply(globalTextures[i], blendGains[i], globalTextures[i], 1.0, CV_8UC3);
 
 							//UWARN("Saving blending.png", globalTexture);
 							//cv::imwrite("blending.png", globalTexture);
 						}
 					}
+				}
 
 				if(_ui->spinBox_textureBrightnessContrastRatioLow->value() > 0 || _ui->spinBox_textureBrightnessContrastRatioHigh->value() > 0)
+				{
+					for(int i=0; i<materials; ++i)
 					{
 						if(_ui->checkBox_exposureFusion->isEnabled() && _ui->checkBox_exposureFusion->isChecked())
 						{
 							std::vector<cv::Mat> images;
-						images.push_back(globalTexture);
+							images.push_back(globalTextures[i]);
 							if (_ui->spinBox_textureBrightnessContrastRatioLow->value() > 0)
 							{
 								images.push_back(util2d::brightnessAndContrastAuto(
-								globalTexture,
+									globalTextures[i],
-								globalTextureMask,
+									globalTextureMasks[i],
 									(float)_ui->spinBox_textureBrightnessContrastRatioLow->value(),
 									0.0f));
 							}
 							if (_ui->spinBox_textureBrightnessContrastRatioHigh->value() > 0)
 							{
 								images.push_back(util2d::brightnessAndContrastAuto(
-								globalTexture,
+									globalTextures[i],
-								globalTextureMask,
+									globalTextureMasks[i],
 									0.0f,
 									(float)_ui->spinBox_textureBrightnessContrastRatioHigh->value()));
 							}
 
-						globalTexture = util2d::exposureFusion(images);
+							globalTextures[i] = util2d::exposureFusion(images);
 						}
 						else
 						{
-						globalTexture = util2d::brightnessAndContrastAuto(
+							globalTextures[i] = util2d::brightnessAndContrastAuto(
-							globalTexture,
+								globalTextures[i],
-							globalTextureMask,
+								globalTextureMasks[i],
 								(float)_ui->spinBox_textureBrightnessContrastRatioLow->value(),
 								(float)_ui->spinBox_textureBrightnessContrastRatioHigh->value());
 						}
@@ -3517,7 +3561,8 @@ cv::Mat ExportCloudsDialog::mergeTextures(
 				}
 			}
 		}
-	return globalTexture;
+	}
+	return globalTextures;
 }
 
 void ExportCloudsDialog::saveTextureMeshes(
@@ -3547,11 +3592,11 @@ void ExportCloudsDialog::saveTextureMeshes(
 
 				pcl::TextureMesh::Ptr mesh = meshes.begin()->second;
 
-				cv::Mat globalTexture;
+				std::vector<cv::Mat> globalTextures;
 				bool texturesMerged = _ui->comboBox_meshingTextureSize->isEnabled() && _ui->comboBox_meshingTextureSize->currentIndex() > 0;
 				if(texturesMerged && mesh->tex_materials.size()>1)
 				{
-					globalTexture = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels);
+					globalTextures = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels, _ui->spinBox_mesh_maxTextures->value());
 				}
 				bool singleTexture = mesh->tex_materials.size() == 1;
 				if(!singleTexture)
@@ -3631,7 +3676,7 @@ void ExportCloudsDialog::saveTextureMeshes(
 								}
 								if(_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
 								{
-									_compensator->apply(textureId, image);
+									_compensator->apply(textureId, image, _ui->checkBox_gainRGB->isChecked());
 								}
 
 								if(!cv::imwrite(fullPath.toStdString(), image))
@@ -3647,9 +3692,9 @@ void ExportCloudsDialog::saveTextureMeshes(
 								cv::Mat image = cv::Mat::ones(imageSize, CV_8UC1)*255;
 								cv::imwrite(fullPath.toStdString(), image);
 							}
-							else if(!globalTexture.empty())
+							else if(!globalTextures[i].empty())
 							{
-								if(!cv::imwrite(fullPath.toStdString(), globalTexture))
+								if(!cv::imwrite(fullPath.toStdString(), globalTextures[i]))
 								{
 									_progressDialog->appendText(tr("Failed saving texture \"%1\" to \"%2\".")
 											.arg(mesh->tex_materials[i].tex_file.c_str()).arg(fullPath), Qt::darkRed);
@@ -3713,11 +3758,11 @@ void ExportCloudsDialog::saveTextureMeshes(
 					if(iter->second->tex_materials.size())
 					{
 						pcl::TextureMesh::Ptr mesh = iter->second;
-						cv::Mat globalTexture;
+						std::vector<cv::Mat> globalTextures;
 						bool texturesMerged = _ui->comboBox_meshingTextureSize->isEnabled() && _ui->comboBox_meshingTextureSize->currentIndex() > 0;
 						if(texturesMerged && mesh->tex_materials.size()>1)
 						{
-							globalTexture = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels);
+							globalTextures = mergeTextures(*mesh, cachedSignatures, textureVertexToPixels, _ui->spinBox_mesh_maxTextures->value());
 						}
 						bool singleTexture = mesh->tex_materials.size() == 1;
 						if(!singleTexture)
@@ -3802,7 +3847,7 @@ void ExportCloudsDialog::saveTextureMeshes(
 									}
 									if(_ui->checkBox_gainCompensation->isChecked() && _compensator && _compensator->getIndex(textureId) >= 0)
 									{
-										_compensator->apply(textureId, image);
+										_compensator->apply(textureId, image, _ui->checkBox_gainRGB->isChecked());
 									}
 
 									if(!cv::imwrite(fullPath.toStdString(), image))
@@ -3818,9 +3863,9 @@ void ExportCloudsDialog::saveTextureMeshes(
 									cv::Mat image = cv::Mat::ones(imageSize, CV_8UC1)*255;
 									cv::imwrite(fullPath.toStdString(), image);
 								}
-								else if(!globalTexture.empty())
+								else if(!globalTextures[i].empty())
 								{
-									if(!cv::imwrite(fullPath.toStdString(), globalTexture))
+									if(!cv::imwrite(fullPath.toStdString(), globalTextures[i]))
 									{
 										_progressDialog->appendText(tr("Failed saving texture \"%1\" to \"%2\".")
 												.arg(mesh->tex_materials[i].tex_file.c_str()).arg(fullPath), Qt::darkRed);

guilib/src/ExportCloudsDialog.h

@@ -121,7 +121,7 @@ private:
 	void saveClouds(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds, bool binaryMode = true);
 	void saveMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, const std::map<int, pcl::PolygonMesh::Ptr> & meshes, bool binaryMode = true);
 	void saveTextureMeshes(const QString & workingDirectory, const std::map<int, Transform> & poses, std::map<int, pcl::TextureMesh::Ptr> & textureMeshes, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels);
-	cv::Mat mergeTextures(pcl::TextureMesh & mesh, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels) const;
+	std::vector<cv::Mat> mergeTextures(pcl::TextureMesh & mesh, const QMap<int, Signature> & cachedSignatures, const std::vector<std::map<int, pcl::PointXY> > & textureVertexToPixels, int maxTextures) const;
 
 	void setSaveButton();
 	void setOkButton();

guilib/src/ui/exportCloudsDialog.ui

@@ -23,9 +23,9 @@
       <property name="geometry">
        <rect>
         <x>0</x>
-        <y>0</y>
+        <y>-1412</y>
         <width>773</width>
-        <height>3895</height>
+        <height>3953</height>
        </rect>
       </property>
       <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1151,6 +1151,38 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
           <bool>false</bool>
          </property>
          <layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
+          <item row="2" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_gainBeta">
+            <property name="suffix">
+             <string/>
+            </property>
+            <property name="decimals">
+             <number>1</number>
+            </property>
+            <property name="minimum">
+             <double>0.100000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>1000.000000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>1.000000000000000</double>
+            </property>
+            <property name="value">
+             <double>100.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QLabel" name="label_binaryFile_7">
+            <property name="text">
+             <string>Do full compensation between all locations (longer to do but quality is better). Otherwise, compensation is done only between linked locations.</string>
+            </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
           <item row="1" column="0">
            <widget class="QDoubleSpinBox" name="doubleSpinBox_gainOverlap">
             <property name="suffix">
@@ -1173,35 +1205,13 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
             </property>
            </widget>
           </item>
-          <item row="3" column="0">
+          <item row="4" column="0">
            <widget class="QCheckBox" name="checkBox_gainFull">
             <property name="text">
              <string/>
             </property>
            </widget>
           </item>
-          <item row="2" column="0">
-           <widget class="QDoubleSpinBox" name="doubleSpinBox_gainBeta">
-            <property name="suffix">
-             <string/>
-            </property>
-            <property name="decimals">
-             <number>1</number>
-            </property>
-            <property name="minimum">
-             <double>0.100000000000000</double>
-            </property>
-            <property name="maximum">
-             <double>1000.000000000000000</double>
-            </property>
-            <property name="singleStep">
-             <double>1.000000000000000</double>
-            </property>
-            <property name="value">
-             <double>100.000000000000000</double>
-            </property>
-           </widget>
-          </item>
           <item row="0" column="1">
            <widget class="QLabel" name="label_binaryFile_3">
             <property name="text">
@@ -1255,15 +1265,22 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
            </widget>
           </item>
           <item row="3" column="1">
-           <widget class="QLabel" name="label_binaryFile_7">
+           <widget class="QLabel" name="label_binaryFile_8">
             <property name="text">
-             <string>Do full compensation between all locations (longer to do but quality is better). Otherwise, compensation is done only between linked locations.</string>
+             <string>Gain on each RGB channel separatly.</string>
             </property>
             <property name="wordWrap">
              <bool>true</bool>
             </property>
            </widget>
           </item>
+          <item row="3" column="0">
+           <widget class="QCheckBox" name="checkBox_gainRGB">
+            <property name="text">
+             <string/>
+            </property>
+           </widget>
+          </item>
          </layout>
         </widget>
        </item>
@@ -1469,51 +1486,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
             <layout class="QVBoxLayout" name="verticalLayout_16">
              <item>
               <layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
-               <item row="7" column="0">
+               <item row="7" column="1">
-                <widget class="QComboBox" name="comboBox_blendingDecimation">
-                 <item>
-                  <property name="text">
-                   <string>Auto</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>1</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>2</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>4</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>8</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>16</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>32</string>
-                  </property>
-                 </item>
-                 <item>
-                  <property name="text">
-                   <string>64</string>
-                  </property>
-                 </item>
-                </widget>
-               </item>
-               <item row="6" column="1">
                 <widget class="QLabel" name="label_exposureFusion_2">
                  <property name="text">
                   <string>Blending. Only used with dense reconstruction flavor and if clouds are assembled.</string>
@@ -1523,7 +1496,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="3" column="1">
+               <item row="4" column="1">
                 <widget class="QLabel" name="label_meshingTextureSize_2">
                  <property name="text">
                   <string>Maximum distance from the camera for polygons to be textured by this camera (0 means infinite). Only used with dense reconstruction flavor.</string>
@@ -1533,7 +1506,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="3" column="0">
+               <item row="4" column="0">
                 <widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
                  <property name="suffix">
                   <string> m</string>
@@ -1555,7 +1528,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="8" column="1">
+               <item row="9" column="1">
                 <widget class="QLabel" name="label_meshingTextureSize_5">
                  <property name="text">
                   <string>Brightness and contrast balance low ratio. Only used when textures are merged.</string>
@@ -1589,17 +1562,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </item>
                 </widget>
                </item>
-               <item row="1" column="1">
+               <item row="10" column="0">
-                <widget class="QLabel" name="label_meshingTextureSize">
-                 <property name="text">
-                  <string>Output texture size. If not set or when clouds are not assembled, all textures are saved separately. Warning: values higher than 2048 may not be compatible with all GPUs.</string>
-                 </property>
-                 <property name="wordWrap">
-                  <bool>true</bool>
-                 </property>
-                </widget>
-               </item>
-               <item row="9" column="0">
                 <widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
                  <property name="suffix">
                   <string> %</string>
@@ -1612,21 +1575,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="6" column="0">
+               <item row="10" column="1">
-                <widget class="QCheckBox" name="checkBox_blending">
-                 <property name="text">
-                  <string/>
-                 </property>
-                </widget>
-               </item>
-               <item row="5" column="0">
-                <widget class="QCheckBox" name="checkBox_cameraFilter">
-                 <property name="text">
-                  <string/>
-                 </property>
-                </widget>
-               </item>
-               <item row="9" column="1">
                 <widget class="QLabel" name="label_meshingTextureSize_6">
                  <property name="text">
                   <string>Brightness and contrast balance high ratio. Only used when textures are merged.</string>
@@ -1685,7 +1634,95 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </item>
                 </widget>
                </item>
+               <item row="12" column="0">
+                <widget class="QCheckBox" name="checkBox_exposureFusion">
+                 <property name="text">
+                  <string/>
+                 </property>
+                </widget>
+               </item>
+               <item row="5" column="1">
+                <widget class="QLabel" name="label_meshingTextureSize_4">
+                 <property name="text">
+                  <string>Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor.</string>
+                 </property>
+                 <property name="wordWrap">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="0">
+                <widget class="QLineEdit" name="lineEdit_meshingTextureRoiRatios"/>
+               </item>
                <item row="8" column="0">
+                <widget class="QComboBox" name="comboBox_blendingDecimation">
+                 <item>
+                  <property name="text">
+                   <string>Auto</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>1</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>2</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>4</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>8</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>16</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>32</string>
+                  </property>
+                 </item>
+                 <item>
+                  <property name="text">
+                   <string>64</string>
+                  </property>
+                 </item>
+                </widget>
+               </item>
+               <item row="1" column="1">
+                <widget class="QLabel" name="label_meshingTextureSize">
+                 <property name="text">
+                  <string>Output texture size. If not set or when clouds are not assembled, all textures are saved separately. Warning: values higher than 2048 may not be compatible with all GPUs.</string>
+                 </property>
+                 <property name="wordWrap">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item row="7" column="0">
+                <widget class="QCheckBox" name="checkBox_blending">
+                 <property name="text">
+                  <string/>
+                 </property>
+                </widget>
+               </item>
+               <item row="6" column="0">
+                <widget class="QCheckBox" name="checkBox_cameraFilter">
+                 <property name="text">
+                  <string/>
+                 </property>
+                </widget>
+               </item>
+               <item row="9" column="0">
                 <widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioLow">
                  <property name="suffix">
                   <string> %</string>
@@ -1698,14 +1735,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="11" column="0">
+               <item row="5" column="0">
-                <widget class="QCheckBox" name="checkBox_exposureFusion">
-                 <property name="text">
-                  <string/>
-                 </property>
-                </widget>
-               </item>
-               <item row="4" column="0">
                 <widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
                  <property name="minimum">
                   <number>0</number>
@@ -1715,7 +1745,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="7" column="1">
+               <item row="8" column="1">
                 <widget class="QLabel" name="label_exposureFusion_3">
                  <property name="text">
                   <string>Blending decimation. </string>
@@ -1725,17 +1755,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="4" column="1">
+               <item row="6" column="1">
-                <widget class="QLabel" name="label_meshingTextureSize_4">
-                 <property name="text">
-                  <string>Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor.</string>
-                 </property>
-                 <property name="wordWrap">
-                  <bool>true</bool>
-                 </property>
-                </widget>
-               </item>
-               <item row="5" column="1">
                 <widget class="QLabel" name="label_meshingTextureSize_3">
                  <property name="text">
                   <string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
@@ -1745,7 +1765,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="11" column="1">
+               <item row="12" column="1">
                 <widget class="QLabel" name="label_exposureFusion">
                  <property name="text">
                   <string>Exposure fusion. Only used when textures are merged and brightness/contrast balance ratios are used (merging original texture + 1 for each ratios).</string>
@@ -1755,7 +1775,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                  </property>
                 </widget>
                </item>
-               <item row="2" column="1">
+               <item row="3" column="1">
                 <widget class="QLabel" name="label_meshingTextureSize_7">
                  <property name="text">
                   <string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
@@ -1766,7 +1786,24 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
                 </widget>
                </item>
                <item row="2" column="0">
-                <widget class="QLineEdit" name="lineEdit_meshingTextureRoiRatios"/>
+                <widget class="QSpinBox" name="spinBox_mesh_maxTextures">
+                 <property name="minimum">
+                  <number>1</number>
+                 </property>
+                 <property name="maximum">
+                  <number>20</number>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="1">
+                <widget class="QLabel" name="label_meshingTextureSize_8">
+                 <property name="text">
+                  <string>Maximum output textures.</string>
+                 </property>
+                 <property name="wordWrap">
+                  <bool>true</bool>
+                 </property>
+                </widget>
                </item>
               </layout>
              </item>