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Export: CPU-TSDF mesh reconstruction integration

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matlabbe
2017-05-05 21:44:06 -04:00
parent b25379c243
commit eadeb3841b
8 changed files with 1062 additions and 522 deletions
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CMakeLists.txt
+21
View File
@@ -151,6 +151,7 @@ option(WITH_ZED "Include ZED sdk support" ON)
option(WITH_REALSENSE "Include RealSense support" ON) option(WITH_REALSENSE "Include RealSense support" ON)
option(WITH_REALSENSE_SLAM "Include RealSenseSlam support" ON) option(WITH_REALSENSE_SLAM "Include RealSenseSlam support" ON)
option(WITH_OCTOMAP "Include Octomap support" ON) option(WITH_OCTOMAP "Include Octomap support" ON)
option(WITH_CPUTSDF "Include CPUTSDF support" ON)
option(PCL_OMP "With PCL OMP implementations" ON) option(PCL_OMP "With PCL OMP implementations" ON)
FIND_PACKAGE(OpenCV REQUIRED QUIET) FIND_PACKAGE(OpenCV REQUIRED QUIET)
@@ -336,6 +337,13 @@ IF(WITH_OCTOMAP)
ENDIF(OCTOMAP_FOUND) ENDIF(OCTOMAP_FOUND)
ENDIF(WITH_OCTOMAP) ENDIF(WITH_OCTOMAP)
IF(WITH_CPUTSDF)
FIND_PACKAGE(CPUTSDF QUIET)
IF(CPUTSDF_FOUND)
MESSAGE(STATUS "Found CPUTSDF: ${CPUTSDF_INCLUDE_DIRS}")
ENDIF(CPUTSDF_FOUND)
ENDIF(WITH_CPUTSDF)
IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND) IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND)
#Newest versions require std11 #Newest versions require std11
IF(NOT MSVC) IF(NOT MSVC)
@@ -453,6 +461,11 @@ IF(NOT OCTOMAP_FOUND)
ELSE() ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OCTOMAP_LIBRARIES}) SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OCTOMAP_LIBRARIES})
ENDIF() ENDIF()
IF(NOT CPUTSDF_FOUND)
SET(CPUTSDF "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${CPUTSDF_LIBRARIES})
ENDIF()
IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF) IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
SET(CONF_VTK_QT true) SET(CONF_VTK_QT true)
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt) SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
@@ -768,6 +781,14 @@ ELSE()
MESSAGE(STATUS " With OCTOMAP = NO (octomap not found)") MESSAGE(STATUS " With OCTOMAP = NO (octomap not found)")
ENDIF() ENDIF()
IF(CPUTSDF_FOUND)
MESSAGE(STATUS " With CPUTSDF = YES (License: BSD)")
ELSEIF(NOT WITH_CPUTSDF)
MESSAGE(STATUS " With CPUTSDF = NO (WITH_CPUTSDF=OFF)")
ELSE()
MESSAGE(STATUS " With CPUTSDF = NO (CPUTSDF not found)")
ENDIF()
IF(QT4_FOUND) IF(QT4_FOUND)
MESSAGE(STATUS " With Qt4 = YES (License: Open Source or Commercial)") MESSAGE(STATUS " With Qt4 = YES (License: Open Source or Commercial)")
ELSEIF(Qt5_FOUND) ELSEIF(Qt5_FOUND)
Version.h.in
+1
View File
@@ -53,6 +53,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@REALSENSE@#define RTABMAP_REALSENSE @REALSENSE@#define RTABMAP_REALSENSE
@REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM @REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM
@OCTOMAP@#define RTABMAP_OCTOMAP @OCTOMAP@#define RTABMAP_OCTOMAP
@CPUTSDF@#define RTABMAP_CPUTSDF
#endif /* VERSION_H_ */ #endif /* VERSION_H_ */
guilib/src/AboutDialog.cpp
+5
View File
@@ -60,6 +60,11 @@ AboutDialog::AboutDialog(QWidget * parent) :
_ui->label_octomap->setText("Yes"); _ui->label_octomap->setText("Yes");
#else #else
_ui->label_octomap->setText("No"); _ui->label_octomap->setText("No");
#endif
#ifdef RTABMAP_CPUTSDF
_ui->label_cputsdf->setText("Yes");
#else
_ui->label_cputsdf->setText("No");
#endif #endif
_ui->label_freenect->setText(CameraFreenect::available()?"Yes":"No"); _ui->label_freenect->setText(CameraFreenect::available()?"Yes":"No");
_ui->label_openni2->setText(CameraOpenNI2::available()?"Yes":"No"); _ui->label_openni2->setText(CameraOpenNI2::available()?"Yes":"No");
guilib/src/CMakeLists.txt
+11
View File
@@ -137,6 +137,17 @@ IF(OCTOMAP_FOUND)
) )
ENDIF(OCTOMAP_FOUND) ENDIF(OCTOMAP_FOUND)
IF(CPUTSDF_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${CPUTSDF_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${CPUTSDF_LIBRARIES}
)
ENDIF(CPUTSDF_FOUND)
IF(VTK_USE_QVTK) IF(VTK_USE_QVTK)
SET(INCLUDE_DIRS ${INCLUDE_DIRS} ${QVTK_INCLUDE_DIR}) SET(INCLUDE_DIRS ${INCLUDE_DIRS} ${QVTK_INCLUDE_DIR})
SET(LIBRARIES ${LIBRARIES} ${QVTK_LIBRARY}) SET(LIBRARIES ${LIBRARIES} ${QVTK_LIBRARY})
guilib/src/ExportCloudsDialog.cpp
+574 -355
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File diff suppressed because it is too large Load Diff
guilib/src/ExportCloudsDialog.h
+6
View File
@@ -122,6 +122,12 @@ private:
void setOkButton(); void setOkButton();
void enableRegeneration(bool enabled); void enableRegeneration(bool enabled);
void denseMeshPostProcessing(
int id,
pcl::PolygonMeshPtr & mesh,
bool lostColors,
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
private: private:
Ui_ExportCloudsDialog * _ui; Ui_ExportCloudsDialog * _ui;
ProgressDialog * _progressDialog; ProgressDialog * _progressDialog;
guilib/src/ui/aboutDialog.ui
+180 -163
View File
@@ -82,30 +82,6 @@ p, li { white-space: pre-wrap; }
</item> </item>
<item> <item>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1"> <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
<item row="9" column="1">
<widget class="QLabel" name="label_pcl_version">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Author :</string>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>With Freenect :</string>
</property>
</widget>
</item>
<item row="3" column="0"> <item row="3" column="0">
<widget class="QLabel" name="label_4"> <widget class="QLabel" name="label_4">
<property name="text"> <property name="text">
@@ -113,8 +89,8 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="11" column="1"> <item row="9" column="1">
<widget class="QLabel" name="label_freenect"> <widget class="QLabel" name="label_pcl_version">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
@@ -123,44 +99,6 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="12" column="1">
<widget class="QLabel" name="label_openni2">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>With Freenect2 :</string>
</property>
</widget>
</item>
<item row="16" column="0">
<widget class="QLabel" name="label_17">
<property name="text">
<string>With stereo FlyCapture2 :</string>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>PCL version :</string>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Version :</string>
</property>
</widget>
</item>
<item row="20" column="1"> <item row="20" column="1">
<widget class="QLabel" name="label_cvsba"> <widget class="QLabel" name="label_cvsba">
<property name="text"> <property name="text">
@@ -171,15 +109,8 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="19" column="0"> <item row="11" column="1">
<widget class="QLabel" name="label_19"> <widget class="QLabel" name="label_freenect">
<property name="text">
<string>With GTSAM :</string>
</property>
</widget>
</item>
<item row="21" column="1">
<widget class="QLabel" name="label_octomap">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
@@ -188,25 +119,8 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="17" column="1"> <item row="19" column="1">
<widget class="QLabel" name="label_zed"> <widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="21" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_dc1394">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
@@ -225,8 +139,8 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="1"> <item row="21" column="1">
<widget class="QLabel" name="label_version"> <widget class="QLabel" name="label_octomap">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
@@ -235,41 +149,51 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="1"> <item row="13" column="0">
<widget class="QLabel" name="label_HomePage_3"> <widget class="QLabel" name="label_15">
<property name="text"> <property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt; <string>With Freenect2 :</string>
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt; </property>
p, li { white-space: pre-wrap; } </widget>
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt; </item>
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://introlab.github.io/rtabmap&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Home page&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string> <item row="12" column="0">
<widget class="QLabel" name="label_13">
<property name="text">
<string>With OpenNI2 :</string>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_vtk_version">
<property name="text">
<string/>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property> </property>
<property name="openExternalLinks"> </widget>
<bool>true</bool> </item>
<item row="12" column="1">
<widget class="QLabel" name="label_openni2">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="0"> <item row="9" column="0">
<widget class="QLabel" name="label_7"> <widget class="QLabel" name="label_11">
<property name="text"> <property name="text">
<string>OpenCV version :</string> <string>PCL version :</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="18" column="0"> <item row="17" column="0">
<widget class="QLabel" name="label_14"> <widget class="QLabel" name="label_21">
<property name="text"> <property name="text">
<string>With g2o :</string> <string>With stereo Zed :</string>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>With stereo dc1394 :</string>
</property> </property>
</widget> </widget>
</item> </item>
@@ -283,42 +207,46 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="18" column="0">
<widget class="QLabel" name="label_8"> <widget class="QLabel" name="label_14">
<property name="text"> <property name="text">
<string>Mathieu Labbé, [email protected]</string> <string>With g2o :</string>
</property>
</widget>
</item>
<item row="17" column="1">
<widget class="QLabel" name="label_zed">
<property name="text">
<string/>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set> <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property> </property>
</widget> </widget>
</item> </item>
<item row="12" column="0"> <item row="20" column="0">
<widget class="QLabel" name="label_13"> <widget class="QLabel" name="label_18">
<property name="text"> <property name="text">
<string>With OpenNI2 :</string> <string>With cvsba :</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="8" column="0">
<widget class="QLabel" name="label_HomePage_2"> <widget class="QLabel" name="label_7">
<property name="text"> <property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt; <string>OpenCV version :</string>
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://github.com/introlab/rtabmap&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Source page&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="1"> <item row="15" column="0">
<widget class="QLabel" name="label_opencv_version"> <widget class="QLabel" name="label_16">
<property name="text">
<string>With stereo dc1394 :</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_version">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
@@ -337,30 +265,6 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="17" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>With stereo Zed :</string>
</property>
</widget>
</item>
<item row="19" column="1">
<widget class="QLabel" name="label_gtsam">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="20" column="0">
<widget class="QLabel" name="label_18">
<property name="text">
<string>With cvsba :</string>
</property>
</widget>
</item>
<item row="14" column="0"> <item row="14" column="0">
<widget class="QLabel" name="label_22"> <widget class="QLabel" name="label_22">
<property name="text"> <property name="text">
@@ -378,6 +282,64 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Mathieu Labbé, [email protected]</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Version :</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_opencv_version">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>With Freenect :</string>
</property>
</widget>
</item>
<item row="21" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>With Octomap :</string>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLabel" name="label_dc1394">
<property name="text">
<string/>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Author :</string>
</property>
</widget>
</item>
<item row="10" column="0"> <item row="10" column="0">
<widget class="QLabel" name="label_23"> <widget class="QLabel" name="label_23">
<property name="text"> <property name="text">
@@ -385,8 +347,63 @@ p, li { white-space: pre-wrap; }
</property> </property>
</widget> </widget>
</item> </item>
<item row="10" column="1"> <item row="16" column="0">
<widget class="QLabel" name="label_vtk_version"> <widget class="QLabel" name="label_17">
<property name="text">
<string>With stereo FlyCapture2 :</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_HomePage_2">
<property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://github.com/introlab/rtabmap&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Source page&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_HomePage_3">
<property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;a href=&quot;http://introlab.github.io/rtabmap&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;Home page&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
</widget>
</item>
<item row="19" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>With GTSAM :</string>
</property>
</widget>
</item>
<item row="22" column="0">
<widget class="QLabel" name="label_24">
<property name="text">
<string>With CPU-TSDF :</string>
</property>
</widget>
</item>
<item row="22" column="1">
<widget class="QLabel" name="label_cputsdf">
<property name="text"> <property name="text">
<string/> <string/>
</property> </property>
guilib/src/ui/exportCloudsDialog.ui
+264 -4
View File
@@ -23,9 +23,9 @@
<property name="geometry"> <property name="geometry">
<rect> <rect>
<x>0</x> <x>0</x>
<y>-1802</y> <y>-3080</y>
<width>778</width> <width>778</width>
<height>3385</height> <height>3701</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_13"> <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -1205,7 +1205,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QLabel" name="label_denseReconstruction"> <widget class="QLabel" name="label_denseReconstruction">
<property name="text"> <property name="text">
<string>Surface reconstruction approach. Can be used only when dense reconstruction flavor is selected. Poisson is available when clouds are assembled.</string> <string>Surface reconstruction approach. Poisson is available when clouds are assembled and dense reconstruction flavor is selected. CPU-TSDF is available when clouds are assembled, organized reconstruction flavor is selected and RTAB-Map is built with CPU-TSDF support.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -1244,7 +1244,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<item row="1" column="1"> <item row="1" column="1">
<widget class="QLabel" name="label_meshDecimation"> <widget class="QLabel" name="label_meshDecimation">
<property name="text"> <property name="text">
<string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons). Can be used when dense reconstruction flavor is selected. Can reduce a lot texturing time.</string> <string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Higher the factor, lower the output resolution (less polygons). Can be used when organized mesh approach is not selected. Can reduce a lot texturing time.</string>
</property> </property>
<property name="wordWrap"> <property name="wordWrap">
<bool>true</bool> <bool>true</bool>
@@ -1273,6 +1273,16 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<string>Poisson</string> <string>Poisson</string>
</property> </property>
</item> </item>
<item>
<property name="text">
<string>CPU-TSDF</string>
</property>
</item>
<item>
<property name="text">
<string>Organized</string>
</property>
</item>
</widget> </widget>
</item> </item>
<item row="4" column="0"> <item row="4" column="0">
@@ -1998,6 +2008,247 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</layout> </layout>
</widget> </widget>
</item> </item>
<item>
<widget class="QGroupBox" name="groupBox_cputsdf">
<property name="title">
<string>CPU-TSDF Reconstruction</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_17">
<item>
<widget class="QLabel" name="label_25">
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;a href=&quot;https://github.com/sdmiller/cpu_tsdf&quot;&gt;&lt;span style=&quot; text-decoration: underline; color:#0000ff;&quot;&gt;https://github.com/sdmiller/cpu_tsdf&lt;/span&gt;&lt;/a&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="openExternalLinks">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_17" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_size">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>9999.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>12.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Volume size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_resolution">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Resolution.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_tuncPos">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.030000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Depth truncation positive limit. Maximum distance a voxel will be set to positive.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_tuncNeg">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.030000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Depth truncation negative limit. Maximum distance a voxel will be set to negative.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="spinBox_cputsdf_randomSplit">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>99</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Set the number of random samples per surface point the octree should split on. If you don't know what this does, it's almost certainly best to leave it at 1.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_minWeight">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.500000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Minimum weight of a voxel to be added in the mesh.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cputsdf_flattenRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>9.000000000000000</double>
</property>
<property name="singleStep">
<double>0.005000000000000</double>
</property>
<property name="value">
<double>0.005000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_24">
<property name="text">
<string>Flatten radius (0=disabled).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item> <item>
<widget class="QGroupBox" name="groupBox_organized"> <widget class="QGroupBox" name="groupBox_organized">
<property name="title"> <property name="title">
@@ -2009,6 +2260,9 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<property name="text"> <property name="text">
<string>Triangle size</string> <string>Triangle size</string>
</property> </property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="1" column="1">
@@ -2016,6 +2270,9 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<property name="text"> <property name="text">
<string>Quad</string> <string>Quad</string>
</property> </property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget> </widget>
</item> </item>
<item row="1" column="0"> <item row="1" column="0">
@@ -2052,6 +2309,9 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
<property name="text"> <property name="text">
<string>Angle tolerance</string> <string>Angle tolerance</string>
</property> </property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget> </widget>
</item> </item>
<item row="2" column="0"> <item row="2" column="0">