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https://github.com/introlab/rtabmap.git
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OdometryEvent: fixed velocity() returning always empty. Export: added options to filter blurred cameras based on laplacian threshold or velocity (#225).
This commit is contained in:
matlabbe
218
guilib/src/ui/exportBundlerDialog.ui
Normal file
218
guilib/src/ui/exportBundlerDialog.ui
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@@ -0,0 +1,218 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>ExportBundlerDialog</class>
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<widget class="QDialog" name="ExportBundlerDialog">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>521</width>
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<height>320</height>
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</rect>
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</property>
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<property name="windowTitle">
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<string>Export Bundler</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<widget class="QGroupBox" name="groupBox">
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<property name="title">
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<string>Motion Blur Filtering</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_2">
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<item>
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<widget class="QLabel" name="label_40">
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<property name="text">
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<string>These optional parameters can be used to avoid exporting blurred images. 0 means not used.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_laplacianVariance">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>0</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_38">
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<property name="text">
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<string>Laplacian variance threshold. Below this threshold, the image is considered blurred. 50 can be good default.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_linearSpeed">
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<property name="suffix">
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<string> m/s</string>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="value">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_39">
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<property name="text">
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<string>Maximum linear speed. Images taken on fast motions would be more blurry. 0.1 m/s can be good default.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_angularSpeed">
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<property name="suffix">
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<string> rad/s</string>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="value">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_41">
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<property name="text">
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<string>Maximum angular speed. Images taken on fast motions would be more blurry. 0.4 rad/s can be good default.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout">
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<item>
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<widget class="QLabel" name="label_42">
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<property name="text">
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<string>Output folder:</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLineEdit" name="lineEdit_path">
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<property name="readOnly">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QToolButton" name="toolButton_path">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<spacer name="verticalSpacer">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>40</height>
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</size>
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</property>
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</spacer>
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</item>
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<item>
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<widget class="QDialogButtonBox" name="buttonBox">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="standardButtons">
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<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults</set>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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<resources/>
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<connections>
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<connection>
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<sender>buttonBox</sender>
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<signal>accepted()</signal>
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<receiver>ExportBundlerDialog</receiver>
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<slot>accept()</slot>
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<hints>
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<hint type="sourcelabel">
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<x>248</x>
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<y>254</y>
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</hint>
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<hint type="destinationlabel">
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<x>157</x>
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<y>274</y>
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</hint>
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</hints>
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</connection>
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<connection>
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<sender>buttonBox</sender>
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<signal>rejected()</signal>
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<receiver>ExportBundlerDialog</receiver>
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<slot>reject()</slot>
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<hints>
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<hint type="sourcelabel">
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<x>316</x>
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<y>260</y>
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</hint>
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<hint type="destinationlabel">
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<x>286</x>
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<y>274</y>
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</hint>
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</hints>
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</connection>
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</connections>
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</ui>
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@@ -23,9 +23,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-2146</y>
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<y>-2684</y>
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<width>773</width>
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<height>4045</height>
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<height>4103</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_13">
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@@ -1778,7 +1778,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<item row="8" column="1">
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<widget class="QLabel" name="label_meshingTextureSize_3">
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<property name="text">
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<string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
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<string>Camera filtering. Some criteria to select which cameras are used for texturing.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -1876,24 +1876,24 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<property name="title">
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<string>Camera Filtering</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_16" columnstretch="0,1">
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<layout class="QGridLayout" name="gridLayout_16" columnstretch="0,0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterRadius">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="minimum">
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<double>0.010000000000000</double>
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<double>0.000000000000000</double>
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</property>
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<property name="value">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<item row="0" column="2">
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<widget class="QLabel" name="label_37">
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<property name="text">
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<string>Radius.</string>
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<string>Only one camera in a fixed radius and angle is used for texturing. Radius of 0 m means disabled.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -1903,7 +1903,26 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<item row="1" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_laplacianVariance">
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<property name="suffix">
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<string/>
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</property>
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<property name="decimals">
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<number>0</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>9999.000000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterAngle">
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<property name="suffix">
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<string> deg</string>
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@@ -1919,10 +1938,49 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_48">
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<item row="1" column="2">
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<widget class="QLabel" name="label_38">
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<property name="text">
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<string>Angle.</string>
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<string>Laplacian variance threshold. Below this threshold, the image is considered blurred. 0 means disabled. 50 can be good default.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterVelRad">
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<property name="suffix">
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<string> rad/s</string>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="value">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraFilterVel">
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<property name="suffix">
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<string> m/s</string>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="value">
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<double>0.100000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QLabel" name="label_39">
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<property name="text">
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<string>Maximum speed to keep a camera view for texturing. Images taken on fast motions would be more blurry. 0 means disabled. 0.1 m/s and 0.4 rad/s can be good defaults.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -142,7 +142,7 @@
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<item>
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<widget class="QCheckBox" name="checkBox_depth2d">
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<property name="text">
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<string>Depth 2D (laser scans)</string>
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<string>Laser scans</string>
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</property>
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<property name="checked">
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<bool>true</bool>
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