mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added CameraRGBDImages class (read RGB-D images from a folder)
This commit is contained in:
matlabbe
@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-625</y>
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<y>-399</y>
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<width>760</width>
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<height>1570</height>
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</rect>
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>1</number>
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<number>3</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29">
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@@ -1651,7 +1651,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</item>
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</widget>
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</item>
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<item row="7" column="0">
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<item row="8" column="0">
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<widget class="QPushButton" name="pushButton_test_camera">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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@@ -1697,6 +1697,32 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QPushButton" name="pushButton_calibrate_simple">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="text">
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<string>Simple calibration</string>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_244">
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<property name="text">
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<string>Create a simple calibration file with known intrinsics (fx, fy, cx, cy). Useful if you already know the intrinsics of a source of rectified or registered images.</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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<item>
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@@ -1765,6 +1791,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Freenect2</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>Images</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="0" column="2">
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@@ -1802,7 +1833,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_rgbd">
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<property name="currentIndex">
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<number>4</number>
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<number>6</number>
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</property>
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<widget class="QWidget" name="page_32">
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<layout class="QVBoxLayout" name="verticalLayout_63">
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@@ -2086,6 +2117,165 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_47">
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<layout class="QVBoxLayout" name="verticalLayout_79">
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<item>
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<widget class="QGroupBox" name="groupBox_cameraStereoImages_3">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="title">
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<string>RGB-D Images</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_67" columnstretch="0,0,1">
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<item row="0" column="2">
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<widget class="QLabel" name="label_252">
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<property name="text">
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<string>Path to directory containing RGB images.</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="4" column="2">
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<widget class="QLabel" name="label_251">
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<property name="text">
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<string>Optional timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use RGB file names as timestamps" above is checked. </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="QToolButton" name="toolButton_cameraRGBDImages_path_depth">
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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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<item row="1" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_path_depth">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QCheckBox" name="checkBox_RGBDImages_timestamps">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QLabel" name="label_255">
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<property name="text">
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<string>Use RGB file names as timestamps. Format is epoch time. Example: "1305031102.175304.png"</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="4" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraRGBDImages_timestamps">
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<property name="text">
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<string/>
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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="QLineEdit" name="lineEdit_cameraRGBDImages_path_rgb">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<spacer name="verticalSpacer_40">
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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>0</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 row="0" column="0">
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<widget class="QToolButton" name="toolButton_cameraRGBDImages_path_rgb">
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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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<item row="4" column="0">
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<widget class="QToolButton" name="toolButton_cameraRGBDImages_timestamps">
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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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<item row="1" column="2">
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<widget class="QLabel" name="label_254">
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<property name="text">
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<string>Path to directory containing depth images. The directory should have the same size has the RGB directory. The depth images should be already registered to RGB images. Assume that UINT16 images are in mm and FLOAT32 images are in m.</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="2">
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<widget class="QLabel" name="label_257">
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<property name="text">
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<string>Depth scale factor (depth = pixel value / factor).</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_cameraRGBDImages_scale">
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<property name="decimals">
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<number>1</number>
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</property>
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<property name="minimum">
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<double>1.000000000000000</double>
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</property>
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<property name="maximum">
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<double>999999.000000000000000</double>
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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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</item>
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</layout>
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</widget>
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</widget>
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</item>
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</layout>
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@@ -2179,14 +2369,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Stereo Images</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_61" columnstretch="0,0,1">
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<item row="1" column="1">
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<item row="3" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraStereoImages_timestamps">
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<property name="text">
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<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="3" column="0">
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<widget class="QToolButton" name="toolButton_cameraStereoImages_timestamps">
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<property name="text">
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<string>...</string>
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@@ -2194,20 +2384,20 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="QLineEdit" name="lineEdit_cameraStereoImages_path">
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<widget class="QLineEdit" name="lineEdit_cameraStereoImages_path_left">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QToolButton" name="toolButton_cameraStereoImages_path">
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<widget class="QToolButton" name="toolButton_cameraStereoImages_path_left">
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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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<item row="3" column="0">
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<item row="5" column="0">
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<spacer name="verticalSpacer_38">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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@@ -2220,10 +2410,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</spacer>
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</item>
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<item row="1" column="2">
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<item row="3" column="2">
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<widget class="QLabel" name="label_248">
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<property name="text">
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<string>Optional timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. </string>
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<string>Optional timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use left file names as timestamps" above is checked. </string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -2236,7 +2426,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="0" column="2">
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<widget class="QLabel" name="label_249">
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<property name="text">
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<string>Path to directory containing stereo images. The images order should be left/right/left/right... and so on. You can also set two directories (separated by ';'), one for left images and one for right images.</string>
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<string>Path to directory containing left images.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -2246,7 +2436,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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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<item row="4" column="2">
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<widget class="QLabel" name="label_250">
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<property name="text">
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<string>Rectify images. If checked, the images will be rectified using the calibration file (if its name is set above). If not checked, we assume that images are already rectified.</string>
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@@ -2259,13 +2449,60 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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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<item row="4" column="1">
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<widget class="QCheckBox" name="checkBox_stereoImages_rectify">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label_253">
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<property name="text">
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<string>Path to directory containing right images. The directory should have the same size has the left images directory. </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="1">
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<widget class="QLineEdit" name="lineEdit_cameraStereoImages_path_right">
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<property name="text">
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<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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<widget class="QToolButton" name="toolButton_cameraStereoImages_path_right">
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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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<item row="2" column="1">
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<widget class="QCheckBox" name="checkBox_stereoImages_timestamps">
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<property name="text">
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<string/>
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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_256">
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<property name="text">
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<string>Use left file names as timestamps. Format is epoch time. Example: "1305031102.175304.png"</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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</widget>
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</item>
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Reference in New Issue
Block a user