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DBViewer: added camera projection on scan option (GUI params). Fixed some deprecated warnings.

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This commit is contained in:
matlabbe
2021-04-19 18:14:20 -04:00
parent 93bfad626e
commit 3b7c6cd1f4
4 changed files with 409 additions and 293 deletions
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179
guilib/src/DatabaseViewer.cpp
View File

@@ -391,6 +391,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(update3dView()));
connect(ui_->checkBox_cameraProjection, SIGNAL(stateChanged(int)), this, SLOT(update3dView()));
connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(updateConstraintView()));
connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(updateGraphView()));
@@ -418,6 +419,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
// Graph view
connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
connect(ui_->checkBox_cameraProjection, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -549,6 +551,8 @@ void DatabaseViewer::readSettings()
ui_->doubleSpinBox_gainCompensationRadius->setValue(settings.value("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value()).toDouble());
ui_->doubleSpinBox_voxelSize->setValue(settings.value("voxelSize", ui_->doubleSpinBox_voxelSize->value()).toDouble());
ui_->spinBox_decimation->setValue(settings.value("decimation", ui_->spinBox_decimation->value()).toInt());
ui_->checkBox_cameraProjection->setChecked(settings.value("camProj", ui_->checkBox_cameraProjection->isChecked()).toBool());
settings.endGroup();
settings.beginGroup("grid");
@@ -635,6 +639,7 @@ void DatabaseViewer::writeSettings()
settings.setValue("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value());
settings.setValue("voxelSize", ui_->doubleSpinBox_voxelSize->value());
settings.setValue("decimation", ui_->spinBox_decimation->value());
settings.setValue("camProj", ui_->checkBox_cameraProjection->isChecked());
settings.endGroup();
// save Grid settings
@@ -724,6 +729,7 @@ void DatabaseViewer::restoreDefaultSettings()
ui_->doubleSpinBox_gainCompensationRadius->setValue(0.0);
ui_->doubleSpinBox_voxelSize->setValue(0.0);
ui_->spinBox_decimation->setValue(1);
ui_->checkBox_cameraProjection->setChecked(false);
ui_->groupBox_posefiltering->setChecked(false);
ui_->doubleSpinBox_posefilteringRadius->setValue(0.1);
@@ -4590,7 +4596,138 @@ void DatabaseViewer::update(int value,
}
gravity = (gravityT.rotation()*(pose).rotation().inverse()).toEigen3f()*gravity;
cloudViewer_->addOrUpdateLine("gravity", pose, (pose).translation()*Transform(gravity[0], gravity[1], gravity[2], 0, 0, 0)*pose.rotation().inverse(), Qt::yellow, true, false);
}
}
//add scan
LaserScan laserScanRaw = data.laserScanRaw();
if(modifiedLaserScans_.find(id)!=modifiedLaserScans_.end())
{
laserScanRaw = modifiedLaserScans_.at(id);
}
if(ui_->checkBox_showScan->isChecked() && laserScanRaw.size())
{
if(laserScanRaw.hasRGB() && laserScanRaw.hasNormals())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr scan = util3d::laserScanToPointCloudRGBNormal(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(laserScanRaw.hasIntensity() && laserScanRaw.hasNormals())
{
pcl::PointCloud<pcl::PointXYZINormal>::Ptr scan = util3d::laserScanToPointCloudINormal(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(laserScanRaw.hasNormals())
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan = util3d::laserScanToPointCloudNormal(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(laserScanRaw.hasRGB())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr scan = util3d::laserScanToPointCloudRGB(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(laserScanRaw.hasIntensity())
{
pcl::PointCloud<pcl::PointXYZI>::Ptr scan = util3d::laserScanToPointCloudI(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
}
// add RGB-D cloud
if(ui_->checkBox_showCloud->isChecked() && ui_->checkBox_cameraProjection->isChecked() &&
!data.imageRaw().empty() && !laserScanRaw.empty() && !laserScanRaw.is2d())
{
pcl::PointCloud<pcl::PointXYZINormal>::Ptr cloud = util3d::laserScanToPointCloudINormal(laserScanRaw, laserScanRaw.localTransform());
std::vector<CameraModel> models = data.cameraModels();
if(data.stereoCameraModel().isValidForProjection())
{
models.clear();
models.push_back(data.stereoCameraModel().left());
}
else if(!models.empty() && !models[0].isValidForProjection())
{
models.clear();
}
if(!models.empty() && models[0].imageWidth() != 0 && models[0].imageHeight() != 0)
{
std::map<int, Transform> cameraPoses;
std::map<int, std::vector<CameraModel> > cameraModels;
cameraPoses.insert(std::make_pair(data.id(), Transform::getIdentity()));
cameraModels.insert(std::make_pair(data.id(), models));
std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > pointToPixel;
pointToPixel = util3d::projectCloudToCameras(
*cloud,
cameraPoses,
cameraModels);
// color the cloud
UASSERT(pointToPixel.empty() || pointToPixel.size() == cloud->size());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudValidPoints(new pcl::PointCloud<pcl::PointXYZRGB>);
cloudValidPoints->resize(cloud->size());
int oi=0;
for(size_t i=0; i<pointToPixel.size(); ++i)
{
pcl::PointXYZINormal & pt = cloud->at(i);
pcl::PointXYZRGB ptColor;
int nodeID = pointToPixel[i].first.first;
int cameraIndex = pointToPixel[i].first.second;
if(nodeID>0 && cameraIndex>=0)
{
cv::Mat image = data.imageRaw();
int subImageWidth = image.cols / cameraModels.at(nodeID).size();
image = image(cv::Range::all(), cv::Range(cameraIndex*subImageWidth, (cameraIndex+1)*subImageWidth));
int x = pointToPixel[i].second.x * (float)image.cols;
int y = pointToPixel[i].second.y * (float)image.rows;
UASSERT(x>=0 && x<image.cols);
UASSERT(y>=0 && y<image.rows);
if(image.type()==CV_8UC3)
{
cv::Vec3b bgr = image.at<cv::Vec3b>(y, x);
ptColor.b = bgr[0];
ptColor.g = bgr[1];
ptColor.r = bgr[2];
}
else
{
UASSERT(image.type()==CV_8UC1);
ptColor.r = ptColor.g = ptColor.b = image.at<unsigned char>(pointToPixel[i].second.y * image.rows, pointToPixel[i].second.x * image.cols);
}
ptColor.x = pt.x;
ptColor.y = pt.y;
ptColor.z = pt.z;
cloudValidPoints->at(oi++) = ptColor;
}
}
cloudValidPoints->resize(oi);
if(!cloudValidPoints->empty())
{
if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
{
cloudValidPoints = util3d::voxelize(cloudValidPoints, ui_->doubleSpinBox_voxelSize->value());
}
cloudViewer_->addCloud("cloud", cloudValidPoints, pose);
}
else
{
UWARN("Camera projection to scan returned an empty cloud, no visible points from cameras...");
}
}
else
{
UERROR("Node has invalid camera models, camera projection on scan cannot be done!.");
}
}
else if(ui_->checkBox_showCloud->isChecked() || ui_->checkBox_showMesh->isChecked())
{
@@ -4740,46 +4877,6 @@ void DatabaseViewer::update(int value,
{
cloudViewer_->addCloud("words", cloud, pose, Qt::red);
}
}
//add scan
LaserScan laserScanRaw = data.laserScanRaw();
if(modifiedLaserScans_.find(id)!=modifiedLaserScans_.end())
{
laserScanRaw = modifiedLaserScans_.at(id);
}
if(ui_->checkBox_showScan->isChecked() && laserScanRaw.size())
{
if(laserScanRaw.hasRGB() && laserScanRaw.hasNormals())
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr scan = util3d::laserScanToPointCloudRGBNormal(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(laserScanRaw.hasIntensity() && laserScanRaw.hasNormals())
{
pcl::PointCloud<pcl::PointXYZINormal>::Ptr scan = util3d::laserScanToPointCloudINormal(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(laserScanRaw.hasNormals())
{
pcl::PointCloud<pcl::PointNormal>::Ptr scan = util3d::laserScanToPointCloudNormal(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(laserScanRaw.hasRGB())
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr scan = util3d::laserScanToPointCloudRGB(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else if(laserScanRaw.hasIntensity())
{
pcl::PointCloud<pcl::PointXYZI>::Ptr scan = util3d::laserScanToPointCloudI(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
else
{
pcl::PointCloud<pcl::PointXYZ>::Ptr scan = util3d::laserScanToPointCloud(laserScanRaw, laserScanRaw.localTransform());
cloudViewer_->addCloud("scan", scan, pose, Qt::yellow);
}
}
//add occupancy grid

494
guilib/src/ui/DatabaseViewer.ui
View File

@@ -61,7 +61,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>417</width>
<width>307</width>
<height>311</height>
</rect>
</property>
@@ -304,7 +304,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>416</width>
<width>306</width>
<height>311</height>
</rect>
</property>
@@ -1380,7 +1380,7 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>2</number>
<number>1</number>
</property>
<widget class="QWidget" name="page_3">
<property name="geometry">
@@ -1542,9 +1542,9 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>280</width>
<height>1006</height>
<y>-322</y>
<width>518</width>
<height>911</height>
</rect>
</property>
<attribute name="label">
@@ -1553,20 +1553,244 @@
<layout class="QVBoxLayout" name="verticalLayout_16">
<item>
<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,0">
<item row="7" column="1">
<widget class="QLabel" name="label_octomap_cubes">
<item row="7" column="0">
<widget class="QComboBox" name="comboBox_octomap_rendering_type">
<item>
<property name="text">
<string>Point Cloud</string>
</property>
</item>
<item>
<property name="text">
<string>Cube</string>
</property>
</item>
<item>
<property name="text">
<string>Volume</string>
</property>
</item>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_grid_empty">
<property name="text">
<string>OctoMap: Rendering type</string>
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_octomap_empty_3">
<property name="text">
<string>Ground cell color</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_51">
<item row="11" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="prefix">
<string/>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QCheckBox" name="checkBox_grid_showProbMap">
<property name="text">
<string>Gain compensation radius (Constraints view)</string>
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_grid_depth">
<property name="prefix">
<string/>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>16</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_56">
<property name="text">
<string>Decimation (for images)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_grid_regenerateFromSavedGrid">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_octomap_empty_2">
<property name="text">
<string>Obstacle cell color</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_59">
<property name="text">
<string>Show probabilistic occupancy grid in Graph View.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_9">
<item>
<widget class="QToolButton" name="toolButton_groundColor">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_groundColor">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_53">
<property name="text">
<string>OctoMap</string>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_57">
<property name="text">
<string>Crop radius when filtering empty space from 2d occupancy grid.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<widget class="QToolButton" name="toolButton_obstacleColor">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_obstacleColor">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="13" column="0">
<widget class="QSpinBox" name="spinBox_cropRadius">
<property name="suffix">
<string> pixels</string>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_54">
<property name="text">
<string>Voxel size (for clouds and scans)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QToolButton" name="toolButton_emptyColor">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_emptyColor">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_octomap_empty">
<property name="text">
<string>Show empty space</string>
</property>
<property name="wordWrap">
<bool>true</bool>
@@ -1595,23 +1819,6 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_53">
<property name="text">
<string>OctoMap</string>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_54">
<property name="text">
<string>Voxel size (for clouds and scans)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_octomap">
<property name="text">
@@ -1619,93 +1826,6 @@
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_grid_regenerateFromSavedGrid">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_grid_depth">
<property name="prefix">
<string/>
</property>
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>16</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_grid_empty">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QComboBox" name="comboBox_octomap_rendering_type">
<item>
<property name="text">
<string>Point Cloud</string>
</property>
</item>
<item>
<property name="text">
<string>Cube</string>
</property>
</item>
<item>
<property name="text">
<string>Volume</string>
</property>
</item>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_octomap_depth">
<property name="text">
<string>OctoMap: Tree depth</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_55">
<property name="text">
@@ -1716,36 +1836,6 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_octomap_empty">
<property name="text">
<string>Show empty space</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_octomap_empty_3">
<property name="text">
<string>Ground cell color</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_octomap_empty_2">
<property name="text">
<string>Obstacle cell color</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_octomap_empty_4">
<property name="text">
@@ -1756,118 +1846,48 @@
</property>
</widget>
</item>
<item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_9">
<item>
<widget class="QToolButton" name="toolButton_groundColor">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_groundColor">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_11">
<item>
<widget class="QToolButton" name="toolButton_obstacleColor">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_obstacleColor">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="3" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QToolButton" name="toolButton_emptyColor">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_emptyColor">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label_56">
<item row="10" column="1">
<widget class="QLabel" name="label_51">
<property name="text">
<string>Decimation (for images)</string>
<string>Gain compensation radius (Constraints view)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="prefix">
<string/>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
<property name="value">
<number>16</number>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_57">
<item row="8" column="1">
<widget class="QLabel" name="label_octomap_depth">
<property name="text">
<string>Crop radius when filtering empty space from 2d occupancy grid.</string>
<string>OctoMap: Tree depth</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QSpinBox" name="spinBox_cropRadius">
<property name="suffix">
<string> pixels</string>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLabel" name="label_59">
<item row="7" column="1">
<widget class="QLabel" name="label_octomap_cubes">
<property name="text">
<string>Show probabilistic occupancy grid in Graph View.</string>
<string>OctoMap: Rendering type</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QCheckBox" name="checkBox_grid_showProbMap">
<item row="15" column="1">
<widget class="QLabel" name="label_60">
<property name="text">
<string>Create RGB-D cloud from RGB projection on scan.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QCheckBox" name="checkBox_cameraProjection">
<property name="text">
<string/>
</property>