Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.

2026-09-01 17:10:26 +08:00 · 2019-07-09 20:48:09 -04:00
parent 63be7c85fc
commit 3c7719f6d8
22 changed files with 1426 additions and 508 deletions
--- a/guilib/include/rtabmap/gui/PreferencesDialog.h
+++ b/guilib/include/rtabmap/gui/PreferencesDialog.h
@@ -93,6 +93,7 @@ public:
 		kSrcRGBDImages     = 7,
 		kSrcK4W2           = 8,
 		kSrcRealSense2     = 9,
+		kSrcK4A            = 10,

 		kSrcStereo         = 100,
 		kSrcDC1394         = 100,
@@ -353,6 +354,7 @@ private Q_SLOTS:
 	void selectSourceDistortionModel();
 	void selectSourceOniPath();
 	void selectSourceOni2Path();
+	void selectSourceMKVPath();
 	void selectSourceSvoPath();
 	void updateSourceGrpVisibility();
 	void testOdometry();
--- a/guilib/src/AboutDialog.cpp
+++ b/guilib/src/AboutDialog.cpp
@@ -100,6 +100,8 @@ AboutDialog::AboutDialog(QWidget * parent) :
 	_ui->label_dc1394_license->setEnabled(CameraStereoDC1394::available());
 	_ui->label_flycapture2->setText(CameraStereoFlyCapture2::available()?"Yes":"No");
 	_ui->label_zed->setText(CameraStereoZed::available()?"Yes":"No");
+	_ui->label_k4w2->setText(CameraK4W2::available() ? "Yes" : "No");
+	_ui->label_k4a->setText(CameraK4A::available() ? "Yes" : "No");

 	_ui->label_toro->setText(Optimizer::isAvailable(Optimizer::kTypeTORO)?"Yes":"No");
 	_ui->label_toro_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeTORO)?true:false);
--- a/guilib/src/CMakeLists.txt
+++ b/guilib/src/CMakeLists.txt
@@ -129,6 +129,14 @@ SET(INCLUDE_DIRS
 	${PCL_INCLUDE_DIRS}
 )

+# Hack as CameraRealsense2.h needs realsense2 include dir
+IF(realsense2_FOUND)
+	SET(INCLUDE_DIRS
+		${INCLUDE_DIRS}
+		${realsense2_INCLUDE_DIRS}
+	)
+ENDIF(realsense2_FOUND)
+
 IF(QT4_FOUND)
    INCLUDE(${QT_USE_FILE})
 ENDIF(QT4_FOUND)
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -296,6 +296,10 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	{
 		_ui->comboBox_cameraRGBD->setItemData(kSrcK4W2 - kSrcRGBD, 0, Qt::UserRole - 1);
 	}
+	if (!CameraK4A::available())
+	{
+		_ui->comboBox_cameraRGBD->setItemData(kSrcK4A - kSrcRGBD, 0, Qt::UserRole - 1);
+	}
 	if (!CameraRealSense::available())
 	{
 		_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense - kSrcRGBD, 0, Qt::UserRole - 1);
@@ -689,10 +693,12 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
 	connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
 	connect(_ui->toolButton_openni2OniPath, SIGNAL(clicked()), this, SLOT(selectSourceOni2Path()));
+	connect(_ui->toolButton_k4a_mkv, SIGNAL(clicked()), this, SLOT(selectSourceMKVPath()));
 	connect(_ui->toolButton_source_distortionModel, SIGNAL(clicked()), this, SLOT(selectSourceDistortionModel()));
 	connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(visualizeDistortionModel()));
 	connect(_ui->lineEdit_openniOniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->lineEdit_openni2OniPath, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->lineEdit_k4a_mkv, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->lineEdit_source_distortionModel, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->groupBox_bilateral, SIGNAL(toggled(bool)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->doubleSpinBox_bilateral_sigmaS, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1780,6 +1786,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->spinBox_rs2_rate->setValue(60);
 		_ui->lineEdit_openniOniPath->clear();
 		_ui->lineEdit_openni2OniPath->clear();
+		_ui->checkbox_k4a_irDepth->setChecked(false);
+		_ui->lineEdit_k4a_mkv->clear();
 		_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
 		_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
 		_ui->doubleSpinBox_cameraRGBDImages_scale->setValue(1.0);
@@ -2174,6 +2182,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->comboBox_k4w2Format->setCurrentIndex(settings.value("format", _ui->comboBox_k4w2Format->currentIndex()).toInt());
 	settings.endGroup(); // K4W2

+	settings.beginGroup("K4A");
+	_ui->checkbox_k4a_irDepth->setChecked(settings.value("ir", _ui->checkbox_k4a_irDepth->isChecked()).toBool());
+	_ui->lineEdit_k4a_mkv->setText(settings.value("mkvPath", _ui->lineEdit_k4a_mkv->text()).toString());
+	settings.endGroup(); // K4A
+
 	settings.beginGroup("RealSense");
 	_ui->comboBox_realsensePresetRGB->setCurrentIndex(settings.value("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()).toInt());
 	_ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt());
@@ -2258,6 +2271,16 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString());
 	settings.endGroup(); // video

+	settings.beginGroup("IMU");
+	_ui->comboBox_imuFilter_strategy->setCurrentIndex(settings.value("strategy", _ui->comboBox_imuFilter_strategy->currentIndex()).toInt());
+	_ui->doubleSpinBox_imuFilterMadgwickGain->setValue(settings.value("madgwick_gain", _ui->doubleSpinBox_imuFilterMadgwickGain->value()).toDouble());
+	_ui->doubleSpinBox_imuFilterMadgwickZeta->setValue(settings.value("madgwick_zeta", _ui->doubleSpinBox_imuFilterMadgwickZeta->value()).toDouble());
+	_ui->doubleSpinBox_imuFilterComplementaryGainAcc->setValue(settings.value("complementary_gain_acc", _ui->doubleSpinBox_imuFilterComplementaryGainAcc->value()).toDouble());
+	_ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->setValue(settings.value("complementary_bias_alpha", _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->value()).toDouble());
+	_ui->checkBox_imuFilterComplementaryDoAdaptiveGain->setChecked(settings.value("complementary_adaptive_gain", _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->isChecked()).toBool());
+	_ui->checkBox_imuFilterComplementaryDoBiasEstimation->setChecked(settings.value("complementary_biais_estimation", _ui->checkBox_imuFilterComplementaryDoBiasEstimation->isChecked()).toBool());
+	settings.endGroup();//IMU
+
 	settings.beginGroup("Scan");
 	_ui->checkBox_source_scanFromDepth->setChecked(settings.value("fromDepth", _ui->checkBox_source_scanFromDepth->isChecked()).toBool());
 	_ui->spinBox_source_scanDownsampleStep->setValue(settings.value("downsampleStep", _ui->spinBox_source_scanDownsampleStep->value()).toInt());
@@ -2614,6 +2637,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("format",				_ui->comboBox_k4w2Format->currentIndex());
 	settings.endGroup(); // K4W2

+	settings.beginGroup("K4A");
+	settings.setValue("ir", _ui->checkbox_k4a_irDepth->isChecked());
+	settings.setValue("mkvPath", _ui->lineEdit_k4a_mkv->text());
+	settings.endGroup(); // K4A
+
 	settings.beginGroup("RealSense");
 	settings.setValue("presetRGB",           _ui->comboBox_realsensePresetRGB->currentIndex());
 	settings.setValue("presetDepth",         _ui->comboBox_realsensePresetDepth->currentIndex());
@@ -2696,6 +2724,16 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("path", 			_ui->source_video_lineEdit_path->text());
 	settings.endGroup(); // video

+	settings.beginGroup("IMU");
+	settings.setValue("strategy",                       _ui->comboBox_imuFilter_strategy->currentIndex());
+	settings.setValue("madgwick_gain",                  _ui->doubleSpinBox_imuFilterMadgwickGain->value());
+	settings.setValue("madgwick_zeta",                  _ui->doubleSpinBox_imuFilterMadgwickZeta->value());
+	settings.setValue("complementary_gain_acc",         _ui->doubleSpinBox_imuFilterComplementaryGainAcc->value());
+	settings.setValue("complementary_bias_alpha",       _ui->doubleSpinBox_imuFilterComplementaryBiasAlpha->value());
+	settings.setValue("complementary_adaptive_gain",    _ui->checkBox_imuFilterComplementaryDoAdaptiveGain->isChecked());
+	settings.setValue("complementary_biais_estimation", _ui->checkBox_imuFilterComplementaryDoBiasEstimation->isChecked());
+	settings.endGroup();//IMU
+
 	settings.beginGroup("Scan");
 	settings.setValue("fromDepth", 			_ui->checkBox_source_scanFromDepth->isChecked());
 	settings.setValue("downsampleStep", 	_ui->spinBox_source_scanDownsampleStep->value());
@@ -3444,6 +3482,10 @@ void PreferencesDialog::selectSourceDriver(Src src)
 		{
 			_ui->lineEdit_openni2OniPath->clear();
 		}
+		else if (src == kSrcK4A)
+		{
+			_ui->lineEdit_k4a_mkv->clear();
+		}
 	}
 	else if(src >= kSrcStereo && src<kSrcRGB)
 	{
@@ -3835,6 +3877,20 @@ void PreferencesDialog::selectSourceOni2Path()
 	}
 }

+void PreferencesDialog::selectSourceMKVPath()
+{
+	QString dir = _ui->lineEdit_k4a_mkv->text();
+	if (dir.isEmpty())
+	{
+		dir = getWorkingDirectory();
+	}
+	QString path = QFileDialog::getOpenFileName(this, tr("Select file"), _ui->lineEdit_k4a_mkv->text(), tr("K4A recording (*.mkv)"));
+	if (!path.isEmpty())
+	{
+		_ui->lineEdit_k4a_mkv->setText(path);
+	}
+}
+
 void PreferencesDialog::selectSourceSvoPath()
 {
 	QString dir = _ui->lineEdit_zedSvoPath->text();
@@ -4530,6 +4586,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
 			(_ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD ||
+			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD ||
@@ -4537,10 +4594,11 @@ void PreferencesDialog::updateSourceGrpVisibility()
 	_ui->groupBox_openni2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI2-kSrcRGBD);
 	_ui->groupBox_freenect2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD);
 	_ui->groupBox_k4w2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD);
+	_ui->groupBox_k4a->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD);
 	_ui->groupBox_realsense->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD);
 	_ui->groupBox_realsense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD);
 	_ui->groupBox_cameraRGBDImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD);
-	_ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD);
+	_ui->groupBox_openni->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL - kSrcRGBD);

 	_ui->stackedWidget_stereo->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && 
 		(_ui->comboBox_cameraStereo->currentIndex() == kSrcStereoVideo-kSrcStereo || 
@@ -4576,6 +4634,7 @@ void PreferencesDialog::updateSourceGrpVisibility()
 			(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD) ||
 			(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoImages-kSrcStereo) ||
 			(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB) ||
+			(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD) || //K4A
 			(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD) || //D435i
 			(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo) || //T265
 			(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo)); // ZEDm
@@ -5259,6 +5318,26 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
 	}
+	else if (driver == kSrcK4A)
+	{
+		if (!_ui->lineEdit_k4a_mkv->text().isEmpty())
+		{
+			// playback
+			camera = new CameraK4A(
+				_ui->lineEdit_k4a_mkv->text().toStdString().c_str(),
+				this->getGeneralInputRate(),
+				this->getSourceLocalTransform());
+		}
+		else
+		{
+			camera = new CameraK4A(
+				this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
+				this->getGeneralInputRate(),
+				this->getSourceLocalTransform());
+		}
+		
+		((CameraK4A*)camera)->setIRDepthFormat(_ui->checkbox_k4a_irDepth->isChecked());
+	}
 	else if (driver == kSrcRealSense)
 	{
 		if(useRawImages && _ui->comboBox_realsenseRGBSource->currentIndex()!=2)
--- a/guilib/src/ui/aboutDialog.ui
+++ b/guilib/src/ui/aboutDialog.ui
--- a/guilib/src/ui/preferencesDialog.ui
+++ b/guilib/src/ui/preferencesDialog.ui
@@ -64,15 +64,24 @@
           <rect>
            <x>0</x>
            <y>0</y>
-            <width>673</width>
-            <height>3038</height>
+            <width>677</width>
+            <height>2974</height>
           </rect>
          </property>
          <layout class="QVBoxLayout" name="verticalLayout_16">
           <property name="spacing">
            <number>0</number>
           </property>
-           <property name="margin">
+           <property name="leftMargin">
+            <number>0</number>
+           </property>
+           <property name="topMargin">
+            <number>0</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
            <number>0</number>
           </property>
           <item>
@@ -86,7 +95,7 @@
                <enum>QFrame::Raised</enum>
               </property>
               <property name="currentIndex">
-                <number>21</number>
+                <number>5</number>
               </property>
               <widget class="QWidget" name="page_22">
                <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -3039,6 +3048,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                 <string>RealSense2</string>
                                </property>
                               </item>
+                               <item>
+                                <property name="text">
+                                 <string>Kinect for Azure</string>
+                                </property>
+                               </item>
                              </widget>
                             </item>
                             <item row="0" column="1">
@@ -3082,7 +3096,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                           <item>
                            <widget class="QStackedWidget" name="stackedWidget_rgbd">
                             <property name="currentIndex">
-                              <number>9</number>
+                              <number>10</number>
                             </property>
                             <widget class="QWidget" name="page_32">
                              <layout class="QVBoxLayout" name="verticalLayout_63">
@@ -4179,6 +4193,98 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                               </item>
                              </layout>
                             </widget>
+                             <widget class="QWidget" name="page_84">
+                              <layout class="QVBoxLayout" name="verticalLayout_145" stretch="0,1">
+                               <item>
+                                <widget class="QGroupBox" name="groupBox_k4a">
+                                 <property name="sizePolicy">
+                                  <sizepolicy hsizetype="Ignored" vsizetype="Ignored">
+                                   <horstretch>0</horstretch>
+                                   <verstretch>0</verstretch>
+                                  </sizepolicy>
+                                 </property>
+                                 <property name="title">
+                                  <string>Kinect for Azure</string>
+                                 </property>
+                                 <layout class="QGridLayout" name="gridLayout_113">
+                                  <item row="0" column="0">
+                                   <widget class="QCheckBox" name="checkbox_k4a_irDepth">
+                                    <property name="text">
+                                     <string/>
+                                    </property>
+                                    <property name="checked">
+                                     <bool>false</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="0" column="1">
+                                   <widget class="QLabel" name="label_558">
+                                    <property name="text">
+                                     <string>Use IR for RGB image </string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="0">
+                                   <widget class="QToolButton" name="toolButton_k4a_mkv">
+                                    <property name="text">
+                                     <string>...</string>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="1">
+                                   <widget class="QLineEdit" name="lineEdit_k4a_mkv">
+                                    <property name="text">
+                                     <string/>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="2">
+                                   <widget class="QLabel" name="label_556">
+                                    <property name="text">
+                                     <string>Path to a *.MKV file.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="2" column="1">
+                                   <spacer name="verticalSpacer_83">
+                                    <property name="orientation">
+                                     <enum>Qt::Vertical</enum>
+                                    </property>
+                                    <property name="sizeHint" stdset="0">
+                                     <size>
+                                      <width>20</width>
+                                      <height>0</height>
+                                     </size>
+                                    </property>
+                                   </spacer>
+                                  </item>
+                                 </layout>
+                                </widget>
+                               </item>
+                               <item>
+                                <spacer name="verticalSpacer_82">
+                                 <property name="orientation">
+                                  <enum>Qt::Vertical</enum>
+                                 </property>
+                                 <property name="sizeHint" stdset="0">
+                                  <size>
+                                   <width>20</width>
+                                   <height>168</height>
+                                  </size>
+                                 </property>
+                                </spacer>
+                               </item>
+                              </layout>
+                             </widget>
                            </widget>
                           </item>
                          </layout>
@@ -5435,7 +5541,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                       <string>Directory of images (optional settings)</string>
                      </property>
                      <layout class="QVBoxLayout" name="verticalLayout_93">
-                       <property name="margin">
+                       <property name="leftMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="topMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="rightMargin">
+                        <number>0</number>
+                       </property>
+                       <property name="bottomMargin">
                        <number>0</number>
                       </property>
                       <item>
@@ -16663,7 +16778,16 @@ Lower the ratio -&gt; higher the precision.</string>
                        <property name="spacing">
                         <number>0</number>
                        </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                         <number>0</number>
                        </property>
                        <item>
@@ -16743,7 +16867,16 @@ Lower the ratio -&gt; higher the precision.</string>
                        <property name="spacing">
                         <number>0</number>
                        </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                         <number>0</number>
                        </property>
                        <item>
@@ -16855,7 +16988,16 @@ Lower the ratio -&gt; higher the precision.</string>
                        <property name="spacing">
                         <number>0</number>
                        </property>
-                        <property name="margin">
+                        <property name="leftMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="topMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="rightMargin">
+                         <number>0</number>
+                        </property>
+                        <property name="bottomMargin">
                         <number>0</number>
                        </property>
                        <item>