mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Added util3d::projectCloudToCamera() method (creating a registered depth image from the laser scan), used for "Generate depth from scan" option of CameraImages
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>0</y>
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<y>-880</y>
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<width>676</width>
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<height>1982</height>
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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>14</number>
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<number>3</number>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -1910,7 +1910,7 @@ 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_src">
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<number>0</number>
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<number>2</number>
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<widget class="QWidget" name="page_41">
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<layout class="QVBoxLayout" name="verticalLayout_64">
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@@ -2973,7 +2973,7 @@ 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_image">
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<property name="currentIndex">
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||||
<number>2</number>
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<number>1</number>
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</property>
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<widget class="QWidget" name="page_7">
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<layout class="QVBoxLayout" name="verticalLayout_30">
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@@ -2999,7 +2999,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<property name="title">
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<string>Images Dataset</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,1">
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<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0">
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||||
<item row="0" column="1">
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<widget class="QLineEdit" name="source_images_lineEdit_path">
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<property name="readOnly">
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@@ -3020,6 +3020,13 @@ 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="0">
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<widget class="QCheckBox" name="source_images_refreshDir">
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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="1">
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<widget class="QLabel" name="label_21">
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<property name="text">
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@@ -3033,13 +3040,6 @@ 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="0">
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<widget class="QCheckBox" name="source_images_refreshDir">
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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="QSpinBox" name="source_images_spinBox_startPos">
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<property name="minimum">
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@@ -3325,189 +3325,251 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<property name="title">
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<string>Directory of images (optional settings)</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="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_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="2">
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||||
<widget class="QLabel" name="label_255">
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||||
<property name="text">
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||||
<string>Use 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="1" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_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="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_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="2">
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<widget class="QLabel" name="label_251">
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<property name="text">
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<string>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 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="2" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_gt">
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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="QLineEdit" name="lineEdit_cameraImages_gt">
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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_288">
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<property name="text">
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||||
<string>Ground truth file. Select the correct format below.</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="3" column="1">
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<widget class="QComboBox" name="comboBox_cameraImages_gtFormat">
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<item>
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<property name="text">
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<string>Raw</string>
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||||
</property>
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||||
<layout class="QVBoxLayout" name="verticalLayout_93">
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||||
<property name="margin">
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<number>0</number>
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<item>
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<layout class="QGridLayout" name="gridLayout_68" columnstretch="0,0,1">
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<item row="0" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_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>
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<property name="text">
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<string>RGBD-SLAM</string>
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</property>
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<item row="0" 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 file names as timestamps. Format is epoch time. Example: "1305031102.175304.png"</string>
|
||||
</property>
|
||||
<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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<property name="text">
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<string>KITTI</string>
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</property>
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||||
<item row="1" column="0">
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||||
<widget class="QToolButton" name="toolButton_cameraImages_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>
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||||
<property name="text">
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||||
<string>TORO</string>
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||||
</property>
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||||
<item row="1" column="1">
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||||
<widget class="QLineEdit" name="lineEdit_cameraImages_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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||||
</widget>
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||||
<item row="1" column="2">
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||||
<widget class="QLabel" name="label_251">
|
||||
<property name="text">
|
||||
<string>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 file names as timestamps" above is checked. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<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="QToolButton" name="toolButton_cameraImages_gt">
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||||
<property name="text">
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||||
<string>...</string>
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||||
</property>
|
||||
</widget>
|
||||
</item>
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||||
<item row="2" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_gt">
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||||
<property name="text">
|
||||
<string/>
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||||
</property>
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||||
</widget>
|
||||
</item>
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||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="label_288">
|
||||
<property name="text">
|
||||
<string>Ground truth file. Select the correct format below.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QComboBox" name="comboBox_cameraImages_gtFormat">
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||||
<item>
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||||
<property name="text">
|
||||
<string>Raw</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>RGBD-SLAM</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>KITTI</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>TORO</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_289">
|
||||
<property name="text">
|
||||
<string>Ground truth format.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_293">
|
||||
<property name="text">
|
||||
<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0 0 0 0 0 0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_294">
|
||||
<property name="text">
|
||||
<string>Local transform from /base_link to /scan_link. Mouse over the box to show formats.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_292">
|
||||
<property name="text">
|
||||
<string>Maximum laser scan points.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_289">
|
||||
<property name="text">
|
||||
<string>Ground truth format.</string>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_depthFromScan">
|
||||
<property name="title">
|
||||
<string>Generate depth image from laser scan</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<property name="checkable">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_293">
|
||||
<property name="text">
|
||||
<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0</p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0 0 0 0 0 0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_294">
|
||||
<property name="text">
|
||||
<string>Local transform from /base_link to /scan_link. Mouse over the box to show formats.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_292">
|
||||
<property name="text">
|
||||
<string>Maximum laser scan points.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_67" columnstretch="0,1">
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_depthFromScan_vertical">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_305">
|
||||
<property name="text">
|
||||
<string>Fill holes vertically, otherwise fill horizontally.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_depthFromScan_fillBorders">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_306">
|
||||
<property name="text">
|
||||
<string>Fill holes from the image border.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
Reference in New Issue
Block a user