mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
0.13.3: scan2d with normals support/registration
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>-831</y>
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<width>678</width>
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<height>2739</height>
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</rect>
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@@ -95,7 +95,7 @@
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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>21</number>
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||||
<number>1</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" stretch="0,1">
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@@ -512,6 +512,31 @@ Show a yellow background when the number of odometry inliers goes under this thr
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<layout class="QVBoxLayout" name="verticalLayout_112">
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||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
|
||||
<item row="3" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
|
||||
<property name="suffix">
|
||||
<string> m</string>
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||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
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||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
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||||
</property>
|
||||
<property name="singleStep">
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||||
<double>0.100000000000000</double>
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||||
</property>
|
||||
<property name="value">
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||||
<double>0.000000000000000</double>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="5" column="1">
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||||
<widget class="QLineEdit" name="lineEdit_roiRatios_odom"/>
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||||
</item>
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||||
<item row="5" column="0">
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||||
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
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</item>
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<item row="0" column="0">
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||||
<widget class="QLabel" name="label_154">
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||||
<property name="text">
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||||
@@ -597,7 +622,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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||||
<item row="12" column="0">
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<item row="13" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
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||||
<property name="suffix">
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<string/>
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||||
@@ -616,7 +641,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="12" column="1">
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<item row="13" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
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<property name="suffix">
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<string/>
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||||
@@ -635,7 +660,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="12" column="2">
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<item row="13" column="2">
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<widget class="QLabel" name="label_155">
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<property name="text">
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||||
<string>Opacity.</string>
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||||
@@ -648,7 +673,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="13" column="2">
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<item row="14" column="2">
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||||
<widget class="QLabel" name="label_157">
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||||
<property name="text">
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<string>Point size (1..64).</string>
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@@ -712,25 +737,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
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||||
<property name="suffix">
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||||
<string> m</string>
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||||
</property>
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||||
<property name="decimals">
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||||
<number>1</number>
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||||
</property>
|
||||
<property name="maximum">
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||||
<double>100.000000000000000</double>
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||||
</property>
|
||||
<property name="singleStep">
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||||
<double>0.100000000000000</double>
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||||
</property>
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||||
<property name="value">
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||||
<double>0.000000000000000</double>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="3" column="2">
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<widget class="QLabel" name="label_132">
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||||
<property name="text">
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||||
@@ -798,12 +804,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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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||||
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
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||||
</item>
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||||
<item row="5" column="1">
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||||
<widget class="QLineEdit" name="lineEdit_roiRatios_odom"/>
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||||
</item>
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||||
<item row="5" column="2">
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<widget class="QLabel" name="label_353">
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||||
<property name="text">
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||||
@@ -858,7 +858,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="13" column="0">
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<item row="14" column="0">
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<widget class="QSpinBox" name="spinBox_ptsize">
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<property name="minimum">
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||||
<number>1</number>
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||||
@@ -871,7 +871,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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||||
</item>
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||||
<item row="13" column="1">
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||||
<item row="14" column="1">
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||||
<widget class="QSpinBox" name="spinBox_ptsize_odom">
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||||
<property name="minimum">
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||||
<number>1</number>
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||||
@@ -1010,6 +1010,26 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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||||
</item>
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||||
<item row="12" column="2">
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||||
<widget class="QLabel" name="label_427">
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||||
<property name="text">
|
||||
<string>Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
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||||
</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="12" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch">
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||||
<property name="singleStep">
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||||
<double>0.010000000000000</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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</item>
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<item>
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@@ -1117,7 +1137,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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<string>Laser Scan</string>
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</property>
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||||
<layout class="QGridLayout" name="gridLayout_79" columnstretch="0,0,1">
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<item row="8" column="1">
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<item row="9" column="1">
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||||
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
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||||
<property name="minimum">
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||||
<number>1</number>
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||||
@@ -1127,7 +1147,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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||||
</widget>
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||||
</item>
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||||
<item row="8" column="2">
|
||||
<item row="9" column="2">
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||||
<widget class="QLabel" name="label_158">
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||||
<property name="text">
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||||
<string>Scan point size (1..64).</string>
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@@ -1169,7 +1189,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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||||
<item row="7" column="2">
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||||
<item row="8" column="2">
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||||
<widget class="QLabel" name="label_156">
|
||||
<property name="text">
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||||
<string>Scan opacity.</string>
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||||
@@ -1195,7 +1215,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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||||
</property>
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||||
</widget>
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||||
</item>
|
||||
<item row="8" column="0">
|
||||
<item row="9" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_scan">
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||||
<property name="minimum">
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||||
<number>1</number>
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||||
@@ -1235,7 +1255,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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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||||
<item row="8" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
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||||
<property name="suffix">
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||||
<string/>
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||||
@@ -1267,7 +1287,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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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||||
<item row="8" column="1">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
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||||
<property name="suffix">
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||||
<string/>
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||||
@@ -1440,6 +1460,26 @@ Show a yellow background when the number of odometry inliers goes under this thr
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="7" column="2">
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||||
<widget class="QLabel" name="label_428">
|
||||
<property name="text">
|
||||
<string>Normal radius search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
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||||
</property>
|
||||
<property name="wordWrap">
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||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_normalRadiusSearch_scan">
|
||||
<property name="singleStep">
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||||
<double>0.010000000000000</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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@@ -5283,6 +5323,29 @@ 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="3" column="1">
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||||
<widget class="QLabel" name="label_425">
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||||
<property name="text">
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||||
<string>Search radius for normals computation (0=disabled). Useful if the ICP registration approach is point to plane.</string>
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||||
</property>
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_cameraImages_scanNormalsRadius">
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
|
||||
</property>
|
||||
<property name="singleStep">
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||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
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||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
@@ -5995,6 +6058,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<layout class="QVBoxLayout" name="verticalLayout_10">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
|
||||
<item row="15" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_imagePostDecimation">
|
||||
<property name="minimum">
|
||||
<number>-16</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>16</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
|
||||
<property name="minimum">
|
||||
@@ -6066,19 +6139,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_3">
|
||||
<property name="text">
|
||||
<string>Bad signatures are ignored.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
|
||||
<property name="text">
|
||||
@@ -6089,10 +6149,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_5">
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_3">
|
||||
<property name="text">
|
||||
<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
|
||||
<string>Bad signatures are ignored.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -6122,10 +6182,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_11">
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_5">
|
||||
<property name="text">
|
||||
<string>Create map labels. The first node of a map will be labelled as "map#" where # is the map ID.</string>
|
||||
<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -6145,6 +6205,19 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_11">
|
||||
<property name="text">
|
||||
<string>Create map labels. The first node of a map will be labelled as "map#" where # is the map ID.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="0">
|
||||
<widget class="QSpinBox" name="general_spinBox_laserScanDownsample">
|
||||
<property name="minimumSize">
|
||||
@@ -6161,6 +6234,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_12">
|
||||
<property name="text">
|
||||
@@ -6174,16 +6257,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_keepDescriptors">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_13">
|
||||
<property name="text">
|
||||
@@ -6256,13 +6329,13 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_imagePostDecimation">
|
||||
<property name="minimum">
|
||||
<number>-16</number>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>16</number>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -6292,16 +6365,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_6">
|
||||
<property name="text">
|
||||
@@ -6315,6 +6378,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_7">
|
||||
<property name="text">
|
||||
@@ -6341,16 +6414,6 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_saveDepth16bits">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_imagePreDecimation">
|
||||
<property name="minimum">
|
||||
@@ -6380,10 +6443,20 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_compressionParallelized">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_14">
|
||||
<property name="text">
|
||||
<string>If > 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature.</string>
|
||||
<string>If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -6406,8 +6479,8 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_compressionParallelized">
|
||||
<item row="10" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_saveIntermediateNodeData">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
@@ -6429,13 +6502,29 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QCheckBox" name="general_checkBox_saveIntermediateNodeData">
|
||||
<item row="18" column="1">
|
||||
<widget class="QLabel" name="label_retrieved_17">
|
||||
<property name="text">
|
||||
<string/>
|
||||
<string>If > 0 and laser scans don't have normals, normals will be computed with radius search when creating a signature.</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="0">
|
||||
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanNormalRadius">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
@@ -13764,6 +13853,26 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_426">
|
||||
<property name="text">
|
||||
<string>Search radius to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneNormalsRadius">
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user