Added resolution parameters for Usb camera and realsense2 sources

corelib/include/rtabmap/core/camera/CameraRealSense2.h

@@ -59,7 +59,6 @@ public:
 	static bool available();
 
 public:
-	// default local transform z in, x right, y down));
 	CameraRealSense2(
 		const std::string & deviceId = "",
 		float imageRate = 0,
@@ -72,8 +71,11 @@ public:
 	bool odomProvided() const;
 
 	// parameters are set during initialization
+	// D400 series
 	void setEmitterEnabled(bool enabled);
 	void setIRDepthFormat(bool enabled);
+	void setResolution(int width, int height, int fps = 30);
+	// T265 related parameters
 	void setImagesRectified(bool enabled);
 	void setOdomProvided(bool enabled);
 
@@ -117,6 +119,9 @@ private:
 	bool irDepth_;
 	bool rectifyImages_;
 	bool odometryProvided_;
+	int cameraWidth_;
+	int cameraHeight_;
+	int cameraFps_;
 
 	static Transform realsense2PoseRotation_;
 	static Transform realsense2PoseRotationInv_;

corelib/include/rtabmap/core/camera/CameraVideo.h

@@ -58,6 +58,13 @@ public:
 	int getUsbDevice() const {return _usbDevice;}
 	const std::string & getFilePath() const {return _filePath;}
 
+	/**
+	 * Set wanted usb resolution, should be set before initialization. 0 means
+	 * default resolution. It won't be applied if a valid camera calibration
+	 * has been loaded, thus resolution from calibration is used.
+	 * */
+	void setResolution(int width, int height) {_width=width, _height=height;}
+
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 
@@ -72,6 +79,8 @@ private:
 	// Usb camera
 	int _usbDevice;
 	std::string _guid;
+	int _width;
+	int _height;
 
 	CameraModel _model;
 };

corelib/src/camera/CameraRealSense2.cpp

@@ -67,7 +67,10 @@ CameraRealSense2::CameraRealSense2(
 	emitterEnabled_(true),
 	irDepth_(false),
 	rectifyImages_(true),
-	odometryProvided_(false)
+	odometryProvided_(false),
+	cameraWidth_(640),
+	cameraHeight_(480),
+	cameraFps_(30)
 #endif
 {
 	UDEBUG("");
@@ -564,21 +567,21 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 			{
 				//D400 series:
 				if (video_profile.format() == (i==1?RS2_FORMAT_Z16:irDepth_?RS2_FORMAT_Y8:RS2_FORMAT_RGB8) &&
-					video_profile.width()  == 640 &&
+					video_profile.width()  == cameraWidth_ &&
-					video_profile.height() == 480 &&
+					video_profile.height() == cameraHeight_ &&
-					video_profile.fps()    == 30)
+					video_profile.fps()    == cameraFps_)
 				{
 					profilesPerSensor[irDepth_?1:i].push_back(profile);
 					auto intrinsic = video_profile.get_intrinsics();
 					if(i==1)
 					{
-						depthBuffer_ = cv::Mat(cv::Size(640, 480), CV_16UC1, cv::Scalar(0));
+						depthBuffer_ = cv::Mat(cv::Size(cameraWidth_, cameraHeight_), CV_16UC1, cv::Scalar(0));
 						depthStreamProfile = profile;
 						*depthIntrinsics_ = intrinsic;
 					}
 					else
 					{
-						rgbBuffer_ = cv::Mat(cv::Size(640, 480), irDepth_?CV_8UC1:CV_8UC3, irDepth_?cv::Scalar(0):cv::Scalar(0, 0, 0));
+						rgbBuffer_ = cv::Mat(cv::Size(cameraWidth_, cameraHeight_), irDepth_?CV_8UC1:CV_8UC3, irDepth_?cv::Scalar(0):cv::Scalar(0, 0, 0));
 						model_ = CameraModel(camera_name, intrinsic.fx, intrinsic.fy, intrinsic.ppx, intrinsic.ppy, this->getLocalTransform(), 0, cv::Size(intrinsic.width, intrinsic.height));
 						rgbStreamProfile = profile;
 						*rgbIntrinsics_ = intrinsic;
@@ -638,7 +641,17 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		if (!added)
 		{
 			UERROR("Given stream configuration is not supported by the device! "
-					"Stream Index: %d, Width: %d, Height: %d, FPS: %d", i, 640, 480, 30);
+					"Stream Index: %d, Width: %d, Height: %d, FPS: %d", i, cameraWidth_, cameraHeight_, cameraFps_);
+			UERROR("Available configurations:");
+			for (auto& profile : profiles)
+			{
+				auto video_profile = profile.as<rs2::video_stream_profile>();
+				UERROR("%s %d %d %d", rs2_format_to_string(
+						video_profile.format()),
+						video_profile.width(),
+						video_profile.height(),
+						video_profile.fps());
+			}
 			return false;
 		}
 	 }
@@ -819,6 +832,15 @@ void CameraRealSense2::setIRDepthFormat(bool enabled)
 #endif
 }
 
+void CameraRealSense2::setResolution(int width, int height, int fps)
+{
+#ifdef RTABMAP_REALSENSE2
+	cameraWidth_ = width;
+	cameraHeight_ = height;
+	cameraFps_ = fps;
+#endif
+}
+
 void CameraRealSense2::setImagesRectified(bool enabled)
 {
 #ifdef RTABMAP_REALSENSE2

corelib/src/camera/CameraVideo.cpp

@@ -43,7 +43,9 @@ CameraVideo::CameraVideo(
 	Camera(imageRate, localTransform),
 	_rectifyImages(rectifyImages),
 	_src(kUsbDevice),
-	_usbDevice(usbDevice)
+	_usbDevice(usbDevice),
+	_width(0),
+	_height(0)
 {
 
 }
@@ -57,7 +59,9 @@ CameraVideo::CameraVideo(
 	_filePath(filePath),
 	_rectifyImages(rectifyImages),
 	_src(kVideoFile),
-	_usbDevice(0)
+	_usbDevice(0),
+	_width(0),
+	_height(0)
 {
 }
 
@@ -123,6 +127,19 @@ bool CameraVideo::init(const std::string & calibrationFolder, const std::string
 			}
 		}
 		_model.setLocalTransform(this->getLocalTransform());
+		if(_src == kUsbDevice)
+		{
+			if(_model.isValidForProjection())
+			{
+				_capture.set(cv::CAP_PROP_FRAME_WIDTH, _model.imageWidth());
+				_capture.set(cv::CAP_PROP_FRAME_HEIGHT, _model.imageHeight());
+			}
+			else if(_width > 0 && _height > 0)
+			{
+				_capture.set(cv::CAP_PROP_FRAME_WIDTH, _width);
+				_capture.set(cv::CAP_PROP_FRAME_HEIGHT, _height);
+			}
+		}
 		if(_rectifyImages && !_model.isValidForRectification())
 		{
 			UERROR("Parameter \"rectifyImages\" is set, but no camera model is loaded or valid.");

guilib/src/PreferencesDialog.cpp

@@ -568,6 +568,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->source_images_spinBox_startPos, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->source_images_spinBox_maxFrames, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->comboBox_cameraImages_bayerMode, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	// usb group
+	connect(_ui->spinBox_usbcam_streamWidth, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->spinBox_usbcam_streamHeight, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	//video group
 	connect(_ui->source_video_toolButton_selectSource, SIGNAL(clicked()), this, SLOT(selectSourceVideoPath()));
 	connect(_ui->source_video_lineEdit_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -614,6 +617,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->comboBox_realsenseRGBSource, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkbox_rs2_emitter, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkbox_rs2_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->spinBox_rs2_width, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->spinBox_rs2_height, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->spinBox_rs2_rate, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 
 	connect(_ui->toolButton_cameraImages_timestamps, SIGNAL(clicked()), this, SLOT(selectSourceImagesStamps()));
 	connect(_ui->lineEdit_cameraImages_timestamps, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
@@ -1696,6 +1702,8 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->source_comboBox_image_type->setCurrentIndex(kSrcUsbDevice-kSrcUsbDevice);
 		_ui->source_images_spinBox_startPos->setValue(0);
 		_ui->source_images_spinBox_maxFrames->setValue(0);
+		_ui->spinBox_usbcam_streamWidth->setValue(0);
+		_ui->spinBox_usbcam_streamHeight->setValue(0);
 		_ui->checkBox_rgb_rectify->setChecked(false);
 		_ui->comboBox_cameraImages_bayerMode->setCurrentIndex(0);
 
@@ -1763,6 +1771,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->comboBox_realsenseRGBSource->setCurrentIndex(0);
 		_ui->checkbox_rs2_emitter->setChecked(true);
 		_ui->checkbox_rs2_irDepth->setChecked(false);
+		_ui->spinBox_rs2_width->setValue(640);
+		_ui->spinBox_rs2_height->setValue(480);
+		_ui->spinBox_rs2_rate->setValue(30);
 		_ui->lineEdit_openniOniPath->clear();
 		_ui->lineEdit_openni2OniPath->clear();
 		_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
@@ -2170,6 +2181,9 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	settings.beginGroup("RealSense2");
 	_ui->checkbox_rs2_emitter->setChecked(settings.value("emitter", _ui->checkbox_rs2_emitter->isChecked()).toBool());
 	_ui->checkbox_rs2_irDepth->setChecked(settings.value("irdepth", _ui->checkbox_rs2_irDepth->isChecked()).toBool());
+	_ui->spinBox_rs2_width->setValue(settings.value("width", _ui->spinBox_rs2_width->value()).toInt());
+	_ui->spinBox_rs2_height->setValue(settings.value("height", _ui->spinBox_rs2_height->value()).toInt());
+	_ui->spinBox_rs2_rate->setValue(settings.value("rate", _ui->spinBox_rs2_rate->value()).toInt());
 	settings.endGroup(); // RealSense
 
 	settings.beginGroup("RGBDImages");
@@ -2231,6 +2245,11 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->spinBox_cameraImages_max_imu_rate->setValue(settings.value("imu_rate", _ui->spinBox_cameraImages_max_imu_rate->value()).toInt());
 	settings.endGroup(); // images
 
+	settings.beginGroup("UsbCam");
+	_ui->spinBox_usbcam_streamWidth->setValue(settings.value("width", _ui->spinBox_usbcam_streamWidth->value()).toInt());
+	_ui->spinBox_usbcam_streamHeight->setValue(settings.value("height", _ui->spinBox_usbcam_streamHeight->value()).toInt());
+	settings.endGroup(); // UsbCam
+
 	settings.beginGroup("Video");
 	_ui->source_video_lineEdit_path->setText(settings.value("path", _ui->source_video_lineEdit_path->text()).toString());
 	settings.endGroup(); // video
@@ -2602,6 +2621,9 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.beginGroup("RealSense2");
 	settings.setValue("emitter",                _ui->checkbox_rs2_emitter->isChecked());
 	settings.setValue("irdepth",                _ui->checkbox_rs2_irDepth->isChecked());
+	settings.setValue("width",                  _ui->spinBox_rs2_width->value());
+	settings.setValue("height",                 _ui->spinBox_rs2_height->value());
+	settings.setValue("rate",                   _ui->spinBox_rs2_rate->value());
 	settings.endGroup(); // RealSense2
 
 	settings.beginGroup("RGBDImages");
@@ -2661,6 +2683,11 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("imu_rate",            _ui->spinBox_cameraImages_max_imu_rate->value());
 	settings.endGroup(); // images
 
+	settings.beginGroup("UsbCam");
+	settings.setValue("width",          _ui->spinBox_usbcam_streamWidth->value());
+	settings.setValue("height",         _ui->spinBox_usbcam_streamHeight->value());
+	settings.endGroup(); // UsbCam
+
 	settings.beginGroup("Video");
 	settings.setValue("path", 			_ui->source_video_lineEdit_path->text());
 	settings.endGroup(); // video
@@ -4523,9 +4550,13 @@ void PreferencesDialog::updateSourceGrpVisibility()
 	_ui->groupBox_cameraStereoZed->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoZed - kSrcStereo);
 	_ui->groupBox_cameraStereoRealSense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo);
 
-	_ui->stackedWidget_image->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && (_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB || _ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcRGB));
+	_ui->stackedWidget_image->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 &&
+			(_ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB ||
+			 _ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcRGB ||
+			 _ui->source_comboBox_image_type->currentIndex() == kSrcUsbDevice-kSrcRGB));
 	_ui->source_groupBox_images->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB);
 	_ui->source_groupBox_video->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcVideo-kSrcRGB);
+	_ui->source_groupBox_usbcam->setVisible(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcUsbDevice-kSrcRGB);
 
 	_ui->groupBox_sourceImages_optional->setVisible(
 			(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD) ||
@@ -5270,6 +5301,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
 			{
 				((CameraRealSense2*)camera)->setEmitterEnabled(_ui->checkbox_rs2_emitter->isChecked());
 				((CameraRealSense2*)camera)->setIRDepthFormat(_ui->checkbox_rs2_irDepth->isChecked());
+				((CameraRealSense2*)camera)->setResolution(_ui->spinBox_rs2_width->value(), _ui->spinBox_rs2_height->value(), _ui->spinBox_rs2_rate->value());
 			}
 		}
 	}
@@ -5434,6 +5466,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
 			_ui->checkBox_rgb_rectify->isChecked() && !useRawImages,
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
+		((CameraVideo*)camera)->setResolution(_ui->spinBox_usbcam_streamWidth->value(), _ui->spinBox_usbcam_streamHeight->value());
 	}
 	else if(driver == kSrcVideo)
 	{

guilib/src/ui/preferencesDialog.ui

@@ -63,7 +63,7 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>-1977</y>
+            <y>0</y>
             <width>680</width>
             <height>3082</height>
            </rect>
@@ -2962,7 +2962,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                     <item>
                      <widget class="QStackedWidget" name="stackedWidget_src">
                       <property name="currentIndex">
-                       <number>1</number>
+                       <number>0</number>
                       </property>
                       <widget class="QWidget" name="page_41">
                        <layout class="QVBoxLayout" name="verticalLayout_64">
@@ -3091,7 +3091,7 @@ 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>6</number>
+                              <number>9</number>
                              </property>
                              <widget class="QWidget" name="page_32">
                               <layout class="QVBoxLayout" name="verticalLayout_63">
@@ -4057,6 +4057,36 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                   <string>RealSense2</string>
                                  </property>
                                  <layout class="QGridLayout" name="gridLayout_100" columnstretch="0,1">
+                                  <item row="2" column="1">
+                                   <widget class="QLabel" name="label_549">
+                                    <property name="text">
+                                     <string>Stream width.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="3" column="0">
+                                   <widget class="QSpinBox" name="spinBox_rs2_height">
+                                    <property name="suffix">
+                                     <string> pix</string>
+                                    </property>
+                                    <property name="maximum">
+                                     <number>9999</number>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="4" column="0">
+                                   <widget class="QSpinBox" name="spinBox_rs2_rate">
+                                    <property name="suffix">
+                                     <string> Hz</string>
+                                    </property>
+                                    <property name="maximum">
+                                     <number>999</number>
+                                    </property>
+                                   </widget>
+                                  </item>
                                   <item row="0" column="0">
                                    <widget class="QCheckBox" name="checkbox_rs2_emitter">
                                     <property name="text">
@@ -4098,6 +4128,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                    </widget>
                                   </item>
                                   <item row="2" column="0">
+                                   <widget class="QSpinBox" name="spinBox_rs2_width">
+                                    <property name="suffix">
+                                     <string> pix</string>
+                                    </property>
+                                    <property name="maximum">
+                                     <number>9999</number>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="3" column="1">
+                                   <widget class="QLabel" name="label_550">
+                                    <property name="text">
+                                     <string>Stream height.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="5" column="0">
                                    <spacer name="verticalSpacer_71">
                                     <property name="orientation">
                                      <enum>Qt::Vertical</enum>
@@ -4110,6 +4160,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                     </property>
                                    </spacer>
                                   </item>
+                                  <item row="4" column="1">
+                                   <widget class="QLabel" name="label_551">
+                                    <property name="text">
+                                     <string>Stream rate.</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                   </widget>
+                                  </item>
                                  </layout>
                                 </widget>
                                </item>
@@ -4289,7 +4349,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            <item>
                             <widget class="QStackedWidget" name="stackedWidget_stereo">
                              <property name="currentIndex">
-                              <number>5</number>
+                              <number>7</number>
                              </property>
                              <widget class="QWidget" name="page_49">
                               <layout class="QVBoxLayout" name="verticalLayout_91">
@@ -4970,10 +5030,65 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                            <item>
                             <widget class="QStackedWidget" name="stackedWidget_image">
                              <property name="currentIndex">
-                              <number>1</number>
+                              <number>0</number>
                              </property>
                              <widget class="QWidget" name="page_7">
                               <layout class="QVBoxLayout" name="verticalLayout_30">
+                               <item>
+                                <widget class="QGroupBox" name="source_groupBox_usbcam">
+                                 <property name="title">
+                                  <string>USB Camera</string>
+                                 </property>
+                                 <layout class="QGridLayout" name="gridLayout_112" columnstretch="0,1">
+                                  <item row="1" column="0">
+                                   <widget class="QSpinBox" name="spinBox_usbcam_streamHeight">
+                                    <property name="minimum">
+                                     <number>0</number>
+                                    </property>
+                                    <property name="maximum">
+                                     <number>10000</number>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="1" column="1">
+                                   <widget class="QLabel" name="label_553">
+                                    <property name="text">
+                                     <string>Stream height (0 for default resolution).</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="0" column="1">
+                                   <widget class="QLabel" name="label_552">
+                                    <property name="text">
+                                     <string>Stream width (0 for default resolution).</string>
+                                    </property>
+                                    <property name="wordWrap">
+                                     <bool>true</bool>
+                                    </property>
+                                    <property name="textInteractionFlags">
+                                     <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                  <item row="0" column="0">
+                                   <widget class="QSpinBox" name="spinBox_usbcam_streamWidth">
+                                    <property name="minimum">
+                                     <number>0</number>
+                                    </property>
+                                    <property name="maximum">
+                                     <number>10000</number>
+                                    </property>
+                                   </widget>
+                                  </item>
+                                 </layout>
+                                </widget>
+                               </item>
                                <item>
                                 <spacer name="verticalSpacer_8">
                                  <property name="orientation">
@@ -4981,7 +5096,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                  </property>
                                  <property name="sizeHint" stdset="0">
                                   <size>
-                                   <width>0</width>
+                                   <width>20</width>
                                    <height>0</height>
                                   </size>
                                  </property>
@@ -7929,7 +8044,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
                        <item row="0" column="1">
                         <widget class="QLabel" name="label_similarity">
                          <property name="text">
-                          <string>T_similarity : Similarity threshold. Values must be &gt;=0.0 ans &lt;=1.0.</string>
+                          <string>T_similarity : Similarity threshold. Values must be &gt;=0.0 and &lt;=1.0.</string>
                          </property>
                          <property name="wordWrap">
                           <bool>true</bool>