mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option
This commit is contained in:
matlabbe
@@ -518,6 +518,8 @@
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||||
<addaction name="actionRegenerate_local_grid_maps"/>
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||||
<addaction name="actionRegenerate_local_grid_maps_selected"/>
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||||
<addaction name="separator"/>
|
||||
<addaction name="actionEdit_depth_image"/>
|
||||
<addaction name="separator"/>
|
||||
<addaction name="actionReset_all_changes"/>
|
||||
<addaction name="separator"/>
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||||
<addaction name="actionView_3D_map"/>
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||||
@@ -583,7 +585,7 @@
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||||
<string>Odom Frame</string>
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||||
</property>
|
||||
<property name="checked">
|
||||
<bool>false</bool>
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||||
<bool>true</bool>
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||||
</property>
|
||||
</widget>
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||||
</item>
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||||
@@ -987,7 +989,7 @@
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||||
<item>
|
||||
<widget class="QToolBox" name="toolBox">
|
||||
<property name="currentIndex">
|
||||
<number>1</number>
|
||||
<number>2</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_3">
|
||||
<property name="geometry">
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||||
@@ -995,7 +997,7 @@
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||||
<x>0</x>
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||||
<y>0</y>
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||||
<width>324</width>
|
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<height>188</height>
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||||
<height>207</height>
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||||
</rect>
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||||
</property>
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||||
<attribute name="label">
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||||
@@ -1461,8 +1463,8 @@
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||||
<rect>
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||||
<x>0</x>
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||||
<y>0</y>
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||||
<width>201</width>
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<height>126</height>
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<width>283</width>
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<height>222</height>
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||||
</rect>
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||||
</property>
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||||
<attribute name="label">
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||||
@@ -1484,7 +1486,7 @@
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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>0.300000000000000</double>
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||||
<double>1.000000000000000</double>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
@@ -1530,7 +1532,7 @@
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||||
<number>100</number>
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||||
</property>
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||||
<property name="value">
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||||
<number>1</number>
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||||
<number>5</number>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
@@ -1561,8 +1563,8 @@
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||||
<rect>
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||||
<x>0</x>
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||||
<y>0</y>
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||||
<width>186</width>
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<height>496</height>
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||||
<width>268</width>
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||||
<height>304</height>
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||||
</rect>
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||||
</property>
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||||
<attribute name="label">
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||||
@@ -1845,7 +1847,7 @@
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||||
<string>Odom Frame</string>
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||||
</property>
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||||
<property name="checked">
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||||
<bool>false</bool>
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||||
<bool>true</bool>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
@@ -2134,6 +2136,11 @@
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<string>Regenerate local grid maps (selected)...</string>
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</property>
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</action>
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||||
<action name="actionEdit_depth_image">
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||||
<property name="text">
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<string>Edit depth image...</string>
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||||
</property>
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||||
</action>
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</widget>
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<customwidgets>
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<customwidget>
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@@ -23,9 +23,9 @@
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<property name="geometry">
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||||
<rect>
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||||
<x>0</x>
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||||
<y>-1800</y>
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||||
<y>-1454</y>
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||||
<width>773</width>
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||||
<height>3200</height>
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||||
<height>3289</height>
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||||
</rect>
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||||
</property>
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||||
<layout class="QVBoxLayout" name="verticalLayout_13">
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@@ -1065,26 +1065,45 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<bool>false</bool>
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</property>
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||||
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
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||||
<item row="2" column="1">
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||||
<widget class="QLabel" name="label_binaryFile_4">
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||||
<property name="text">
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||||
<string>Alpha</string>
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||||
<item row="1" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainOverlap">
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||||
<property name="suffix">
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||||
<string/>
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||||
</property>
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
|
||||
<property name="decimals">
|
||||
<number>2</number>
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||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
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||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
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||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.050000000000000</double>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="3" column="0">
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||||
<widget class="QCheckBox" name="checkBox_gainFull">
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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="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainBeta">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
<number>1</number>
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||||
</property>
|
||||
<property name="minimum">
|
||||
<double>1.000000000000000</double>
|
||||
<double>0.100000000000000</double>
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||||
</property>
|
||||
<property name="maximum">
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||||
<double>1000.000000000000000</double>
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||||
@@ -1107,10 +1126,10 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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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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||||
<item row="2" column="1">
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||||
<widget class="QLabel" name="label_binaryFile_5">
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||||
<property name="text">
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||||
<string>Beta</string>
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||||
<string>Beta. The lower, the higher the compensation is but images are darker. When texturing, brightness and contrast balance below can be activated to re-increase brightness (e.g., set high ratio to 20%).</string>
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||||
</property>
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||||
<property name="wordWrap">
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||||
<bool>true</bool>
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||||
@@ -1139,28 +1158,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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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="QDoubleSpinBox" name="doubleSpinBox_gainAlpha">
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||||
<property name="suffix">
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||||
<string/>
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||||
</property>
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||||
<property name="decimals">
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||||
<number>3</number>
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||||
</property>
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||||
<property name="minimum">
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||||
<double>0.001000000000000</double>
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||||
</property>
|
||||
<property name="maximum">
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||||
<double>1.000000000000000</double>
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||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
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||||
</property>
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||||
<property name="value">
|
||||
<double>0.010000000000000</double>
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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_binaryFile_6">
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||||
<property name="text">
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||||
@@ -1171,45 +1168,16 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</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">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainOverlap">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.050000000000000</double>
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="4" column="1">
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||||
<item row="3" column="1">
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||||
<widget class="QLabel" name="label_binaryFile_7">
|
||||
<property name="text">
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||||
<string>Do compensation just between linked locations. Otherwise, a full compensation between all locations is done (longer to do but quality is better).</string>
|
||||
<string>Do full compensation between all locations (longer to do but quality is better). Otherwise, compensation is done only between linked locations.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
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||||
<bool>true</bool>
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||||
</property>
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||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
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||||
<widget class="QCheckBox" name="checkBox_gainLinkedLocationsOnly">
|
||||
<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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||||
</layout>
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||||
</widget>
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||||
</item>
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||||
@@ -1224,60 +1192,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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||||
<layout class="QVBoxLayout" name="verticalLayout_15">
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||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_textureMapping">
|
||||
<property name="text">
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||||
<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Available on Export or when clouds are not assembled.</string>
|
||||
</property>
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||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
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||||
<widget class="QComboBox" name="comboBox_meshingApproach">
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||||
<item>
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||||
<property name="text">
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||||
<string>Fast GP3</string>
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||||
</property>
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||||
</item>
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||||
<item>
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||||
<property name="text">
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||||
<string>Poisson</string>
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||||
</property>
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||||
</item>
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||||
</widget>
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||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_textureMapping">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_transferColorRadius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-1.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_meshClean">
|
||||
<property name="text">
|
||||
<string>Clean mesh from polygons without color or texture.</string>
|
||||
@@ -1287,30 +1202,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
|
||||
<property name="minimum">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_cleanMesh">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
<string>Minimum polygon cluster size (-1 means that only the biggest cluster is kept).</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_denseReconstruction">
|
||||
<property name="text">
|
||||
@@ -1340,7 +1231,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_meshDecimation_2">
|
||||
<property name="text">
|
||||
<string>Transferring color radius. Radius used to transfer color from original cloud to resampled reconstructed surface (e.g., Poisson or mesh decimation). Negative means disabled, 0 means take the nearest point.</string>
|
||||
@@ -1360,6 +1251,112 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_textureMapping">
|
||||
<property name="text">
|
||||
<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format. Available on Export or when clouds are not assembled.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QComboBox" name="comboBox_meshingApproach">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Fast GP3</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Poisson</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_textureMapping">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_transferColorRadius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-1.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>10.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
|
||||
<property name="minimum">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>99999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_cleanMesh">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
<string>Minimum polygon cluster size (-1 means that only the biggest cluster is kept).</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_meshMaxPolygons">
|
||||
<property name="text">
|
||||
<string>Maximum polygons (0=no max). Another way to do mesh quadric decimation, the factor will be computed depending on the polygons generated.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_meshMaxPolygons">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>10000000</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>50000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>9</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -1376,6 +1373,16 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_16">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_3">
|
||||
<property name="text">
|
||||
<string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureFormat">
|
||||
<property name="text">
|
||||
@@ -1459,28 +1466,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>3.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_2">
|
||||
<property name="text">
|
||||
@@ -1491,23 +1476,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_cameraFilter">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_3">
|
||||
<property name="text">
|
||||
<string>Camera filtering. By comparing poses in the same area, only one camera in a fixed radius and angle is used for texturing.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_4">
|
||||
<property name="text">
|
||||
@@ -1528,6 +1496,81 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDistance">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>3.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_cameraFilter">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_5">
|
||||
<property name="text">
|
||||
<string>Brightness and contrast balance low ratio. Only used when textures are merged.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioLow">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>49</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_6">
|
||||
<property name="text">
|
||||
<string>Brightness and contrast balance high ratio. Only used when textures are merged.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>49</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user