mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Texturing: using depth image to filter wrongly projected textures
This commit is contained in:
matlabbe
@@ -170,6 +170,8 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
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connect(_ui->comboBox_meshingTextureSize, SIGNAL(currentIndexChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_mesh_maxTextures, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_meshingTextureMaxDistance, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_meshingTextureMaxDepthError, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->doubleSpinBox_meshingTextureMaxAngle, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
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connect(_ui->spinBox_mesh_minTextureClusterSize, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
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connect(_ui->lineEdit_meshingTextureRoiRatios, SIGNAL(textChanged(const QString &)), this, SIGNAL(configChanged()));
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connect(_ui->checkBox_cameraFilter, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
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@@ -310,6 +312,8 @@ void ExportCloudsDialog::saveSettings(QSettings & settings, const QString & grou
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settings.setValue("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex());
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settings.setValue("mesh_textureMaxCount", _ui->spinBox_mesh_maxTextures->value());
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settings.setValue("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value());
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settings.setValue("mesh_textureMaxDepthError", _ui->doubleSpinBox_meshingTextureMaxDepthError->value());
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settings.setValue("mesh_textureMaxAngle", _ui->doubleSpinBox_meshingTextureMaxAngle->value());
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settings.setValue("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value());
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settings.setValue("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text());
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settings.setValue("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked());
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@@ -421,6 +425,8 @@ void ExportCloudsDialog::loadSettings(QSettings & settings, const QString & grou
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_ui->comboBox_meshingTextureSize->setCurrentIndex(settings.value("mesh_textureSize", _ui->comboBox_meshingTextureSize->currentIndex()).toInt());
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_ui->spinBox_mesh_maxTextures->setValue(settings.value("mesh_textureMaxCount", _ui->spinBox_mesh_maxTextures->value()).toInt());
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_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(settings.value("mesh_textureMaxDistance", _ui->doubleSpinBox_meshingTextureMaxDistance->value()).toDouble());
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_ui->doubleSpinBox_meshingTextureMaxDepthError->setValue(settings.value("mesh_textureMaxDepthError", _ui->doubleSpinBox_meshingTextureMaxDepthError->value()).toDouble());
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_ui->doubleSpinBox_meshingTextureMaxAngle->setValue(settings.value("mesh_textureMaxAngle", _ui->doubleSpinBox_meshingTextureMaxAngle->value()).toDouble());
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_ui->spinBox_mesh_minTextureClusterSize->setValue(settings.value("mesh_textureMinCluster", _ui->spinBox_mesh_minTextureClusterSize->value()).toDouble());
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_ui->lineEdit_meshingTextureRoiRatios->setText(settings.value("mesh_textureRoiRatios", _ui->lineEdit_meshingTextureRoiRatios->text()).toString());
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_ui->checkBox_cameraFilter->setChecked(settings.value("mesh_textureCameraFiltering", _ui->checkBox_cameraFilter->isChecked()).toBool());
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@@ -532,6 +538,8 @@ void ExportCloudsDialog::restoreDefaults()
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_ui->comboBox_meshingTextureSize->setCurrentIndex(5); // 4096
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_ui->spinBox_mesh_maxTextures->setValue(1);
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_ui->doubleSpinBox_meshingTextureMaxDistance->setValue(3.0);
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_ui->doubleSpinBox_meshingTextureMaxDepthError->setValue(0.0);
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_ui->doubleSpinBox_meshingTextureMaxAngle->setValue(0.0);
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_ui->spinBox_mesh_minTextureClusterSize->setValue(50);
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_ui->lineEdit_meshingTextureRoiRatios->setText("0.0 0.0 0.0 0.0");
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_ui->checkBox_cameraFilter->setChecked(false);
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@@ -1928,6 +1936,7 @@ bool ExportCloudsDialog::getExportedClouds(
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}
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std::map<int, Transform> cameraPoses;
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std::map<int, std::vector<CameraModel> > cameraModels;
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std::map<int, cv::Mat > cameraDepths;
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for(std::map<int, Transform>::iterator jter=cameras.begin(); jter!=cameras.end(); ++jter)
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{
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if(validCameras.find(jter->first) != validCameras.end())
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@@ -1947,8 +1956,10 @@ bool ExportCloudsDialog::getExportedClouds(
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_dbDriver->getCalibration(jter->first, models, stereoModel);
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}
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bool stereo=false;
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if(stereoModel.isValidForProjection())
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{
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stereo = true;
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models.clear();
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models.push_back(stereoModel.left());
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}
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@@ -1956,8 +1967,11 @@ bool ExportCloudsDialog::getExportedClouds(
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{
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models.clear();
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}
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if(!jter->second.isNull() && models.size())
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{
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cv::Mat depth;
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bool getDepth = !stereo && _ui->doubleSpinBox_meshingTextureMaxDepthError->value() >= 0.0f;
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if(models[0].imageWidth() == 0 || models[0].imageHeight() == 0)
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{
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// we are using an old database format (image size not saved in calibrations), we should
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@@ -1965,13 +1979,13 @@ bool ExportCloudsDialog::getExportedClouds(
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cv::Mat img;
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if(cacheHasCompressedImage)
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{
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cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(&img, 0);
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cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(&img, getDepth?&depth:0);
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}
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else if(_dbDriver)
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{
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SensorData data;
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_dbDriver->getNodeData(jter->first, data, true, false, false, false);
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data.uncompressDataConst(&img, 0);
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data.uncompressDataConst(&img, getDepth?&depth:0);
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}
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cv::Size imageSize = img.size();
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imageSize.width /= models.size();
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@@ -1979,13 +1993,30 @@ bool ExportCloudsDialog::getExportedClouds(
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{
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models[i].setImageSize(imageSize);
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}
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}
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else
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{
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// get just the depth
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if(cacheHasCompressedImage)
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{
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cachedSignatures.find(jter->first)->sensorData().uncompressDataConst(0, getDepth?&depth:0);
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}
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else if(_dbDriver)
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{
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SensorData data;
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_dbDriver->getNodeData(jter->first, data, true, false, false, false);
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data.uncompressDataConst(0, getDepth?&depth:0);
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}
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}
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if(models[0].imageWidth() != 0 && models[0].imageHeight() != 0)
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{
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cameraPoses.insert(std::make_pair(jter->first, jter->second));
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cameraModels.insert(std::make_pair(jter->first, models));
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if(!depth.empty())
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{
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cameraDepths.insert(std::make_pair(jter->first, depth));
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}
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}
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}
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}
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@@ -2058,6 +2089,7 @@ bool ExportCloudsDialog::getExportedClouds(
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if(cameraPoses.find(modelIter->first)==cameraPoses.end())
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{
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cameraModels.erase(modelIter++);
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cameraDepths.erase(modelIter->first);
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}
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else
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{
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@@ -2114,7 +2146,10 @@ bool ExportCloudsDialog::getExportedClouds(
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iter->second,
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cameraPoses,
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cameraModels,
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cameraDepths,
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_ui->doubleSpinBox_meshingTextureMaxDistance->value(),
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_ui->doubleSpinBox_meshingTextureMaxDepthError->value(),
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_ui->doubleSpinBox_meshingTextureMaxAngle->value()*M_PI/180.0,
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_ui->spinBox_mesh_minTextureClusterSize->value(),
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roiRatios,
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&texturingState,
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@@ -3097,7 +3132,7 @@ std::vector<cv::Mat> ExportCloudsDialog::mergeTextures(
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}
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}
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}
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else if(mesh.tex_polygons[i].size())
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else if(mesh.tex_polygons[i].size() && mesh.tex_materials[i].tex_file.compare("occluded")!=0)
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{
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UWARN("Failed parsing texture file name: %s", mesh.tex_materials[i].tex_file.c_str());
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}
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@@ -3278,9 +3313,16 @@ std::vector<cv::Mat> ExportCloudsDialog::mergeTextures(
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for(int i=0; i<num_images; ++i)
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{
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for(int j=i+1; j<num_images; ++j)
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for(int j=i; j<num_images; ++j)
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{
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if(N(i, j))
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if(i == j)
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{
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if(N(i,j) == 0)
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{
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N(i,j) = 1;
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}
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}
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else if(N(i, j))
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{
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I(i, j) /= N(i, j);
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I(j, i) /= N(j, i);
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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>-1412</y>
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<y>-2146</y>
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<width>773</width>
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<height>3953</height>
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<height>4045</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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@@ -1486,7 +1486,111 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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<item>
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<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
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<item row="7" column="1">
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<item row="12" column="0">
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<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
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<property name="suffix">
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<string> %</string>
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</property>
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>49</number>
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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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<widget class="QLabel" name="label_meshingTextureSize_6">
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<property name="text">
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<string>Brightness and contrast balance high ratio. Only used when textures are merged.</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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</widget>
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</item>
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<item row="10" column="0">
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<widget class="QComboBox" name="comboBox_blendingDecimation">
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<item>
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<property name="text">
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<string>Auto</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>1</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>2</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>4</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>8</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>16</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>32</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>64</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="9" column="0">
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<widget class="QCheckBox" name="checkBox_blending">
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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="10" column="1">
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<widget class="QLabel" name="label_exposureFusion_3">
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<property name="text">
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<string>Blending decimation. </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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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_meshingTextureSize_7">
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<property name="text">
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<string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </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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</widget>
|
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_meshingTextureSize_8">
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||||
<property name="text">
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<string>Maximum output textures.</string>
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</property>
|
||||
<property name="wordWrap">
|
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<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
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<widget class="QLabel" name="label_exposureFusion_2">
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<property name="text">
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<string>Blending. Only used with dense reconstruction flavor and if clouds are assembled.</string>
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@@ -1528,7 +1632,7 @@ 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="9" column="1">
|
||||
<item row="11" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_5">
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<property name="text">
|
||||
<string>Brightness and contrast balance low ratio. Only used when textures are merged.</string>
|
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@@ -1562,29 +1666,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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</item>
|
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</widget>
|
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</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioHigh">
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||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>49</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" 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="1" column="0">
|
||||
<widget class="QComboBox" name="comboBox_meshingTextureSize">
|
||||
<item>
|
||||
@@ -1634,14 +1715,14 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<item row="14" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_exposureFusion">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_4">
|
||||
<property name="text">
|
||||
<string>Minimum polygon cluster size for texturing. This removes textures applied on sparse polygons. Only used with dense reconstruction flavor.</string>
|
||||
@@ -1654,50 +1735,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLineEdit" name="lineEdit_meshingTextureRoiRatios"/>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QComboBox" name="comboBox_blendingDecimation">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Auto</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>1</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>2</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>4</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>8</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>16</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>32</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>64</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize">
|
||||
<property name="text">
|
||||
@@ -1708,21 +1745,14 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_blending">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<item row="8" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_cameraFilter">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<item row="11" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_textureBrightnessContrastRatioLow">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
@@ -1735,7 +1765,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<item row="7" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_mesh_minTextureClusterSize">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
@@ -1746,16 +1776,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_exposureFusion_3">
|
||||
<property name="text">
|
||||
<string>Blending decimation. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" 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>
|
||||
@@ -1765,7 +1785,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<item row="14" column="1">
|
||||
<widget class="QLabel" name="label_exposureFusion">
|
||||
<property name="text">
|
||||
<string>Exposure fusion. Only used when textures are merged and brightness/contrast balance ratios are used (merging original texture + 1 for each ratios).</string>
|
||||
@@ -1775,16 +1795,6 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_7">
|
||||
<property name="text">
|
||||
<string>ROI ratios [left right top bottom] between 0 and 1. This can be used to ignore black borders of RGB images caused by calibration. </string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_mesh_maxTextures">
|
||||
<property name="minimum">
|
||||
@@ -1795,16 +1805,70 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_8">
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_9">
|
||||
<property name="text">
|
||||
<string>Maximum output textures.</string>
|
||||
<string>Maximum depth error between reconstructed mesh projection in camera and corresponding value in depth image to apply texturing (negative means disabled, 0 means that longest edge length of the face is used as maximum error).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxDepthError">
|
||||
<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>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_meshingTextureSize_10">
|
||||
<property name="text">
|
||||
<string>Maximum angle between camera and face to apply texture (0 means disabled).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshingTextureMaxAngle">
|
||||
<property name="suffix">
|
||||
<string> deg</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>180.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user