mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
-Updated CameraModel and StereoCameraModel so that a stereo camera model can be initialization from know intrinsics and extrinsics
-CreateSimpleCalibrationDialog updated to create mono/stereo calibration files with advanced option (setting intrinsics of each camera + extrinsics between them). Rectification R and new camera P matrices are then automatically computed. -Added GeodeticCoords class for convience conversion between GPS values (latitude/longitude/altitude) to local coordinate (ENU). -Added support of Malaga Urban and St Lucia ground truths. -CameraImages: added option to debayer images. Timestamps file: added support of "sec millisec" format. -Added UException class: exceptions are sent instead of exiting the application on UASSERT or UFATAL.
This commit is contained in:
matlabbe
@@ -6,8 +6,8 @@
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@@ -63,9 +63,9 @@
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@@ -1703,7 +1703,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="9" column="1">
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<widget class="QLabel" name="label_244">
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<property name="text">
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<string>Create a simple calibration file with known intrinsics (fx, fy, cx, cy). Useful if you already know the intrinsics of a source of rectified or registered images.</string>
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<string>Create a calibration file with known intrinsics (fx, fy, cx, cy). Useful if you already know the intrinsics of the source of images.</string>
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</property>
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<bool>true</bool>
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@@ -1868,7 +1868,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</sizepolicy>
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</property>
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<property name="text">
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<string>Simple calibration</string>
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<string>Create calibration</string>
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</property>
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</widget>
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</item>
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@@ -3331,21 +3331,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<layout class="QGridLayout" name="gridLayout_68" columnstretch="0,0,1">
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<item row="5" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
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<property name="text">
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<string/>
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<item row="0" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="0" column="2">
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<item row="1" column="2">
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<widget class="QLabel" name="label_255">
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<property name="text">
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<string>Use file names as timestamps. Format is epoch time. Example: "1305031102.175304.png"</string>
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@@ -3358,48 +3344,28 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<item row="3" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_timestamps">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<item row="3" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_timestamps">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QLabel" name="label_251">
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<property name="text">
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<string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use file names as timestamps" above is checked. </string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_gt">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<item row="4" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_gt">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<item row="4" column="2">
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<widget class="QLabel" name="label_288">
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<property name="text">
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<string>Ground truth file. Select the correct format below.</string>
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@@ -3412,8 +3378,94 @@ 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="4" column="1">
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<item row="5" column="2">
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<widget class="QLabel" name="label_289">
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<property name="text">
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<string>Ground truth format. See tool tip for more details on formats. Note that formats without stamps should have the same number of values than the source images.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="8" column="2">
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<widget class="QLabel" name="label_292">
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<property name="text">
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<string>Maximum laser scan points.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QLabel" name="label_256">
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<property name="text">
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<string>Synchronize capture rate with timestamps.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
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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="6" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QLabel" name="label_251">
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<property name="text">
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<string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use file names as timestamps" above is checked. </string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_gt">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QComboBox" name="comboBox_cameraImages_gtFormat">
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<property name="toolTip">
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<string><html><head/><body><p>Raw Format (3 values): x y z<br/>Raw Format (6 values): x y z roll pitch yaw<br/>Raw Format (7 values): x y z qx qy qz qw<br/>Raw Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Raw Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>RGBD-SLAM (stamp tx ty tz qx qy qz qw)<br/>KITTI (stamp + 12 values transform)<br/>TORO<br/>g2o<br/>NewCollege (stamp x y)<br/>Malaga Urban (GPS)<br/>St Lucia Stereo (INS)</p></body></html></string>
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</property>
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
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<property name="text">
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<string>Raw</string>
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@@ -3441,32 +3493,29 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</item>
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<item>
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<property name="text">
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<string>GPS</string>
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<string>NewCollege</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>Malaga Urban</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>St Lucia Stereo</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="4" column="2">
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<widget class="QLabel" name="label_289">
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<property name="text">
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<string>Ground truth format.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<item row="6" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
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</item>
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<item row="5" column="2">
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<item row="6" column="2">
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<widget class="QLabel" name="label_293">
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<property name="text">
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<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
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@@ -3479,7 +3528,7 @@ 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="6" column="1">
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<item row="7" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
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<property name="toolTip">
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<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0</p></body></html></string>
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@@ -3489,7 +3538,7 @@ 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="6" column="2">
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<item row="7" column="2">
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<widget class="QLabel" name="label_294">
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<property name="text">
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<string>Local transform from /base_link to /scan_link. Mouse over the box to show formats.</string>
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@@ -3502,7 +3551,7 @@ 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="7" column="1">
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<item row="8" column="1">
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<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
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<property name="toolTip">
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<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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@@ -3512,10 +3561,10 @@ 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="7" column="2">
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<widget class="QLabel" name="label_292">
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<item row="0" column="2">
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<widget class="QLabel" name="label_265">
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<property name="text">
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<string>Maximum laser scan points.</string>
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<string>Bayer mode. For convenience, if the images are bayered.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -3525,24 +3574,36 @@ 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="1" column="2">
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<widget class="QLabel" name="label_256">
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<property name="text">
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<string>Synchronize capture rate with timestamps.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
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<property name="text">
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<string/>
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<item row="0" column="1">
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<widget class="QComboBox" name="comboBox_cameraImages_bayerMode">
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
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<property name="text">
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<string>Disabled</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>BG</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>GB</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>RG</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>GR</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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</layout>
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Block a user