mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Voxel filter: added support for very large clouds. Gui/Export: added footprint filtering option. Moved all filtering options under Cloud Filtering group.
This commit is contained in:
matlabbe
@@ -23,9 +23,9 @@
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<rect>
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<x>0</x>
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<y>-3906</y>
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<y>-1225</y>
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<width>780</width>
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<height>5739</height>
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@@ -126,7 +126,7 @@
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<widget class="QLabel" name="label_binaryFile_9">
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<property name="text">
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<string>Cloud filtering. Remove sparse points that are far from surfaces.</string>
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<string>Cloud filtering.</string>
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@@ -664,33 +664,61 @@
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<widget class="QLabel" name="label_134">
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<property name="text">
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<string>...</string>
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<string>Path to a depth distortion model to apply (output from depth calibration).</string>
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<property name="wordWrap">
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<bool>true</bool>
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<widget class="QLabel" name="label_135">
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||||
<property name="text">
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||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image).</string>
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<string> pixels</string>
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<number>32</number>
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<item row="5" column="2">
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<widget class="QLabel" name="label_198">
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<property name="text">
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<string>Fill depth hole error.</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="1">
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||||
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
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||||
</item>
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||||
<item row="2" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
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<property name="suffix">
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@@ -721,12 +749,35 @@
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</widget>
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</item>
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<item row="8" column="1">
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<widget class="QCheckBox" name="checkBox_subtraction">
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<string/>
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<item row="6" column="1">
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<widget class="QLineEdit" name="lineEdit_distortionModel"/>
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</item>
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<item row="7" column="1">
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<widget class="QSpinBox" name="spinBox_fillDepthHolesError">
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<property name="suffix">
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<string> %</string>
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<item row="8" column="2">
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||||
<widget class="QLabel" name="label_137">
|
||||
<property name="text">
|
||||
<string>Cloud subtraction. Superposed points from different nodes are filtered.</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="4" column="2">
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<widget class="QLabel" name="label_197">
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<property name="text">
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<string>Fill depth hole size (0 means no fill).</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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@@ -740,6 +791,40 @@
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</property>
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</item>
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<item row="0" column="1">
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<widget class="QSpinBox" name="spinBox_decimation">
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<property name="minimum">
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<number>-32</number>
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<property name="maximum">
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<number>32</number>
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<property name="value">
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<number>1</number>
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</item>
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<item row="5" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_fillDepthHolesError">
|
||||
<property name="suffix">
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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="6" column="0">
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||||
<widget class="QToolButton" name="toolButton_distortionModel">
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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 row="7" column="1">
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<widget class="QCheckBox" name="checkBox_bilateral">
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<string/>
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<property name="text">
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@@ -750,82 +835,7 @@
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</property>
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</widget>
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</item>
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<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_197">
|
||||
<property name="text">
|
||||
<string>Fill depth hole size (0 means no fill).</string>
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||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<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="1" column="1">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
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||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
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||||
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<property name="maximum">
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<double>100.000000000000000</double>
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<property name="singleStep">
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<double>0.100000000000000</double>
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<property name="value">
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<double>4.000000000000000</double>
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</property>
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</widget>
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</item>
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||||
<item row="8" column="2">
|
||||
<widget class="QLabel" name="label_134">
|
||||
<property name="text">
|
||||
<string>Path to a depth distortion model to apply (output from depth calibration).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<widget class="QLabel" name="label_198">
|
||||
<property name="text">
|
||||
<string>Fill depth hole error.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_135">
|
||||
<property name="text">
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1. Only generate 3D points for pixels inside the region of interest (RGB image).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_bilateral">
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||||
<property name="text">
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||||
<string/>
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||||
</property>
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||||
</widget>
|
||||
</item>
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||||
<item row="9" column="2">
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||||
<widget class="QLabel" name="label_136">
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||||
<property name="text">
|
||||
<string>Bilateral filtering of the depth image. Reduce noise in depth images.</string>
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||||
@@ -835,84 +845,10 @@
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</property>
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||||
</widget>
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||||
</item>
|
||||
<item row="10" column="2">
|
||||
<widget class="QLabel" name="label_137">
|
||||
<property name="text">
|
||||
<string>Cloud subtraction. Superposed points from different nodes are filtered.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_subtraction">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_140">
|
||||
<property name="text">
|
||||
<string>Ceiling filtering height.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_141">
|
||||
<property name="text">
|
||||
<string>Floor filtering height.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingHeight">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
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<property name="minimum">
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<double>-1000.000000000000000</double>
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</property>
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||||
<property name="maximum">
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<double>1000.000000000000000</double>
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<property name="singleStep">
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<double>0.100000000000000</double>
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<property name="value">
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<double>0.000000000000000</double>
|
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</property>
|
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</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_floorHeight">
|
||||
<widget class="QSpinBox" name="spinBox_fillDepthHoles">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-1000.000000000000000</double>
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</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
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</property>
|
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<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
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</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
<string> pixels</string>
|
||||
</property>
|
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</widget>
|
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</item>
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@@ -1114,7 +1050,7 @@
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<number>3</number>
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<double>0.001000000000000</double>
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@@ -1130,7 +1066,7 @@
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||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_110">
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<property name="text">
|
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<string>Radius search.</string>
|
||||
<string>Search radius.</string>
|
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<property name="wordWrap">
|
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<bool>true</bool>
|
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@@ -1160,6 +1096,166 @@
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||||
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||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_ceilingHeight">
|
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<property name="suffix">
|
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<string> m</string>
|
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</property>
|
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<property name="decimals">
|
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<number>2</number>
|
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|
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<property name="minimum">
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<double>-1000.000000000000000</double>
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<property name="maximum">
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<double>1000.000000000000000</double>
|
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|
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<property name="singleStep">
|
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<double>0.100000000000000</double>
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|
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<property name="value">
|
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<double>0.000000000000000</double>
|
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|
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</widget>
|
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</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_140">
|
||||
<property name="text">
|
||||
<string>Ceiling filtering height.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_floorHeight">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
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|
||||
<property name="minimum">
|
||||
<double>-1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_141">
|
||||
<property name="text">
|
||||
<string>Floor filtering height.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_footprintWidth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_143">
|
||||
<property name="text">
|
||||
<string>Footprint width.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_footprintLength">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_144">
|
||||
<property name="text">
|
||||
<string>Footprint length.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_footprintHeight">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_145">
|
||||
<property name="text">
|
||||
<string>Footprint height. If negative, the footprint is filtered between [-height:height] around the base frame, otherwise it is [0:height]</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user