mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
CMake: added WITH_OPENMP option (to be able to disable it). CameraOpenNI2: Added depth decimation parameter. CLAMS: can apply distortion model to smaller images.
This commit is contained in:
matlabbe
@@ -692,6 +692,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->openni2_stampsIdsUsed, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->openni2_hshift, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->openni2_vshift, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->openni2_depth_decimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_freenect2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->doubleSpinBox_freenect2MinDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->doubleSpinBox_freenect2MaxDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -1953,6 +1954,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->openni2_stampsIdsUsed->setChecked(false);
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_ui->openni2_hshift->setValue(0);
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_ui->openni2_vshift->setValue(0);
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_ui->openni2_depth_decimation->setValue(1);
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_ui->comboBox_freenect2Format->setCurrentIndex(1);
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_ui->doubleSpinBox_freenect2MinDepth->setValue(0.3);
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_ui->doubleSpinBox_freenect2MaxDepth->setValue(12.0);
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@@ -2408,6 +2410,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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_ui->lineEdit_openni2OniPath->setText(settings.value("oniPath", _ui->lineEdit_openni2OniPath->text()).toString());
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_ui->openni2_hshift->setValue(settings.value("hshift", _ui->openni2_hshift->value()).toInt());
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_ui->openni2_vshift->setValue(settings.value("vshift", _ui->openni2_vshift->value()).toInt());
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_ui->openni2_depth_decimation->setValue(settings.value("depthDecimation", _ui->openni2_depth_decimation->value()).toInt());
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settings.endGroup(); // Openni2
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settings.beginGroup("Freenect2");
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@@ -2921,6 +2924,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.setValue("oniPath", _ui->lineEdit_openni2OniPath->text());
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settings.setValue("hshift", _ui->openni2_hshift->value());
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settings.setValue("vshift", _ui->openni2_vshift->value());
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settings.setValue("depthDecimation", _ui->openni2_depth_decimation->value());
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settings.endGroup(); // Openni2
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settings.beginGroup("Freenect2");
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@@ -6349,6 +6353,7 @@ Camera * PreferencesDialog::createCamera(
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}
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((CameraOpenNI2*)camera)->setIRDepthShift(_ui->openni2_hshift->value(), _ui->openni2_vshift->value());
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((CameraOpenNI2*)camera)->setMirroring(_ui->openni2_mirroring->isChecked());
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((CameraOpenNI2*)camera)->setDepthDecimation(_ui->openni2_depth_decimation->value());
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}
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}
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}
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@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-573</y>
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<width>686</width>
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<height>3905</height>
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<y>-466</y>
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<width>675</width>
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<height>3499</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -95,7 +95,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>19</number>
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<number>5</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
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@@ -3109,7 +3109,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_src">
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<property name="currentIndex">
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<number>3</number>
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<number>0</number>
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</property>
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<widget class="QWidget" name="page_41">
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<layout class="QVBoxLayout" name="verticalLayout_64">
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@@ -3346,28 +3346,35 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>OpenNI 2</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_54" columnstretch="0,1,0">
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<item row="7" column="1">
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<widget class="QLabel" name="label_435">
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<item row="1" column="0">
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<widget class="QCheckBox" name="openni2_autoWhiteBalance">
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<property name="text">
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<string>IR-Depth horizontal shift.</string>
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<string/>
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</property>
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<property name="checked">
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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_218">
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<property name="text">
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<string>Auto exposure.</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="7" column="0">
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<widget class="QSpinBox" name="openni2_hshift">
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<property name="suffix">
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<string> pix</string>
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</property>
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<property name="maximum">
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<number>65535</number>
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<item row="0" column="1">
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<widget class="QLineEdit" name="lineEdit_openni2OniPath">
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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="0">
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<widget class="QCheckBox" name="openni2_autoWhiteBalance">
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<item row="2" column="0">
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<widget class="QCheckBox" name="openni2_autoExposure">
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<property name="text">
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<string/>
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</property>
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@@ -3393,50 +3400,6 @@ 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="5" column="0">
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<widget class="QCheckBox" name="openni2_stampsIdsUsed">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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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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<widget class="QLabel" name="label_231">
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<property name="text">
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<string>Path to a *.ONI file.</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="1">
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<widget class="QLabel" name="label_220">
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<property name="text">
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<string>Gain.</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="0" column="1">
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<widget class="QLineEdit" name="lineEdit_openni2OniPath">
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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="0">
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<widget class="QToolButton" name="toolButton_openni2OniPath">
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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="1" column="1">
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<widget class="QLabel" name="label_217">
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<property name="text">
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@@ -3447,6 +3410,16 @@ 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="8" column="1">
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<widget class="QLabel" name="label_436">
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<property name="text">
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<string>IR-Depth vertical shift.</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="6" column="1">
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<widget class="QLabel" name="label_223">
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<property name="text">
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@@ -3467,46 +3440,13 @@ 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="0">
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<widget class="QSpinBox" name="openni2_gain">
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<item row="8" column="0">
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<widget class="QSpinBox" name="openni2_vshift">
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<property name="suffix">
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<string> pix</string>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>100</number>
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<spacer name="verticalSpacer_33">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>0</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="2" column="0">
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<widget class="QCheckBox" name="openni2_autoExposure">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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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_218">
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<property name="text">
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<string>Auto exposure.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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<number>65535</number>
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</property>
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</widget>
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</item>
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@@ -3520,18 +3460,78 @@ 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="8" column="1">
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<widget class="QLabel" name="label_436">
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<item row="4" column="0">
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<widget class="QSpinBox" name="openni2_gain">
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>100</number>
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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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<widget class="QLabel" name="label_220">
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<property name="text">
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<string>IR-Depth vertical shift.</string>
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<string>Gain.</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="8" column="0">
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<widget class="QSpinBox" name="openni2_vshift">
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<item row="0" column="2">
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<widget class="QLabel" name="label_231">
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<property name="text">
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<string>Path to a *.ONI file.</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="0" column="0">
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<widget class="QToolButton" name="toolButton_openni2OniPath">
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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="0">
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<widget class="QCheckBox" name="openni2_stampsIdsUsed">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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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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<widget class="QLabel" name="label_435">
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<property name="text">
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<string>IR-Depth horizontal shift.</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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<spacer name="verticalSpacer_33">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>0</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="7" column="0">
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<widget class="QSpinBox" name="openni2_hshift">
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<property name="suffix">
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<string> pix</string>
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</property>
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@@ -3540,6 +3540,29 @@ 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="9" column="1">
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<widget class="QLabel" name="label_641">
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<property name="text">
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<string>Depth 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="9" column="0">
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<widget class="QSpinBox" name="openni2_depth_decimation">
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<property name="suffix">
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<string/>
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</property>
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>65535</number>
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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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