mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Export: added option to remove not textured/colored polygons. Cloud generation: Black pixels can be projected. Added RoiRatios options to 3D Rendering and Export. Added fill depth holes option to Export.
This commit is contained in:
matlabbe
@@ -64,8 +64,8 @@
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<y>0</y>
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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@@ -487,7 +487,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</widget>
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<item row="5" column="0">
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_voxel">
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<property name="suffix">
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<string> m</string>
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@@ -506,7 +506,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</widget>
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<property name="text">
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<string>3D cloud noise filtering radius (0=disabled). Done after voxel filtering.</string>
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@@ -538,6 +538,88 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</widget>
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<item row="18" column="2">
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<widget class="QLabel" name="label_123">
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<property name="text">
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<string>Show 3D features.</string>
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<bool>true</bool>
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<item row="13" column="0">
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<string/>
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<bool>true</bool>
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<string/>
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<bool>true</bool>
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<item row="13" column="2">
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<property name="text">
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<string>Show scans.</string>
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<property name="wordWrap">
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<bool>true</bool>
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<item row="8" column="0">
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<widget class="QSpinBox" name="spinBox_noiseMinNeighbors">
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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>1000</number>
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<property name="value">
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<number>5</number>
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<item row="3" column="2">
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<widget class="QLabel" name="label_132">
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<property name="text">
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<string>3D cloud maximum depth (0 means no limit).</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="1" column="1">
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<widget class="QCheckBox" name="checkBox_showOdomClouds">
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<string/>
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<bool>true</bool>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
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@@ -557,7 +639,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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<widget class="QCheckBox" name="checkBox_showOdomFeatures">
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<property name="text">
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<string/>
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@@ -567,53 +649,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="17" column="2">
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<widget class="QLabel" name="label_123">
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||||
<property name="text">
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||||
<string>Show 3D features.</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 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="12" column="0">
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<widget class="QCheckBox" name="checkBox_showScans">
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<property name="text">
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<string/>
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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="12" column="1">
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<widget class="QCheckBox" name="checkBox_showOdomScans">
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<property name="text">
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<string/>
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<property name="checked">
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<bool>true</bool>
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</widget>
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</item>
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<item row="12" column="2">
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<widget class="QLabel" name="label_110">
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||||
<property name="text">
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<string>Show scans.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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<property name="minimum">
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<number>1</number>
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@@ -623,7 +659,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="13" column="2">
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<item row="14" column="2">
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<widget class="QLabel" name="label_273">
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<property name="text">
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<string>Scan downsampling step size.</string>
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@@ -636,7 +672,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="14" column="0">
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<item row="15" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
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<property name="suffix">
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||||
<string> m</string>
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||||
@@ -655,7 +691,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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||||
<item row="14" column="1">
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<item row="15" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom">
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||||
<property name="suffix">
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||||
<string> m</string>
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||||
@@ -674,7 +710,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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||||
</item>
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||||
<item row="15" column="1">
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<item row="16" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
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||||
<property name="suffix">
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||||
<string/>
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||||
@@ -693,7 +729,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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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<item row="8" column="2">
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<widget class="QLabel" name="label_169">
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||||
<property name="text">
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||||
<string>3D cloud noise filtering min neighbors.</string>
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||||
@@ -706,7 +742,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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||||
</widget>
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</item>
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||||
<item row="18" column="1">
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||||
<item row="19" column="1">
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<widget class="QSpinBox" name="spinBox_ptsize_odom_features">
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<property name="minimum">
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||||
<number>1</number>
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||||
@@ -716,7 +752,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="18" column="2">
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<item row="19" column="2">
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<widget class="QLabel" name="label_166">
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||||
<property name="text">
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||||
<string>Feature point size.</string>
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||||
@@ -729,7 +765,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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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<item row="11" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
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||||
<property name="suffix">
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||||
<string/>
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||||
@@ -748,7 +784,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
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</widget>
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</item>
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<item row="11" column="0">
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<item row="12" column="0">
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<widget class="QSpinBox" name="spinBox_ptsize">
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||||
<property name="minimum">
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||||
<number>1</number>
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||||
@@ -761,7 +797,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="11" column="2">
|
||||
<item row="12" column="2">
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||||
<widget class="QLabel" name="label_157">
|
||||
<property name="text">
|
||||
<string>3D cloud point size (1..64).</string>
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||||
@@ -774,7 +810,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="16" column="1">
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||||
<item row="17" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
|
||||
<property name="minimum">
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||||
<number>1</number>
|
||||
@@ -784,7 +820,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="17" column="0">
|
||||
<item row="18" column="0">
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||||
<widget class="QCheckBox" name="checkBox_showFeatures">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -871,7 +907,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="19" column="2">
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||||
<item row="20" column="2">
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||||
<widget class="QLabel" name="label_213">
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||||
<property name="text">
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||||
<string>Show graphs.</string>
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||||
@@ -910,7 +946,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
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||||
</widget>
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||||
</item>
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||||
<item row="5" column="2">
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_171">
|
||||
<property name="text">
|
||||
<string>3D cloud voxel filtering size (0=disabled).</string>
|
||||
@@ -923,7 +959,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
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||||
</item>
|
||||
<item row="6" column="0">
|
||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_noiseRadius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
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||||
@@ -942,33 +978,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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="spinBox_noiseMinNeighbors">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_132">
|
||||
<property name="text">
|
||||
<string>3D cloud maximum depth (0 means no limit).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="0">
|
||||
<item row="19" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_features">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -978,7 +988,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="2">
|
||||
<item row="9" column="2">
|
||||
<widget class="QLabel" name="label_210">
|
||||
<property name="text">
|
||||
<string>3D cloud normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
|
||||
@@ -991,7 +1001,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<item row="14" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -1001,7 +1011,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="2">
|
||||
<item row="15" column="2">
|
||||
<widget class="QLabel" name="label_271">
|
||||
<property name="text">
|
||||
<string>Scan voxel size.</string>
|
||||
@@ -1014,7 +1024,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<item row="16" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -1033,7 +1043,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="2">
|
||||
<item row="16" column="2">
|
||||
<widget class="QLabel" name="label_156">
|
||||
<property name="text">
|
||||
<string>Scan opacity.</string>
|
||||
@@ -1046,7 +1056,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<item row="9" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_normalKSearch">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
@@ -1059,7 +1069,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<item row="11" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -1078,7 +1088,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="2">
|
||||
<item row="11" column="2">
|
||||
<widget class="QLabel" name="label_155">
|
||||
<property name="text">
|
||||
<string>3D cloud opacity.</string>
|
||||
@@ -1091,7 +1101,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<item row="12" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_odom">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -1104,7 +1114,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="0">
|
||||
<item row="17" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_scan">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -1114,7 +1124,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="2">
|
||||
<item row="17" column="2">
|
||||
<widget class="QLabel" name="label_158">
|
||||
<property name="text">
|
||||
<string>Scan point size (1..64).</string>
|
||||
@@ -1140,16 +1150,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_showOdomClouds">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_119">
|
||||
<property name="text">
|
||||
@@ -1163,7 +1163,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="20" column="2">
|
||||
<item row="21" column="2">
|
||||
<widget class="QLabel" name="label_243">
|
||||
<property name="text">
|
||||
<string>Show labels.</string>
|
||||
@@ -1176,7 +1176,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="0">
|
||||
<item row="20" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_showGraphs">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -1186,7 +1186,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="20" column="0">
|
||||
<item row="21" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_showLabels">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -1196,7 +1196,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="2">
|
||||
<item row="10" column="2">
|
||||
<widget class="QLabel" name="label_338">
|
||||
<property name="text">
|
||||
<string>Gain compensation.</string>
|
||||
@@ -1209,7 +1209,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<item row="10" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_gainCompensation">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -1219,6 +1219,25 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_353">
|
||||
<property name="text">
|
||||
<string>3D cloud ROI ratios [left, right, top, bottom] between 0 and 1.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLineEdit" name="lineEdit_roiRatios"/>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLineEdit" name="lineEdit_roiRatios_odom"/>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
Reference in New Issue
Block a user