mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Added Stereo and StereoDense base classes (with Stereo->StereoOpticalFlow and StereoDense->StereoBM) to handle easily stereo parameters. Added stereoEval tool to test Stereo/OpticalFlow=false or true. Added StereoBM parameters. Refactoring of the Preferences dialog (tree view order and some titles)
This commit is contained in:
matlabbe
@@ -50,7 +50,7 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>196</width>
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<width>200</width>
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<height>184</height>
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</rect>
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</property>
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@@ -236,7 +236,7 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>195</width>
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<width>199</width>
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<height>184</height>
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</rect>
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</property>
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@@ -2061,15 +2061,86 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-57</y>
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<width>283</width>
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<height>356</height>
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<y>-198</y>
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<width>263</width>
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<height>460</height>
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</rect>
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</property>
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<attribute name="label">
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<string>Stereo correspondences</string>
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</attribute>
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<layout class="QGridLayout" name="gridLayout_13">
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_stereo_flowEps">
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.010000000000000</double>
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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_58">
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<property name="text">
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<string>Iterations</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_54">
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<property name="text">
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<string>GFTT quality level</string>
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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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<spacer name="verticalSpacer_6">
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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>40</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="10" column="0">
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<widget class="QCheckBox" name="checkBox_stereo_subpix">
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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="1">
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<widget class="QLabel" name="label_70">
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<property name="text">
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<string>GFTT max features</string>
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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_59">
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<property name="text">
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<string>Epsilon</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="QLabel" name="label_57">
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<property name="text">
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<string>Max level</string>
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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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<widget class="QSpinBox" name="spinBox_stereo_gfttBlockSize">
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<property name="suffix">
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@@ -2102,13 +2173,6 @@
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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_59">
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<property name="text">
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<string>Optical Flow eps</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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<widget class="QLabel" name="label_55">
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<property name="text">
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@@ -2122,7 +2186,7 @@
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<string> pixels</string>
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</property>
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<property name="minimum">
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<number>3</number>
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<number>6</number>
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</property>
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<property name="value">
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<number>16</number>
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@@ -2132,14 +2196,14 @@
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<item row="4" column="1">
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<widget class="QLabel" name="label_56">
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<property name="text">
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<string>Optical Flow win size</string>
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<string>Win size</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="QSpinBox" name="spinBox_stereo_flowMaxLevel">
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<property name="minimum">
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<number>1</number>
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<number>0</number>
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</property>
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<property name="value">
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<number>3</number>
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@@ -2153,47 +2217,10 @@
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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="QDoubleSpinBox" name="doubleSpinBox_stereo_flowEps">
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<property name="decimals">
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<number>4</number>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.010000000000000</double>
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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="QLabel" name="label_57">
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<property name="text">
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<string>Optical Flow max level</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="QLabel" name="label_58">
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<property name="text">
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<string>Optical Flow iterations</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_54">
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<property name="text">
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<string>GFTT quality level</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="QSpinBox" name="spinBox_stereo_flowIterations">
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<property name="minimum">
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<number>1</number>
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<number>0</number>
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</property>
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<property name="maximum">
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<number>1000</number>
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@@ -2232,7 +2259,7 @@
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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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<item row="10" column="1">
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<widget class="QLabel" name="label_62">
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<property name="text">
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<string>Sub pixel</string>
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@@ -2246,33 +2273,6 @@
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</property>
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</widget>
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</item>
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<item row="10" column="1">
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<spacer name="verticalSpacer_6">
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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>40</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="9" column="0">
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<widget class="QCheckBox" name="checkBox_stereo_subpix">
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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="1">
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<widget class="QLabel" name="label_70">
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<property name="text">
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<string>GFTT max features</string>
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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="QSpinBox" name="spinBox_stereo_gfttMaxFeatures">
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<property name="suffix">
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@@ -2292,6 +2292,40 @@
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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_71">
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<property name="text">
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<string>Optical Flow</string>
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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="QCheckBox" name="checkBox_stereo_opticalFlow">
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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="11" column="1">
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<widget class="QLabel" name="label_72">
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<property name="text">
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<string>SSD (otherwise SAD is used)</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="11" column="0">
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<widget class="QCheckBox" name="checkBox_stereo_ssd">
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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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</layout>
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</widget>
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</widget>
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