mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
GUI: Added more parameters for 3D projection grid map
This commit is contained in:
matlabbe
@@ -63,7 +63,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-477</y>
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<y>-269</y>
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<width>686</width>
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<height>2023</height>
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</rect>
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@@ -86,7 +86,7 @@
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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>3</number>
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<number>1</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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@@ -629,7 +629,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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<item>
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<widget class="QLabel" name="label_167">
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<property name="text">
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<string>When the Graph view is visible or if the "Show in 3D map view" below is checked, the grid map is generated using the laser scans.</string>
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<string>When the Graph View is visible or if the "Show in 3D map view" below is checked, the grid map is generated using the laser scans or from 3D projection of the clouds (when activated below).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -713,30 +713,7 @@ 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="3" column="0">
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<widget class="QCheckBox" name="checkBox_map_occupancyFrom3DCloud">
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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="3" column="1">
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<widget class="QLabel" name="label_210">
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<property name="text">
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<string>Occupancy from 3D cloud projection on the ground. Laser scans are ignored when activated.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_224">
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<property name="text">
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<string>Erode.</string>
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@@ -749,7 +726,7 @@ 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="4" column="0">
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox_map_erode">
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<property name="text">
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<string/>
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@@ -761,6 +738,191 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</item>
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</layout>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_map_occupancyFrom3DCloud">
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<property name="title">
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<string>Occupancy from 3D cloud projection on the ground</string>
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</property>
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<property name="checkable">
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<bool>true</bool>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_102">
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<item>
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<widget class="QLabel" name="label_312">
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<property name="text">
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<string>Note that 3D cloud filtering stuff under Map columns below are applied before the projection (except for floor and ceiling filterings).</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>
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<layout class="QGridLayout" name="gridLayout_67" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QCheckBox" name="checkBox_projMapFrame">
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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="1">
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<widget class="QLabel" name="label_311">
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<property name="text">
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<string>Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxGroundAngle">
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<property name="suffix">
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<string> deg</string>
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</property>
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<property name="decimals">
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<number>0</number>
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</property>
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<property name="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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<property name="value">
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<double>30.000000000000000</double>
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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_307">
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<property name="text">
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<string>Maximum ground normal angle</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="spinBox_projMinClusterSize">
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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>10000</number>
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</property>
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<property name="value">
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<number>20</number>
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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_308">
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<property name="text">
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<string>Mininum cluster size.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox_projFlatObstaclesDetected">
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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="3" column="1">
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<widget class="QLabel" name="label_272">
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<property name="text">
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<string>Flat obstacles detected</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxGroundHeight">
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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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</property>
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<property name="maximum">
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<double>99999.000000000000000</double>
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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_310">
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<property name="text">
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<string>Maximum ground height (0=disabled).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_projMaxObstaclesHeight">
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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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</property>
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<property name="maximum">
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<double>9999.000000000000000</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_309">
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<property name="text">
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<string>Maximum obstacles height (0=disabled).</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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</layout>
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</item>
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</layout>
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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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@@ -773,7 +935,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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<enum>QFrame::Raised</enum>
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</property>
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<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
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<item row="9" column="0">
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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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@@ -783,7 +945,20 @@ 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="12" column="0">
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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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</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="15" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
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<property name="suffix">
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<string/>
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@@ -802,19 +977,6 @@ 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="9" 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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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label_119">
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<property name="text">
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@@ -828,7 +990,7 @@ 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="17" column="1">
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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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@@ -838,7 +1000,7 @@ 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="17" column="0">
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<widget class="QCheckBox" name="checkBox_showFeatures">
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<property name="text">
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<string/>
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@@ -912,7 +1074,7 @@ 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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<item row="10" 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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@@ -925,7 +1087,7 @@ 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="12" column="1">
|
||||
<item row="15" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -970,7 +1132,7 @@ 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>
|
||||
<item row="6" column="2">
|
||||
<item row="9" column="2">
|
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<widget class="QLabel" name="label_155">
|
||||
<property name="text">
|
||||
<string>3D cloud opacity.</string>
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@@ -983,7 +1145,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<item row="10" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_odom">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -996,7 +1158,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<item row="16" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -1006,7 +1168,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="2">
|
||||
<item row="16" column="2">
|
||||
<widget class="QLabel" name="label_158">
|
||||
<property name="text">
|
||||
<string>Scan point size (1..64).</string>
|
||||
@@ -1019,7 +1181,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<item row="14" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
@@ -1038,7 +1200,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="2">
|
||||
<item row="14" column="2">
|
||||
<widget class="QLabel" name="label_271">
|
||||
<property name="text">
|
||||
<string>Scan voxel size.</string>
|
||||
@@ -1051,7 +1213,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<item row="13" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -1061,7 +1223,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="2">
|
||||
<item row="15" column="2">
|
||||
<widget class="QLabel" name="label_156">
|
||||
<property name="text">
|
||||
<string>Scan opacity.</string>
|
||||
@@ -1097,7 +1259,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<item row="9" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -1116,7 +1278,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<item row="12" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_showOdomScans">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -1126,7 +1288,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="2">
|
||||
<item row="19" column="2">
|
||||
<widget class="QLabel" name="label_213">
|
||||
<property name="text">
|
||||
<string>Show graphs.</string>
|
||||
@@ -1139,7 +1301,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="0">
|
||||
<item row="19" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_showGraphs">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -1149,7 +1311,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<item row="9" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -1168,7 +1330,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<item row="16" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_scan">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -1188,7 +1350,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="2">
|
||||
<item row="20" column="2">
|
||||
<widget class="QLabel" name="label_243">
|
||||
<property name="text">
|
||||
<string>Show labels.</string>
|
||||
@@ -1201,7 +1363,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="0">
|
||||
<item row="20" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_showLabels">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -1211,7 +1373,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<item row="14" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
@@ -1230,7 +1392,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="2">
|
||||
<item row="13" column="2">
|
||||
<widget class="QLabel" name="label_273">
|
||||
<property name="text">
|
||||
<string>Scan downsampling step size.</string>
|
||||
@@ -1243,7 +1405,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<item row="13" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_downsamplingScan">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -1253,7 +1415,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<item row="10" column="2">
|
||||
<widget class="QLabel" name="label_157">
|
||||
<property name="text">
|
||||
<string>3D cloud point size (1..64).</string>
|
||||
@@ -1279,7 +1441,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="2">
|
||||
<item row="17" column="2">
|
||||
<widget class="QLabel" name="label_123">
|
||||
<property name="text">
|
||||
<string>Show 3D features.</string>
|
||||
@@ -1292,7 +1454,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="2">
|
||||
<item row="18" column="2">
|
||||
<widget class="QLabel" name="label_166">
|
||||
<property name="text">
|
||||
<string>Feature point size.</string>
|
||||
@@ -1305,7 +1467,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<item row="18" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_odom_features">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -1315,7 +1477,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<item row="18" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_features">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -1379,6 +1541,96 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxel">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_171">
|
||||
<property name="text">
|
||||
<string>3D cloud voxel filtering size (0=disabled).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<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="7" column="2">
|
||||
<widget class="QLabel" name="label_168">
|
||||
<property name="text">
|
||||
<string>3D cloud noise filtering radius (0=disabled). Done after voxel filtering.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_noiseRadius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="2">
|
||||
<widget class="QLabel" name="label_169">
|
||||
<property name="text">
|
||||
<string>3D cloud noise filtering min neighbors.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
Reference in New Issue
Block a user