mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
CameraImages: Added synchronization of captrue time with timestamps
This commit is contained in:
matlabbe
@@ -397,6 +397,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->lineEdit_cameraRGBDImages_path_rgb, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraRGBDImages_path_depth, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_cameraImages_timestamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->checkBox_cameraImages_syncTimeStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->doubleSpinBox_cameraRGBDImages_scale, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraImages_path_scans, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->lineEdit_cameraImages_laser_transform, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
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@@ -1206,6 +1207,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->checkBox_stereoVideo_rectify->setChecked(false);
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_ui->checkBox_cameraImages_timestamps->setChecked(false);
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_ui->checkBox_cameraImages_syncTimeStamps->setChecked(true);
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_ui->lineEdit_cameraImages_timestamps->setText("");
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_ui->lineEdit_cameraImages_path_scans->setText("");
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_ui->lineEdit_cameraImages_laser_transform->setText("0 0 0 0 0 0");
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@@ -1522,6 +1524,7 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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_ui->checkBox_rgbImages_rectify->setChecked(settings.value("rectify",_ui->checkBox_rgbImages_rectify->isChecked()).toBool());
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_ui->checkBox_cameraImages_timestamps->setChecked(settings.value("filenames_as_stamps",_ui->checkBox_cameraImages_timestamps->isChecked()).toBool());
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_ui->checkBox_cameraImages_syncTimeStamps->setChecked(settings.value("sync_stamps",_ui->checkBox_cameraImages_syncTimeStamps->isChecked()).toBool());
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_ui->lineEdit_cameraImages_timestamps->setText(settings.value("stamps", _ui->lineEdit_cameraImages_timestamps->text()).toString());
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_ui->lineEdit_cameraImages_path_scans->setText(settings.value("path_scans", _ui->lineEdit_cameraImages_path_scans->text()).toString());
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_ui->lineEdit_cameraImages_laser_transform->setText(settings.value("scan_transform", _ui->lineEdit_cameraImages_laser_transform->text()).toString());
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@@ -1885,6 +1888,7 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.setValue("refreshDir", _ui->source_images_refreshDir->isChecked());
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settings.setValue("rectify", _ui->checkBox_rgbImages_rectify->isChecked());
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settings.setValue("filenames_as_stamps", _ui->checkBox_cameraImages_timestamps->isChecked());
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settings.setValue("sync_stamps", _ui->checkBox_cameraImages_syncTimeStamps->isChecked());
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settings.setValue("stamps", _ui->lineEdit_cameraImages_timestamps->text());
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settings.setValue("path_scans", _ui->lineEdit_cameraImages_path_scans->text());
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settings.setValue("scan_transform", _ui->lineEdit_cameraImages_laser_transform->text());
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@@ -3826,7 +3830,10 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
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_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
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_ui->spinBox_cameraImages_scanNormalsK->value(),
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this->getLaserLocalTransform());
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((CameraRGBDImages*)camera)->setTimestamps(_ui->checkBox_cameraImages_timestamps->isChecked(), _ui->lineEdit_cameraImages_timestamps->text().toStdString());
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((CameraRGBDImages*)camera)->setTimestamps(
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_ui->checkBox_cameraImages_timestamps->isChecked(),
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_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
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_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
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}
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else if(driver == kSrcDC1394)
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{
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@@ -3866,7 +3873,10 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
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_ui->doubleSpinBox_cameraImages_scanVoxelSize->value(),
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_ui->spinBox_cameraImages_scanNormalsK->value(),
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this->getLaserLocalTransform());
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((CameraStereoImages*)camera)->setTimestamps(_ui->checkBox_cameraImages_timestamps->isChecked(), _ui->lineEdit_cameraImages_timestamps->text().toStdString());
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((CameraStereoImages*)camera)->setTimestamps(
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_ui->checkBox_cameraImages_timestamps->isChecked(),
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_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
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_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
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}
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else if(driver == kSrcStereoVideo)
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{
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@@ -3918,7 +3928,8 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
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_ui->checkBox_depthFromScan_fillBorders->isChecked());
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((CameraRGBDImages*)camera)->setTimestamps(
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_ui->checkBox_cameraImages_timestamps->isChecked(),
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_ui->lineEdit_cameraImages_timestamps->text().toStdString());
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_ui->lineEdit_cameraImages_timestamps->text().toStdString(),
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_ui->checkBox_cameraImages_syncTimeStamps->isChecked());
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}
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else if(driver == kSrcDatabase)
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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>-139</y>
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<width>681</width>
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<height>1888</height>
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<y>-946</y>
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<width>676</width>
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<height>1919</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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@@ -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>7</number>
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<number>3</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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@@ -3331,6 +3331,13 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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<item>
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<layout class="QGridLayout" name="gridLayout_68" columnstretch="0,0,1">
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<item row="5" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
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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="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_timestamps">
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<property name="text">
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@@ -3351,21 +3358,21 @@ 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="1" column="0">
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<item row="2" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_timestamps">
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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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<item row="2" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_timestamps">
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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="2">
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<item row="2" column="2">
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<widget class="QLabel" name="label_251">
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<property name="text">
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<string>Timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. Not used if "Use file names as timestamps" above is checked. </string>
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@@ -3378,21 +3385,21 @@ 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="2" column="0">
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<item row="3" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_gt">
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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="2" column="1">
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<item row="3" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_gt">
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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="2" column="2">
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<item row="3" column="2">
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<widget class="QLabel" name="label_288">
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<property name="text">
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<string>Ground truth file. Select the correct format below.</string>
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@@ -3405,7 +3412,7 @@ 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="3" column="1">
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<item row="4" column="1">
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<widget class="QComboBox" name="comboBox_cameraImages_gtFormat">
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<item>
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<property name="text">
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@@ -3429,7 +3436,7 @@ 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>
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</item>
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<item row="3" column="2">
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<item row="4" column="2">
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<widget class="QLabel" name="label_289">
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<property name="text">
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<string>Ground truth format.</string>
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@@ -3442,21 +3449,14 @@ 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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<item row="5" column="0">
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<widget class="QToolButton" name="toolButton_cameraImages_path_scans">
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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="4" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_path_scans">
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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="4" column="2">
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<item row="5" column="2">
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<widget class="QLabel" name="label_293">
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<property name="text">
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<string>Path to directory containing optional laser scans (*.pcd, *.ply, *.bin [KITTI format]). The directory should have the same size has the images directory. </string>
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@@ -3469,7 +3469,7 @@ 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="1">
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<item row="6" column="1">
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<widget class="QLineEdit" name="lineEdit_cameraImages_laser_transform">
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<property name="toolTip">
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<string><html><head/><body><p>Format (3 values): x y z<br/>Format (6 values): x y z roll pitch yaw<br/>Format (7 values): x y z qx qy qz qw<br/>Format (9 values, 3x3 rotation): r11 r12 r13 r21 r22 r23 r31 r32 r33<br/>Format (12 values, 3x4 transform): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz</p><p>KITTI: /base_link to /scan = -0.27 0 0.08 0 0 0</p></body></html></string>
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@@ -3479,7 +3479,7 @@ 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="2">
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<item row="6" column="2">
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<widget class="QLabel" name="label_294">
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<property name="text">
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<string>Local transform from /base_link to /scan_link. Mouse over the box to show formats.</string>
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@@ -3492,7 +3492,7 @@ 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="6" column="1">
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<item row="7" column="1">
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<widget class="QSpinBox" name="spinBox_cameraImages_max_scan_pts">
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<property name="toolTip">
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<string><html><head/><body><p>KITTI: 130 000 points</p></body></html></string>
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@@ -3502,7 +3502,7 @@ 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="6" column="2">
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<item row="7" column="2">
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<widget class="QLabel" name="label_292">
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<property name="text">
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<string>Maximum laser scan points.</string>
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@@ -3515,6 +3515,26 @@ 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="1" column="2">
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<widget class="QLabel" name="label_256">
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<property name="text">
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<string>Synchronize capture rate with timestamps.</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="1">
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<widget class="QCheckBox" name="checkBox_cameraImages_syncTimeStamps">
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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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</item>
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<item>
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