mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added preferences for Azure Kinect camera (#559)
* Added Kinect for Azure menu option * Reintegrated Kinect for Azure initialization code, fixed previous GUI commit * Added ifdefs to fix build * Added preliminary K4A device support * Edits to K4A camera implementation * K4A minor initialization fix * Typo * Another initialization fix * Update CameraRGBD tool to display K4A camera output * K4A added model parameter so we can create maps * Added combo boxes for K4A options * Functionalized combo boxes for K4A options * Finished adding K4A preferences
This commit is contained in:
Thomas Kircher
@@ -748,6 +748,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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connect(_ui->pushButton_calibrate_simple, SIGNAL(clicked()), this, SLOT(calibrateSimple()));
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connect(_ui->toolButton_openniOniPath, SIGNAL(clicked()), this, SLOT(selectSourceOniPath()));
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connect(_ui->toolButton_openni2OniPath, SIGNAL(clicked()), this, SLOT(selectSourceOni2Path()));
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connect(_ui->comboBox_k4a_rgb_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_k4a_framerate, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->comboBox_k4a_depth_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
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connect(_ui->toolButton_k4a_mkv, SIGNAL(clicked()), this, SLOT(selectSourceMKVPath()));
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connect(_ui->toolButton_source_distortionModel, SIGNAL(clicked()), this, SLOT(selectSourceDistortionModel()));
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connect(_ui->toolButton_distortionModel, SIGNAL(clicked()), this, SLOT(visualizeDistortionModel()));
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@@ -1883,6 +1886,9 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
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_ui->lineEdit_rs2_jsonFile->clear();
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_ui->lineEdit_openniOniPath->clear();
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_ui->lineEdit_openni2OniPath->clear();
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_ui->comboBox_k4a_rgb_resolution->setCurrentIndex(1);
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_ui->comboBox_k4a_framerate->setCurrentIndex(2);
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_ui->comboBox_k4a_depth_resolution->setCurrentIndex(2);
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_ui->checkbox_k4a_irDepth->setChecked(false);
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_ui->lineEdit_k4a_mkv->clear();
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_ui->source_checkBox_useMKVStamps->setChecked(true);
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@@ -2306,6 +2312,9 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
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settings.endGroup(); // K4W2
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settings.beginGroup("K4A");
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_ui->comboBox_k4a_rgb_resolution->setCurrentIndex(settings.value("rgb_resolution", _ui->comboBox_k4a_rgb_resolution->currentIndex()).toInt());
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_ui->comboBox_k4a_framerate->setCurrentIndex(settings.value("framerate", _ui->comboBox_k4a_framerate->currentIndex()).toInt());
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_ui->comboBox_k4a_depth_resolution->setCurrentIndex(settings.value("depth_resolution", _ui->comboBox_k4a_depth_resolution->currentIndex()).toInt());
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_ui->checkbox_k4a_irDepth->setChecked(settings.value("ir", _ui->checkbox_k4a_irDepth->isChecked()).toBool());
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_ui->lineEdit_k4a_mkv->setText(settings.value("mkvPath", _ui->lineEdit_k4a_mkv->text()).toString());
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_ui->source_checkBox_useMKVStamps->setChecked(settings.value("useMkvStamps", _ui->source_checkBox_useMKVStamps->isChecked()).toBool());
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@@ -2784,6 +2793,9 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
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settings.endGroup(); // K4W2
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settings.beginGroup("K4A");
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settings.setValue("rgb_resolution", _ui->comboBox_k4a_rgb_resolution->currentIndex());
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settings.setValue("framerate", _ui->comboBox_k4a_framerate->currentIndex());
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settings.setValue("depth_resolution", _ui->comboBox_k4a_depth_resolution->currentIndex());
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settings.setValue("ir", _ui->checkbox_k4a_irDepth->isChecked());
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settings.setValue("mkvPath", _ui->lineEdit_k4a_mkv->text());
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settings.setValue("useMkvStamps", _ui->source_checkBox_useMKVStamps->isChecked());
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@@ -5634,6 +5646,9 @@ Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
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}
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((CameraK4A*)camera)->setIRDepthFormat(_ui->checkbox_k4a_irDepth->isChecked());
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((CameraK4A*)camera)->setPreferences(_ui->comboBox_k4a_rgb_resolution->currentIndex(),
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_ui->comboBox_k4a_framerate->currentIndex(),
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_ui->comboBox_k4a_depth_resolution->currentIndex());
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}
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else if (driver == kSrcRealSense)
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{
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@@ -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>-696</y>
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<y>-360</y>
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<width>680</width>
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<height>3270</height>
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</rect>
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@@ -3109,7 +3109,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_src">
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<property name="currentIndex">
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<number>1</number>
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<number>0</number>
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</property>
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<widget class="QWidget" name="page_41">
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<layout class="QVBoxLayout" name="verticalLayout_64">
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@@ -3220,7 +3220,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_rgbd">
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<property name="currentIndex">
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<number>9</number>
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<number>10</number>
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</property>
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<widget class="QWidget" name="page_32">
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<layout class="QVBoxLayout" name="verticalLayout_63">
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@@ -4417,17 +4417,31 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<string>Kinect for Azure</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_113">
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<item row="0" column="1" colspan="2">
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<widget class="QLabel" name="label_558">
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<item row="2" column="0">
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<widget class="QCheckBox" name="checkbox_k4a_irDepth">
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<property name="text">
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<string>Use IR for RGB image </string>
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<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="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="8" column="0">
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<widget class="QCheckBox" name="source_checkBox_useMKVStamps">
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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="5" column="0">
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<widget class="QToolButton" name="toolButton_k4a_mkv">
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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="9" column="0">
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<spacer name="verticalSpacer_83">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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@@ -4440,14 +4454,17 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</spacer>
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</item>
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<item row="1" column="0">
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<widget class="QToolButton" name="toolButton_k4a_mkv">
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<item row="2" column="1" colspan="2">
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<widget class="QLabel" name="label_558">
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<property name="text">
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<string>...</string>
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<string>Use IR for RGB image </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="1" column="3">
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<item row="5" column="3">
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<widget class="QLabel" name="label_556">
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<property name="text">
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<string>Path to a *.MKV file.</string>
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@@ -4460,24 +4477,7 @@ 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="0" column="0">
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<widget class="QCheckBox" name="checkbox_k4a_irDepth">
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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="1" column="1" colspan="2">
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<widget class="QLineEdit" name="lineEdit_k4a_mkv">
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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="1">
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<item row="8" column="1">
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<widget class="QLabel" name="label_557">
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<property name="text">
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<string>Use MKV file stamps as input rate.</string>
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@@ -4490,8 +4490,161 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="source_checkBox_useMKVStamps">
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<item row="0" column="0" colspan="3">
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<widget class="QFrame" name="frame">
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<property name="minimumSize">
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<size>
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<width>200</width>
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<height>90</height>
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</size>
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</property>
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<property name="frameShape">
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<enum>QFrame::NoFrame</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Plain</enum>
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</property>
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<property name="lineWidth">
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<number>0</number>
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</property>
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<widget class="QLabel" name="label_600">
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<property name="geometry">
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<rect>
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<x>80</x>
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<y>0</y>
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<width>161</width>
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<height>21</height>
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</rect>
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</property>
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<property name="text">
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<string>RGB camera resolution</string>
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</property>
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</widget>
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<widget class="QComboBox" name="comboBox_k4a_rgb_resolution">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>71</width>
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<height>25</height>
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</rect>
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</property>
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<item>
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<property name="text">
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<string>720p</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>1080p</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>1440p</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>1536p</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>2160p</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>3072p</string>
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</property>
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</item>
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</widget>
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<widget class="QComboBox" name="comboBox_k4a_framerate">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>60</y>
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<width>51</width>
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<height>25</height>
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</rect>
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</property>
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<item>
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<property name="text">
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<string>5</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>15</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>30</string>
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</property>
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</item>
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</widget>
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<widget class="QLabel" name="label_601">
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<property name="geometry">
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<rect>
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<x>60</x>
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<y>60</y>
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<width>131</width>
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<height>21</height>
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</rect>
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</property>
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<property name="text">
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<string>Frames per second</string>
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</property>
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</widget>
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<widget class="QComboBox" name="comboBox_k4a_depth_resolution">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>30</y>
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<width>111</width>
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<height>25</height>
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</rect>
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</property>
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<item>
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<property name="text">
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<string>320x288</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>640x576</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>512x512</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>1024x1024</string>
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</property>
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</item>
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</widget>
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<widget class="QLabel" name="label_602">
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<property name="geometry">
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<rect>
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<x>120</x>
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<y>30</y>
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<width>171</width>
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<height>21</height>
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</rect>
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</property>
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<property name="text">
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<string>Depth camera resolution</string>
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</property>
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</widget>
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</widget>
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</item>
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<item row="5" column="1" colspan="2">
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<widget class="QLineEdit" name="lineEdit_k4a_mkv">
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<property name="text">
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<string/>
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</property>
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