mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Refactored OdometryOpticalFlow (added optical flow guess using previous odometry transform, merged stereo/depth stuff)
This commit is contained in:
matlabbe
@@ -50,7 +50,7 @@
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@@ -200,6 +200,9 @@
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</item>
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<item>
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<widget class="QSlider" name="horizontalSlider_A">
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<property name="focusPolicy">
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<enum>Qt::ClickFocus</enum>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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@@ -233,7 +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>172</width>
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<width>195</width>
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<height>184</height>
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</rect>
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</property>
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@@ -383,6 +386,9 @@
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</item>
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<item>
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<widget class="QSlider" name="horizontalSlider_B">
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<property name="focusPolicy">
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<enum>Qt::ClickFocus</enum>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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@@ -479,6 +485,9 @@
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</item>
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<item row="0" column="1">
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<widget class="QSlider" name="horizontalSlider_neighbors">
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<property name="focusPolicy">
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<enum>Qt::ClickFocus</enum>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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@@ -496,6 +505,9 @@
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</item>
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<item row="1" column="1">
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<widget class="QSlider" name="horizontalSlider_loops">
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<property name="focusPolicy">
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<enum>Qt::ClickFocus</enum>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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@@ -654,6 +666,9 @@
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</item>
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<item>
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<widget class="QSlider" name="horizontalSlider_iterations">
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<property name="focusPolicy">
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<enum>Qt::ClickFocus</enum>
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</property>
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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@@ -783,14 +798,14 @@
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<item>
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<widget class="QToolBox" name="toolBox">
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<property name="currentIndex">
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<number>1</number>
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<number>5</number>
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</property>
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<widget class="QWidget" name="page">
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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>315</width>
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<width>312</width>
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<height>314</height>
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</rect>
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</property>
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@@ -1009,7 +1024,7 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-12</y>
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<y>0</y>
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<width>351</width>
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<height>355</height>
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</rect>
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@@ -1510,7 +1525,7 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>315</width>
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<width>248</width>
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<height>319</height>
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</rect>
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</property>
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@@ -1704,8 +1719,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>330</width>
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<height>186</height>
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<width>201</width>
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<height>126</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1799,6 +1814,217 @@
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_6">
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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>283</width>
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<height>322</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="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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<string> pixels</string>
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</property>
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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="value">
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<number>3</number>
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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_stereo_gfttQuality">
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>0.001000000000000</double>
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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>0.001000000000000</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_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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<string>GFTT block size</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_flowWinSize">
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<property name="suffix">
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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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</property>
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<property name="value">
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<number>16</number>
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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_56">
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<property name="text">
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<string>Optical Flow win size</string>
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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="QSpinBox" name="spinBox_stereo_flowMaxLevel">
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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="value">
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<number>3</number>
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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_61">
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<property name="text">
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<string>GFTT min distance</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="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="4" 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="5" 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="5" 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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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>30</number>
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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_maxSlope">
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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>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>0.100000000000000</double>
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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="QDoubleSpinBox" name="doubleSpinBox_stereo_gfttMinDistance">
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<property name="suffix">
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<string> pixels</string>
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</property>
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<property name="decimals">
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<number>1</number>
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</property>
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<property name="value">
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<double>5.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="8" 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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</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_60">
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<property name="text">
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<string>Matches max slope</string>
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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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<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="8" 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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</layout>
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</widget>
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</widget>
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</item>
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</layout>
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@@ -1812,12 +2038,110 @@
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<number>4</number>
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</attribute>
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<widget class="QWidget" name="dockWidgetContents_5">
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<layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,1">
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<layout class="QVBoxLayout" name="verticalLayout_11" stretch="1,0">
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<number>0</number>
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</property>
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<item>
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<widget class="rtabmap::ImageView" name="graphicsView_stereo" native="true"/>
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<layout class="QHBoxLayout" name="horizontalLayout_9" stretch="1,1">
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<item>
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<widget class="rtabmap::ImageView" name="graphicsView_stereo" native="true"/>
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</item>
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<item>
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<widget class="rtabmap::CloudViewer" name="stereoViewer" native="true"/>
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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="rtabmap::CloudViewer" name="stereoViewer" native="true"/>
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<layout class="QHBoxLayout" name="horizontalLayout_6">
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<property name="spacing">
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<number>6</number>
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</property>
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<item>
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<widget class="QLabel" name="label_stereo_inliers_name">
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<property name="text">
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<string>Inliers:</string>
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</property>
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<property name="textFormat">
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<enum>Qt::RichText</enum>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_stereo_inliers">
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<property name="text">
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<string>0</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_stereo_slopeOutliers_name">
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<property name="text">
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<string>Slope outliers:</string>
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</property>
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<property name="textFormat">
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<enum>Qt::RichText</enum>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_stereo_slopeOutliers">
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<property name="text">
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<string>0</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_stereo_disparityOutliers_name">
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<property name="text">
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<string>Negative disparity outliers:</string>
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</property>
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<property name="textFormat">
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<enum>Qt::RichText</enum>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_stereo_disparityOutliers">
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<property name="text">
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<string>0</string>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_stereo_flowOutliers_name">
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<property name="text">
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<string>Flow outliers:</string>
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</property>
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<property name="textFormat">
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<enum>Qt::RichText</enum>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_stereo_flowOutliers">
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<property name="text">
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<string>0</string>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer_2">
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<property name="orientation">
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<enum>Qt::Horizontal</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>40</width>
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<height>20</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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</layout>
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</item>
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</layout>
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</widget>
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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>-613</y>
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<y>-450</y>
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<width>755</width>
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<height>1591</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>23</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">
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@@ -7222,11 +7222,14 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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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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||||
<number>0</number>
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||||
</property>
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||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
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||||
</property>
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||||
<property name="maximum">
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||||
<double>999.000000000000000</double>
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||||
</property>
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||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
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||||
</property>
|
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