mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Added KAZE feature detector (OpenCV3)
This commit is contained in:
matlabbe
@@ -197,8 +197,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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#if CV_MAJOR_VERSION >= 3
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_ui->groupBox_fast_opencv2->setEnabled(false);
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#else
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_ui->comboBox_detector_strategy->setItemData(9, 0, Qt::UserRole - 1); // No FREAK (detector+descriptor version)
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_ui->reextract_type->setItemData(9, 0, Qt::UserRole - 1); // No FREAK (detector+descriptor version)
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_ui->comboBox_detector_strategy->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
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_ui->reextract_type->setItemData(9, 0, Qt::UserRole - 1); // No KAZE
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#endif
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_ui->comboBox_cameraImages_odomFormat->setItemData(4, 0, Qt::UserRole - 1);
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@@ -746,6 +746,14 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->spinBox_BRISK_octaves->setObjectName(Parameters::kBRISKOctaves().c_str());
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_ui->doubleSpinBox_BRISK_patterScale->setObjectName(Parameters::kBRISKPatternScale().c_str());
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//KAZE
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_ui->checkBox_kaze_extended->setObjectName(Parameters::kKAZEExtended().c_str());
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_ui->checkBox_kaze_upright->setObjectName(Parameters::kKAZEUpright().c_str());
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_ui->doubleSpinBox_kaze_threshold->setObjectName(Parameters::kKAZEThreshold().c_str());
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_ui->spinBox_kaze_octaves->setObjectName(Parameters::kKAZENOctaves().c_str());
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_ui->spinBox_kaze_octavelayers->setObjectName(Parameters::kKAZENOctaveLayers().c_str());
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_ui->spinBox_kaze_diffusivity->setObjectName(Parameters::kKAZEDiffusivity().c_str());
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// verifyHypotheses
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_ui->groupBox_vh_epipolar2->setObjectName(Parameters::kVhEpEnabled().c_str());
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_ui->surf_spinBox_matchCountMinAccepted->setObjectName(Parameters::kVhEpMatchCountMin().c_str());
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@@ -2364,19 +2372,33 @@ bool PreferencesDialog::validateForm()
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#endif
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#if CV_MAJOR_VERSION < 3
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if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureFreak)
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if (_ui->comboBox_detector_strategy->currentIndex() == Feature2D::kFeatureKaze)
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{
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#ifdef RTABMAP_NONFREE
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QMessageBox::warning(this, tr("Parameter warning"),
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tr("Selected feature type (FREAK detector) is not available on OpenCV2. ORB is set instead "
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tr("Selected feature type (KAZE) is not available on OpenCV2. SURF is set instead "
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"for the bag-of-words dictionary."));
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_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureSurf);
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#else
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QMessageBox::warning(this, tr("Parameter warning"),
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tr("Selected feature type (KAZE) is not available on OpenCV2. ORB is set instead "
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"for the bag-of-words dictionary."));
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_ui->comboBox_detector_strategy->setCurrentIndex(Feature2D::kFeatureOrb);
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#endif
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}
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if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureFreak)
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if (_ui->reextract_type->currentIndex() == Feature2D::kFeatureKaze)
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{
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#ifdef RTABMAP_NONFREE
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QMessageBox::warning(this, tr("Parameter warning"),
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tr("Selected feature type (FREAK detector) is not available on OpenCV2. ORB is set instead "
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tr("Selected feature type (KAZE) is not available on OpenCV2. SURF is set instead "
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"for the re-extraction of features on loop closure."));
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_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureSurf);
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#else
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QMessageBox::warning(this, tr("Parameter warning"),
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tr("Selected feature type (KAZE) is not available on OpenCV2. ORB is set instead "
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"for the re-extraction of features on loop closure."));
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_ui->reextract_type->setCurrentIndex(Feature2D::kFeatureOrb);
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#endif
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}
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#endif
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@@ -95,7 +95,7 @@
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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>11</number>
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<number>34</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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@@ -6732,7 +6732,7 @@ generate the number of words requested.</string>
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</item>
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<item>
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<property name="text">
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<string>FREAK</string>
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<string>KAZE</string>
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</property>
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</item>
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</widget>
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@@ -13245,7 +13245,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</item>
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<item>
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<property name="text">
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<string>FREAK</string>
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<string>KAZE</string>
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</property>
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</item>
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</widget>
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@@ -15863,6 +15863,179 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="page_71">
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<layout class="QVBoxLayout" name="verticalLayout_3">
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<item>
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<widget class="QGroupBox" name="groupBox_detector_kaze2">
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<property name="title">
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<string>KAZE</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_95" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QCheckBox" name="checkBox_kaze_extended">
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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="1">
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<widget class="QLabel" name="label_420">
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<property name="text">
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<string>Set to enable use of upright descriptors (non rotation-invariant).</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="1">
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<widget class="QLabel" name="label_416">
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<property name="text">
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<string>Maximum octave evolution of the 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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<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="QCheckBox" name="checkBox_kaze_upright">
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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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<widget class="QLabel" name="label_417">
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<property name="text">
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<string>Default number of sublevels per scale level.</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="QSpinBox" name="spinBox_kaze_octavelayers">
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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>16</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="3" column="0">
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<widget class="QSpinBox" name="spinBox_kaze_octaves">
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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>16</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="0" column="1">
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<widget class="QLabel" name="label_419">
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<property name="text">
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<string>Set to enable extraction of extended (128-byte) descriptor.</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="QDoubleSpinBox" name="doubleSpinBox_kaze_threshold">
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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="minimum">
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<double>0.000100000000000</double>
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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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<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>0.001000000000000</double>
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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_418">
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<property name="text">
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<string>Detector response threshold to accept point.</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="1">
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<widget class="QLabel" name="label_421">
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<property name="text">
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<string>Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.</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="QSpinBox" name="spinBox_kaze_diffusivity">
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<property name="maximum">
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<number>3</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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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer_65">
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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>2487</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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</widget>
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</widget>
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</item>
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</layout>
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