mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Added GainCompensator class. GUI/3D Rendering: added texturing option.
This commit is contained in:
matlabbe
@@ -52,7 +52,7 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>205</width>
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<width>204</width>
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<height>208</height>
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</rect>
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</property>
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@@ -210,7 +210,7 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>203</width>
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<width>202</width>
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<height>208</height>
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</rect>
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</property>
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@@ -1125,9 +1125,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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||||
<y>-225</y>
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||||
<y>-32</y>
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<width>280</width>
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||||
<height>465</height>
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<height>584</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1170,6 +1170,38 @@
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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_51">
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<property name="text">
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<string>Gain compensation radius (Constraints view)</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="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_gainCompensationRadius">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="decimals">
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<number>2</number>
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</property>
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<property name="minimum">
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||||
<double>0.000000000000000</double>
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</property>
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||||
<property name="maximum">
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||||
<double>10.000000000000000</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>0.000000000000000</double>
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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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@@ -1411,8 +1443,8 @@
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<rect>
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||||
<x>0</x>
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||||
<y>0</y>
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||||
<width>265</width>
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||||
<height>126</height>
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||||
<width>282</width>
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<height>163</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1511,7 +1543,7 @@
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||||
<rect>
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||||
<x>0</x>
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||||
<y>0</y>
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||||
<width>265</width>
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<width>267</width>
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||||
<height>168</height>
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</rect>
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</property>
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@@ -23,24 +23,14 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-860</y>
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||||
<y>0</y>
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<width>773</width>
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<height>1463</height>
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<height>1648</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_13">
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<item>
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<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_binaryFile_2">
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<property name="text">
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<string>Assemble clouds/meshes to a single output cloud/mesh.</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="3" column="0">
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<widget class="QSpinBox" name="spinBox_normalKSearch">
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<property name="minimum">
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@@ -51,10 +41,17 @@
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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_binaryFile">
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<item row="2" column="0">
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<widget class="QCheckBox" name="checkBox_assemble">
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<property name="text">
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<string>Binary file.</string>
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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="1">
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<widget class="QLabel" name="label_binaryFile_2">
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<property name="text">
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<string>Assemble clouds/meshes to a single output cloud/mesh.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -71,23 +68,6 @@
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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="QCheckBox" name="checkBox_assemble">
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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_voxel">
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<property name="text">
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<string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</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="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
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<property name="suffix">
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@@ -138,6 +118,26 @@
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</item>
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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_binaryFile">
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<property name="text">
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<string>Binary file.</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="4" column="1">
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<widget class="QLabel" name="label_voxel">
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||||
<property name="text">
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||||
<string>Voxel size. Set 0 to disable. When organized meshes are assembled, this is the radius in which the vertices of the polygons are merged.</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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</layout>
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</item>
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<item>
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||||
@@ -782,6 +782,146 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_gain">
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<property name="title">
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<string>Gain Compensation</string>
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</property>
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<property name="checkable">
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<bool>true</bool>
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</property>
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||||
<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
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||||
<item row="0" column="1">
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<widget class="QLabel" name="label_binaryFile_3">
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||||
<property name="text">
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||||
<string>Correspondence radius</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="3" column="1">
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<widget class="QLabel" name="label_binaryFile_5">
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<property name="text">
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<string>Beta</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="0" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainRadius">
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||||
<property name="suffix">
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||||
<string> m</string>
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||||
</property>
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||||
<property name="decimals">
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||||
<number>3</number>
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||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.001000000000000</double>
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||||
</property>
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||||
<property name="maximum">
|
||||
<double>10.000000000000000</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>0.020000000000000</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_binaryFile_4">
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||||
<property name="text">
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||||
<string>Alpha</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="2" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainAlpha">
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||||
<property name="suffix">
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||||
<string/>
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||||
</property>
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||||
<property name="decimals">
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||||
<number>3</number>
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||||
</property>
|
||||
<property name="minimum">
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||||
<double>0.001000000000000</double>
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||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<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="3" column="0">
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||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainBeta">
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||||
<property name="suffix">
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||||
<string/>
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||||
</property>
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||||
<property name="decimals">
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||||
<number>0</number>
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||||
</property>
|
||||
<property name="minimum">
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||||
<double>1.000000000000000</double>
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||||
</property>
|
||||
<property name="maximum">
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||||
<double>1000.000000000000000</double>
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||||
</property>
|
||||
<property name="singleStep">
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||||
<double>1.000000000000000</double>
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||||
</property>
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||||
<property name="value">
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||||
<double>100.000000000000000</double>
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||||
</property>
|
||||
</widget>
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||||
</item>
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||||
<item row="1" column="1">
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||||
<widget class="QLabel" name="label_binaryFile_6">
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||||
<property name="text">
|
||||
<string>Min overlap (%)</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
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||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_gainOverlap">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_meshing">
|
||||
<property name="title">
|
||||
@@ -793,34 +933,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_15">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_170">
|
||||
<property name="text">
|
||||
<string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_textureMapping">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_textureMapping">
|
||||
<property name="text">
|
||||
<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_meshDecimationFactor">
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
@@ -839,20 +952,47 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
<string>Min polygon cluster size</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<item row="3" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_mesh_minClusterSize">
|
||||
<property name="maximum">
|
||||
<number>999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_meshDecimation">
|
||||
<property name="text">
|
||||
<string>Mesh quadric decimation factor (0=no decimation). Used to reduce the number of polygons. Cannot be used if texturing is on and organized mesh flavor is selected.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_textureMapping">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_textureMapping">
|
||||
<property name="text">
|
||||
<string>Texture mapping. Images of the cameras will be projected on the mesh(es). Output is a *.obj format.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
|
||||
@@ -64,8 +64,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>678</width>
|
||||
<height>2417</height>
|
||||
<width>673</width>
|
||||
<height>2496</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_16">
|
||||
@@ -86,7 +86,7 @@
|
||||
<enum>QFrame::Raised</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>3</number>
|
||||
<number>1</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="page_22">
|
||||
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
|
||||
@@ -414,19 +414,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
<layout class="QVBoxLayout" name="verticalLayout_98">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_137">
|
||||
<property name="text">
|
||||
<string>Odometry</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_154">
|
||||
<property name="text">
|
||||
@@ -459,51 +446,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_150">
|
||||
<property name="text">
|
||||
<string>3D cloud minimum depth.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_171">
|
||||
<property name="text">
|
||||
<string>3D cloud voxel filtering size (0=disabled).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_noiseRadius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="2">
|
||||
<widget class="QLabel" name="label_168">
|
||||
<property name="text">
|
||||
@@ -517,19 +459,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_noiseMinNeighbors">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
|
||||
<property name="suffix">
|
||||
@@ -549,19 +478,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_132">
|
||||
<property name="text">
|
||||
<string>3D cloud maximum depth (0 means no limit).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth">
|
||||
<property name="suffix">
|
||||
@@ -581,7 +497,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="1">
|
||||
<item row="17" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_showOdomFeatures">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -591,7 +507,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="2">
|
||||
<item row="17" column="2">
|
||||
<widget class="QLabel" name="label_123">
|
||||
<property name="text">
|
||||
<string>Show 3D features.</string>
|
||||
@@ -604,30 +520,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_features">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>64</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="2">
|
||||
<widget class="QLabel" name="label_210">
|
||||
<property name="text">
|
||||
<string>3D cloud normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="0">
|
||||
<item row="12" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_showScans">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -637,7 +530,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<item row="12" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_showOdomScans">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -647,7 +540,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="2">
|
||||
<item row="12" column="2">
|
||||
<widget class="QLabel" name="label_110">
|
||||
<property name="text">
|
||||
<string>Show scans.</string>
|
||||
@@ -660,7 +553,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="0">
|
||||
<item row="13" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_downsamplingScan">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -670,17 +563,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="12" column="2">
|
||||
<item row="13" column="2">
|
||||
<widget class="QLabel" name="label_273">
|
||||
<property name="text">
|
||||
<string>Scan downsampling step size.</string>
|
||||
@@ -693,7 +576,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="0">
|
||||
<item row="14" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
@@ -712,7 +595,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<item row="14" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSizeScan_odom">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
@@ -731,39 +614,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="2">
|
||||
<widget class="QLabel" name="label_271">
|
||||
<property name="text">
|
||||
<string>Scan voxel size.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="1">
|
||||
<item row="15" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -782,19 +633,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="2">
|
||||
<widget class="QLabel" name="label_156">
|
||||
<property name="text">
|
||||
<string>Scan opacity.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="2">
|
||||
<widget class="QLabel" name="label_169">
|
||||
<property name="text">
|
||||
@@ -808,20 +646,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_normalKSearch">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="1">
|
||||
<item row="18" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_odom_features">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -831,7 +656,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="17" column="2">
|
||||
<item row="18" column="2">
|
||||
<widget class="QLabel" name="label_166">
|
||||
<property name="text">
|
||||
<string>Feature point size.</string>
|
||||
@@ -844,7 +669,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<item row="10" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
@@ -863,39 +688,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="2">
|
||||
<widget class="QLabel" name="label_155">
|
||||
<property name="text">
|
||||
<string>3D cloud opacity.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<item row="11" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -908,20 +701,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_odom">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>64</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>2</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="2">
|
||||
<item row="11" column="2">
|
||||
<widget class="QLabel" name="label_157">
|
||||
<property name="text">
|
||||
<string>3D cloud point size (1..64).</string>
|
||||
@@ -934,17 +714,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_scan">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>64</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="1">
|
||||
<item row="16" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
@@ -954,20 +724,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="2">
|
||||
<widget class="QLabel" name="label_158">
|
||||
<property name="text">
|
||||
<string>Scan point size (1..64).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="0">
|
||||
<item row="17" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_showFeatures">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -977,19 +734,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_decimation_odom">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>2</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_showClouds">
|
||||
<property name="text">
|
||||
@@ -1045,16 +789,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_showOdomClouds">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_minDepth_odom">
|
||||
<property name="suffix">
|
||||
@@ -1077,6 +811,285 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="2">
|
||||
<widget class="QLabel" name="label_213">
|
||||
<property name="text">
|
||||
<string>Show graphs.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_137">
|
||||
<property name="text">
|
||||
<string>Odometry</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QLabel" name="label_150">
|
||||
<property name="text">
|
||||
<string>3D cloud minimum depth.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="2">
|
||||
<widget class="QLabel" name="label_171">
|
||||
<property name="text">
|
||||
<string>3D cloud voxel filtering size (0=disabled).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_noiseRadius">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_noiseMinNeighbors">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="label_132">
|
||||
<property name="text">
|
||||
<string>3D cloud maximum depth (0 means no limit).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_features">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>64</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="2">
|
||||
<widget class="QLabel" name="label_210">
|
||||
<property name="text">
|
||||
<string>3D cloud normal K search. If not 0, normals will be computed and added to created cloud for visualization (keys 7, 8 and 9).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="13" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_downsamplingScan_odom">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>9999</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="14" column="2">
|
||||
<widget class="QLabel" name="label_271">
|
||||
<property name="text">
|
||||
<string>Scan voxel size.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="15" column="2">
|
||||
<widget class="QLabel" name="label_156">
|
||||
<property name="text">
|
||||
<string>Scan opacity.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_normalKSearch">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>10</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
|
||||
<property name="suffix">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.100000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="2">
|
||||
<widget class="QLabel" name="label_155">
|
||||
<property name="text">
|
||||
<string>3D cloud opacity.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="11" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_odom">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>64</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>2</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_ptsize_scan">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>64</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="16" column="2">
|
||||
<widget class="QLabel" name="label_158">
|
||||
<property name="text">
|
||||
<string>Scan point size (1..64).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_decimation_odom">
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>32</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>2</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_showOdomClouds">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_119">
|
||||
<property name="text">
|
||||
@@ -1090,20 +1103,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="2">
|
||||
<widget class="QLabel" name="label_213">
|
||||
<property name="text">
|
||||
<string>Show graphs.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="2">
|
||||
<item row="20" column="2">
|
||||
<widget class="QLabel" name="label_243">
|
||||
<property name="text">
|
||||
<string>Show labels.</string>
|
||||
@@ -1116,7 +1116,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="18" column="0">
|
||||
<item row="19" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_showGraphs">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -1126,7 +1126,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="19" column="0">
|
||||
<item row="20" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_showLabels">
|
||||
<property name="text">
|
||||
<string/>
|
||||
@@ -1136,6 +1136,29 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="2">
|
||||
<widget class="QLabel" name="label_338">
|
||||
<property name="text">
|
||||
<string>Gain compensation.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_gainCompensation">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -1156,16 +1179,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_mesh_quad">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_quad">
|
||||
<property name="text">
|
||||
@@ -1193,6 +1206,16 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_mesh_quad">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_mesh_angleTolerance">
|
||||
<property name="suffix">
|
||||
@@ -1212,6 +1235,23 @@ Show a yellow background when the number of odometry inliers goes under this thr
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_337">
|
||||
<property name="text">
|
||||
<string>Texture</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_mesh_texture">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
|
||||
Reference in New Issue
Block a user