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<?xml version="1.0" encoding="UTF-8"?>
<ui version= "4.0" >
<class> DatabaseViewer</class>
<widget class= "QMainWindow" name= "DatabaseViewer" >
<property name= "geometry" >
<rect>
<x> 0</x>
<y> 0</y>
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<width> 1547</width>
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<height> 965</height>
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</rect>
</property>
<property name= "windowTitle" >
<string> Database viewer</string>
</property>
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<property name= "layoutDirection" >
<enum> Qt::LeftToRight</enum>
</property>
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<widget class= "QWidget" name= "centralwidget" >
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<layout class= "QVBoxLayout" name= "verticalLayout_6" stretch= "1,0,0" >
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<property name= "spacing" >
<number> 0</number>
</property>
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<property name= "leftMargin" >
<number> 0</number>
</property>
<property name= "topMargin" >
<number> 0</number>
</property>
<property name= "rightMargin" >
<number> 0</number>
</property>
<property name= "bottomMargin" >
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<number> 0</number>
</property>
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<item>
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<layout class= "QHBoxLayout" name= "horizontalLayout_imageViews" stretch= "1,1" >
<item>
<widget class= "rtabmap::ImageView" name= "graphicsView_A" native= "true" />
</item>
<item>
<widget class= "rtabmap::ImageView" name= "graphicsView_B" native= "true" />
</item>
</layout>
</item>
<item>
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<layout class= "QGridLayout" name= "gridLayout_11" rowstretch= "1,0" >
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<property name= "spacing" >
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<number> 0</number>
</property>
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<item row= "0" column= "0" >
<widget class= "QScrollArea" name= "scrollArea_2" >
<property name= "horizontalScrollBarPolicy" >
<enum> Qt::ScrollBarAsNeeded</enum>
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</property>
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<property name= "widgetResizable" >
<bool> true</bool>
</property>
<widget class= "QWidget" name= "scrollAreaWidgetContents_2" >
<property name= "geometry" >
<rect>
<x> 0</x>
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<y> 0</y>
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<width> 307</width>
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<height> 389</height>
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</rect>
</property>
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<layout class= "QGridLayout" name= "gridLayout" columnstretch= "0,1" >
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<item row= "2" column= "0" >
<widget class= "QLabel" name= "label_childrenA_8" >
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<property name= "text" >
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<string> Weight</string>
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</property>
</widget>
</item>
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<item row= "11" column= "0" >
<widget class= "QLabel" name= "label_childrenA_24" >
<property name= "text" >
<string> Gravity</string>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QLabel" name= "label_childrenA_2" >
<property name= "text" >
<string> Children</string>
</property>
</widget>
</item>
<item row= "15" column= "1" >
<widget class= "QLabel" name= "label_sensorsA" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "8" column= "0" >
<widget class= "QLabel" name= "label_childrenA_6" >
<property name= "text" >
<string> Stamp</string>
</property>
</widget>
</item>
<item row= "10" column= "0" >
<widget class= "QLabel" name= "label_childrenA_22" >
<property name= "text" >
<string> Scan</string>
</property>
</widget>
</item>
<item row= "15" column= "0" >
<widget class= "QLabel" name= "label_childrenA_20" >
<property name= "text" >
<string> Sensors</string>
</property>
</widget>
</item>
<item row= "10" column= "1" >
<widget class= "QLabel" name= "label_scanA" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "5" column= "0" >
<widget class= "QLabel" name= "label_childrenA_12" >
<property name= "text" >
<string> Odometry Pose</string>
</property>
</widget>
</item>
<item row= "0" column= "0" >
<widget class= "QLabel" name= "label_parentsA_2" >
<property name= "text" >
<string> Parents</string>
</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_weightA" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "13" column= "1" >
<widget class= "QLabel" name= "label_gpsA" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "9" column= "0" >
<widget class= "QLabel" name= "label_childrenA_14" >
<property name= "text" >
<string> Calib</string>
</property>
</widget>
</item>
<item row= "12" column= "0" >
<widget class= "QLabel" name= "label_childrenA_28" >
<property name= "text" >
<string> Prior</string>
</property>
</widget>
</item>
<item row= "7" column= "0" >
<widget class= "QLabel" name= "label_childrenA_18" >
<property name= "text" >
<string> Velocity</string>
</property>
</widget>
</item>
<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_mapA" >
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<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_childrenA" >
<property name= "text" >
<string/>
</property>
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<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
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</widget>
</item>
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<item row= "4" column= "0" >
<widget class= "QLabel" name= "label_childrenA_10" >
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<property name= "text" >
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<string> Map ID</string>
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</property>
</widget>
</item>
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<item row= "13" column= "0" >
<widget class= "QLabel" name= "label_childrenA_16" >
<property name= "text" >
<string> GPS</string>
</property>
</widget>
</item>
<item row= "14" column= "0" >
<widget class= "QLabel" name= "label_childrenA_27" >
<property name= "text" >
<string> Ground Truth</string>
</property>
</widget>
</item>
<item row= "7" column= "1" >
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<widget class= "QLabel" name= "label_velA" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "3" column= "0" >
<widget class= "QLabel" name= "label_childrenA_4" >
<property name= "text" >
<string> Label</string>
</property>
</widget>
</item>
<item row= "5" column= "1" >
<widget class= "QLabel" name= "label_poseA" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "9" column= "1" >
<widget class= "QLabel" name= "label_calibA" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "3" column= "1" >
<widget class= "QLabel" name= "label_labelA" >
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<property name= "text" >
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<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
</widget>
</item>
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<item row= "11" column= "1" >
<widget class= "QLabel" name= "label_gravityA" >
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<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "8" column= "1" >
<widget class= "QLabel" name= "label_stampA" >
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<property name= "text" >
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<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_parentsA" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "14" column= "1" >
<widget class= "QLabel" name= "label_gtA" >
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<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "6" column= "0" >
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<widget class= "QLabel" name= "label_childrenA_30" >
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<property name= "text" >
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<string> Optimized Pose</string>
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</property>
</widget>
</item>
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<item row= "6" column= "1" >
<widget class= "QLabel" name= "label_optposeA" >
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<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "12" column= "1" >
<layout class= "QHBoxLayout" name= "horizontalLayout_18" >
<item>
<widget class= "QLabel" name= "label_priorA" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class= "QToolButton" name= "toolButton_edit_priorA" >
<property name= "toolTip" >
<string> Edit Constraint</string>
</property>
<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item>
<widget class= "QToolButton" name= "toolButton_remove_priorA" >
<property name= "toolTip" >
<string> Remove Prior</string>
</property>
<property name= "text" >
<string> X</string>
</property>
</widget>
</item>
<item>
<spacer name= "horizontalSpacer_7" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 0</width>
<height> 20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
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</layout>
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</widget>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QScrollArea" name= "scrollArea" >
<property name= "horizontalScrollBarPolicy" >
<enum> Qt::ScrollBarAsNeeded</enum>
</property>
<property name= "widgetResizable" >
<bool> true</bool>
</property>
<widget class= "QWidget" name= "scrollAreaWidgetContents" >
<property name= "geometry" >
<rect>
<x> 0</x>
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<y> 0</y>
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<width> 306</width>
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<height> 389</height>
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</rect>
</property>
<layout class= "QGridLayout" name= "gridLayout_2" columnstretch= "0,1" >
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<item row= "4" column= "0" >
<widget class= "QLabel" name= "label_childrenA_11" >
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<property name= "text" >
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<string> Map ID</string>
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</property>
</widget>
</item>
<item row= "5" column= "1" >
<widget class= "QLabel" name= "label_poseB" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "14" column= "0" >
<widget class= "QLabel" name= "label_childrenA_26" >
<property name= "text" >
<string> Ground Truth</string>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QLabel" name= "label_childrenA_5" >
<property name= "text" >
<string> Label</string>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QLabel" name= "label_childrenA_3" >
<property name= "text" >
<string> Children</string>
</property>
</widget>
</item>
<item row= "15" column= "0" >
<widget class= "QLabel" name= "label_childrenA_21" >
<property name= "text" >
<string> Sensors</string>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_childrenB" >
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<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "8" column= "0" >
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<widget class= "QLabel" name= "label_childrenA_7" >
<property name= "text" >
<string> Stamp</string>
</property>
</widget>
</item>
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<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_mapB" >
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<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "11" column= "1" >
<widget class= "QLabel" name= "label_gravityB" >
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<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "3" column= "1" >
<widget class= "QLabel" name= "label_labelB" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "7" column= "1" >
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<widget class= "QLabel" name= "label_velB" >
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<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "13" column= "1" >
<widget class= "QLabel" name= "label_gpsB" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "5" column= "0" >
<widget class= "QLabel" name= "label_childrenA_13" >
<property name= "text" >
<string> Odometry Pose</string>
</property>
</widget>
</item>
<item row= "10" column= "0" >
<widget class= "QLabel" name= "label_childrenA_23" >
<property name= "text" >
<string> Scan</string>
</property>
</widget>
</item>
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<item row= "10" column= "1" >
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<widget class= "QLabel" name= "label_scanB" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "9" column= "0" >
<widget class= "QLabel" name= "label_childrenA_15" >
<property name= "text" >
<string> Calib</string>
</property>
</widget>
</item>
<item row= "11" column= "0" >
<widget class= "QLabel" name= "label_childrenA_25" >
<property name= "text" >
<string> Gravity</string>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_parentsB" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "0" column= "0" >
<widget class= "QLabel" name= "label_parentsA_4" >
<property name= "text" >
<string> Parents</string>
</property>
</widget>
</item>
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<item row= "8" column= "1" >
<widget class= "QLabel" name= "label_stampB" >
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<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "7" column= "0" >
<widget class= "QLabel" name= "label_childrenA_19" >
<property name= "text" >
<string> Velocity</string>
</property>
</widget>
</item>
<item row= "15" column= "1" >
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<widget class= "QLabel" name= "label_sensorsB" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "9" column= "1" >
<widget class= "QLabel" name= "label_calibB" >
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<property name= "text" >
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<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
</widget>
</item>
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<item row= "2" column= "0" >
<widget class= "QLabel" name= "label_childrenA_9" >
<property name= "text" >
<string> Weight</string>
</property>
</widget>
</item>
<item row= "14" column= "1" >
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<widget class= "QLabel" name= "label_gtB" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "13" column= "0" >
<widget class= "QLabel" name= "label_childrenA_17" >
<property name= "text" >
<string> GPS</string>
</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_weightB" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "12" column= "0" >
<widget class= "QLabel" name= "label_childrenA_29" >
<property name= "text" >
<string> Prior</string>
</property>
</widget>
</item>
<item row= "6" column= "0" >
<widget class= "QLabel" name= "label_childrenA_31" >
<property name= "text" >
<string> Optimized Pose</string>
</property>
</widget>
</item>
<item row= "6" column= "1" >
<widget class= "QLabel" name= "label_optposeB" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
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<item row= "12" column= "1" >
<layout class= "QHBoxLayout" name= "horizontalLayout_19" >
<item>
<widget class= "QLabel" name= "label_priorB" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class= "QToolButton" name= "toolButton_edit_priorB" >
<property name= "toolTip" >
<string> Edit Constraint</string>
</property>
<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item>
<widget class= "QToolButton" name= "toolButton_remove_priorB" >
<property name= "toolTip" >
<string> Remove Prior</string>
</property>
<property name= "text" >
<string> X</string>
</property>
</widget>
</item>
<item>
<spacer name= "horizontalSpacer_8" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 0</width>
<height> 20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
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</layout>
</widget>
</widget>
</item>
<item row= "1" column= "0" >
<layout class= "QHBoxLayout" name= "horizontalLayout" >
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<property name= "leftMargin" >
<number> 12</number>
</property>
<property name= "topMargin" >
<number> 12</number>
</property>
<property name= "rightMargin" >
<number> 12</number>
</property>
<property name= "bottomMargin" >
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<number> 12</number>
</property>
<item>
<layout class= "QVBoxLayout" name= "verticalLayout_4" >
<item>
<widget class= "QLabel" name= "label_2" >
<property name= "text" >
<string> Index :</string>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_3" >
<property name= "text" >
<string> Id :</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class= "QVBoxLayout" name= "verticalLayout_3" >
<item>
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<widget class= "QSpinBox" name= "spinBox_indexA" >
<property name= "frame" >
<bool> false</bool>
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</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_idA" >
<property name= "text" >
<string> idA</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class= "QSlider" name= "horizontalSlider_A" >
<property name= "focusPolicy" >
<enum> Qt::ClickFocus</enum>
</property>
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "tickPosition" >
<enum> QSlider::TicksAbove</enum>
</property>
</widget>
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</item>
</layout>
</item>
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<item row= "1" column= "1" >
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<widget class= "QWidget" name= "widget_imageControls_B" >
<layout class= "QHBoxLayout" name= "horizontalLayout_2" >
<property name= "leftMargin" >
<number> 12</number>
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</property>
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<property name= "topMargin" >
<number> 12</number>
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</property>
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<property name= "rightMargin" >
<number> 12</number>
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</property>
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<property name= "bottomMargin" >
<number> 12</number>
</property>
<item>
<layout class= "QVBoxLayout" name= "verticalLayout" >
<item>
<widget class= "QLabel" name= "label_5" >
<property name= "text" >
<string> Index :</string>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_4" >
<property name= "text" >
<string> Id :</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class= "QVBoxLayout" name= "verticalLayout_2" >
<item>
<widget class= "QSpinBox" name= "spinBox_indexB" >
<property name= "frame" >
<bool> false</bool>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_idB" >
<property name= "text" >
<string> idB</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class= "QSlider" name= "horizontalSlider_B" >
<property name= "focusPolicy" >
<enum> Qt::ClickFocus</enum>
</property>
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "tickPosition" >
<enum> QSlider::TicksAbove</enum>
</property>
</widget>
</item>
</layout>
</widget>
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</item>
</layout>
</item>
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<item>
<widget class= "QDialogButtonBox" name= "buttonBox" >
<property name= "standardButtons" >
<set> QDialogButtonBox::Close</set>
</property>
</widget>
</item>
2012-12-11 18:05:05 +00:00
</layout>
</widget>
<widget class= "QMenuBar" name= "menubar" >
<property name= "geometry" >
<rect>
<x> 0</x>
<y> 0</y>
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<width> 1547</width>
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<height> 22</height>
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</rect>
</property>
<widget class= "QMenu" name= "menuFile" >
<property name= "title" >
<string> File</string>
</property>
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<widget class= "QMenu" name= "menuExport_poses" >
<property name= "title" >
<string> Export poses...</string>
</property>
<addaction name= "actionRaw_format_txt" />
<addaction name= "actionRGBD_SLAM_format_txt" />
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<addaction name= "actionRGBD_SLAM_ID_format_txt" />
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<addaction name= "actionRGBD_SLAM_motion_capture_format_txt" />
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<addaction name= "actionKITTI_format_txt" />
<addaction name= "actionTORO_graph" />
<addaction name= "actionG2o_g2o" />
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<addaction name= "actionPoses_KML" />
</widget>
<widget class= "QMenu" name= "menuExport_GPS" >
<property name= "title" >
<string> Export GPS...</string>
</property>
<addaction name= "actionGPS_TXT" />
<addaction name= "actionGPS_KML" />
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</widget>
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<addaction name= "actionOpen_database" />
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<addaction name= "actionClose_database" />
<addaction name= "separator" />
<addaction name= "actionDatabase_recovery" />
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<addaction name= "separator" />
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<addaction name= "actionSave_config" />
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<addaction name= "actionRestore_default_GUI_settings" />
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<addaction name= "separator" />
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<addaction name= "actionGenerate_3D_map_pcd" />
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<addaction name= "actionExport" />
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<addaction name= "actionExtract_images" />
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<addaction name= "menuExport_poses" />
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<addaction name= "menuExport_GPS" />
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<addaction name= "separator" />
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<addaction name= "actionEdit_optimized_2D_map" />
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<addaction name= "actionExport_saved_2D_map" />
<addaction name= "actionImport_2D_map" />
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<addaction name= "actionRegenerate_optimized_2D_map" />
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<addaction name= "separator" />
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<addaction name= "actionView_optimized_mesh" />
<addaction name= "actionUpdate_optimized_mesh" />
<addaction name= "actionExport_optimized_mesh" />
<addaction name= "separator" />
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<addaction name= "actionQuit" />
</widget>
<widget class= "QMenu" name= "menuEdit" >
<property name= "title" >
<string> Edit</string>
</property>
<addaction name= "actionGenerate_graph_dot" />
<addaction name= "actionGenerate_local_graph_dot" />
<addaction name= "separator" />
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<addaction name= "actionDetect_more_loop_closures" />
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<addaction name= "actionRefine_links" />
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<addaction name= "actionUpdate_all_neighbor_covariances" />
<addaction name= "actionUpdate_all_loop_closure_covariances" />
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<addaction name= "actionUpdate_all_landmark_covariances" />
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<addaction name= "separator" />
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<addaction name= "actionRegenerate_local_grid_maps" />
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<addaction name= "actionRegenerate_local_grid_maps_selected" />
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<addaction name= "separator" />
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<addaction name= "actionEdit_depth_image" />
<addaction name= "separator" />
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<addaction name= "actionReset_all_changes" />
<addaction name= "separator" />
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<addaction name= "actionView_3D_map" />
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</widget>
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<widget class= "QMenu" name= "menuView" >
<property name= "title" >
<string> View</string>
</property>
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<addaction name= "actionVertical_Layout" />
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<addaction name= "actionConcise_Layout" />
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</widget>
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<addaction name= "menuFile" />
<addaction name= "menuEdit" />
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<addaction name= "menuView" />
</widget>
<widget class= "QDockWidget" name= "dockWidget_constraints" >
<property name= "windowTitle" >
<string> Constraints view</string>
</property>
<attribute name= "dockWidgetArea" >
<number> 2</number>
</attribute>
<widget class= "QWidget" name= "dockWidgetContents" >
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<layout class= "QVBoxLayout" name= "verticalLayout_8" stretch= "1,0,0,0" >
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<item>
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<layout class= "QVBoxLayout" name= "layout_constraintsViewer" >
<property name= "spacing" >
<number> 0</number>
</property>
</layout>
2014-02-11 23:04:22 +00:00
</item>
<item>
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<layout class= "QHBoxLayout" name= "horizontalLayout_10" >
<item>
<widget class= "QCheckBox" name= "checkBox_show3DWords" >
<property name= "text" >
<string> Words</string>
</property>
</widget>
</item>
<item>
<widget class= "QCheckBox" name= "checkBox_show3Dclouds" >
<property name= "text" >
<string> Clouds</string>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item>
<widget class= "QCheckBox" name= "checkBox_show2DScans" >
<property name= "text" >
<string> Scans</string>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
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<item>
<widget class= "QCheckBox" name= "checkBox_odomFrame" >
<property name= "text" >
<string> Odom Frame</string>
</property>
<property name= "checked" >
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<bool> true</bool>
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</property>
</widget>
</item>
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<item>
<spacer name= "horizontalSpacer_3" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
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<width> 0</width>
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<height> 20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class= "QGridLayout" name= "gridLayout_6" columnstretch= "0,0" >
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<item row= "5" column= "1" >
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<layout class= "QHBoxLayout" name= "horizontalLayout_13" >
<item>
<widget class= "QLabel" name= "label_variance" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class= "QLineEdit" name= "lineEdit_covariance" >
<property name= "readOnly" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</item>
2014-02-11 23:04:22 +00:00
<item row= "0" column= "0" >
<widget class= "QLabel" name= "label" >
<property name= "text" >
<string> Neighbor links</string>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QSlider" name= "horizontalSlider_neighbors" >
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<property name= "focusPolicy" >
<enum> Qt::ClickFocus</enum>
</property>
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<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "tickPosition" >
<enum> QSlider::TicksAbove</enum>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QLabel" name= "label_6" >
<property name= "text" >
<string> Loop closure links</string>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QSlider" name= "horizontalSlider_loops" >
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<property name= "focusPolicy" >
<enum> Qt::ClickFocus</enum>
</property>
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<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "tickPosition" >
<enum> QSlider::TicksAbove</enum>
</property>
</widget>
</item>
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<item row= "2" column= "0" >
<widget class= "QLabel" name= "label_33" >
<property name= "text" >
<string> Type</string>
</property>
</widget>
</item>
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<item row= "7" column= "0" >
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<widget class= "QCheckBox" name= "checkBox_showOptimized" >
<property name= "text" >
<string> Optimized</string>
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</property>
</widget>
</item>
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<item row= "7" column= "1" >
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<widget class= "QLabel" name= "label_constraint_opt" >
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<property name= "text" >
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<string/>
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</property>
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<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
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</widget>
</item>
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<item row= "5" column= "0" >
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<widget class= "QLabel" name= "label_18" >
<property name= "text" >
<string> σ </string>
</property>
</widget>
</item>
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<item row= "2" column= "1" >
<layout class= "QHBoxLayout" name= "horizontalLayout_14" stretch= "0,1" >
<item>
<widget class= "QLabel" name= "label_type" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_type_name" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</item>
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<item row= "3" column= "1" >
<layout class= "QHBoxLayout" name= "horizontalLayout_16" >
<item>
<widget class= "QLabel" name= "label_constraint" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item>
<widget class= "QToolButton" name= "toolButton_constraint" >
<property name= "toolTip" >
<string> Edit Constraint</string>
</property>
<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item>
<spacer name= "horizontalSpacer_6" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 40</width>
<height> 20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item row= "3" column= "0" >
<widget class= "QLabel" name= "label_16" >
<property name= "text" >
<string> Transform</string>
</property>
</widget>
</item>
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</layout>
</item>
<item>
<layout class= "QHBoxLayout" name= "horizontalLayout_5" >
<item>
<widget class= "QPushButton" name= "pushButton_refine" >
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<property name= "toolTip" >
<string> Refine with the registration strategy set in " Core Parameters" ->" Reg" </string>
</property>
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<property name= "text" >
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<string> Refine</string>
2014-08-11 15:23:06 +00:00
</property>
</widget>
</item>
<item>
<widget class= "QPushButton" name= "pushButton_reset" >
<property name= "text" >
<string> Reset</string>
</property>
</widget>
</item>
<item>
<widget class= "QPushButton" name= "pushButton_add" >
<property name= "text" >
<string> Add</string>
</property>
</widget>
</item>
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<item>
<widget class= "QCheckBox" name= "checkBox_enableForAll" >
<property name= "toolTip" >
<string> Enable " Add" for all nodes (even not in graph)</string>
</property>
<property name= "text" >
<string/>
</property>
</widget>
</item>
2014-08-11 15:23:06 +00:00
<item>
<widget class= "QPushButton" name= "pushButton_reject" >
<property name= "text" >
<string> Reject</string>
</property>
</widget>
</item>
<item>
<spacer name= "horizontalSpacer" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
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<width> 0</width>
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<height> 20</height>
</size>
</property>
</spacer>
</item>
2014-02-11 23:04:22 +00:00
</layout>
</item>
</layout>
</widget>
</widget>
<widget class= "QDockWidget" name= "dockWidget_graphView" >
<property name= "windowTitle" >
<string> Graph view</string>
</property>
<attribute name= "dockWidgetArea" >
<number> 1</number>
</attribute>
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<widget class= "QWidget" name= "dockWidget_graphContents" >
2014-02-11 23:04:22 +00:00
<layout class= "QVBoxLayout" name= "verticalLayout_9" >
<item>
<widget class= "rtabmap::GraphViewer" name= "graphViewer" />
</item>
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<item>
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<widget class= "QWidget" name= "widget_graphControl" >
<layout class= "QVBoxLayout" name= "verticalLayout_91" >
<item>
<layout class= "QHBoxLayout" name= "horizontalLayout_15" >
<item>
<widget class= "QLabel" name= "label_rotation" >
<property name= "text" >
<string> 0.0 deg</string>
</property>
</widget>
</item>
<item>
<widget class= "QSlider" name= "horizontalSlider_rotation" >
<property name= "focusPolicy" >
<enum> Qt::ClickFocus</enum>
</property>
<property name= "minimum" >
<number> -1799</number>
</property>
<property name= "maximum" >
<number> 1800</number>
</property>
<property name= "sliderPosition" >
<number> 0</number>
</property>
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "tickPosition" >
<enum> QSlider::TicksAbove</enum>
</property>
<property name= "tickInterval" >
<number> 100</number>
</property>
</widget>
</item>
<item>
<widget class= "QPushButton" name= "pushButton_applyRotation" >
<property name= "toolTip" >
<string> < html>< head/>< body>< p> The rotation will be applied temporary to optimized global graph. To save it to database, do File-& gt;& quot;Regenerate optimized 2D map...& quot;.< /p>< /body>< /html> </string>
</property>
<property name= "text" >
<string> Apply Rotation</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class= "QHBoxLayout" name= "horizontalLayout_4" >
<item>
<widget class= "QLabel" name= "label_iterations" >
<property name= "text" >
<string> #</string>
</property>
</widget>
</item>
<item>
<widget class= "QSlider" name= "horizontalSlider_iterations" >
<property name= "focusPolicy" >
<enum> Qt::ClickFocus</enum>
</property>
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "tickPosition" >
<enum> QSlider::TicksAbove</enum>
</property>
</widget>
</item>
<item>
<widget class= "QComboBox" name= "comboBox_optimizationFlavor" >
<property name= "sizeAdjustPolicy" >
<enum> QComboBox::AdjustToContents</enum>
</property>
<item>
<property name= "text" >
<string> Global Iterative</string>
</property>
</item>
<item>
<property name= "text" >
<string> Global Full</string>
</property>
</item>
<item>
<property name= "text" >
<string> Local Optimized</string>
</property>
</item>
</widget>
</item>
</layout>
</item>
<item>
<layout class= "QGridLayout" name= "gridLayout_5" columnstretch= "0,1" >
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_alignPosesWithGroundTruth" >
<property name= "text" >
<string> Align poses with ground truth</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<widget class= "QCheckBox" name= "checkBox_ignoreIntermediateNodes" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<layout class= "QHBoxLayout" name= "horizontalLayout_7" stretch= "0,0,1" >
<item>
<widget class= "QLabel" name= "label_optimizeFrom" >
<property name= "text" >
<string> Root</string>
</property>
</widget>
</item>
<item>
<widget class= "QCheckBox" name= "checkBox_spanAllMaps" >
<property name= "text" >
<string> Span to all maps</string>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item>
<widget class= "QCheckBox" name= "checkBox_wmState" >
<property name= "text" >
<string> WM</string>
</property>
</widget>
</item>
</layout>
</item>
<item row= "7" column= "1" >
<widget class= "QLabel" name= "label_45" >
<property name= "text" >
<string> Time grid (s)</string>
</property>
</widget>
</item>
<item row= "8" column= "1" >
<widget class= "QLabel" name= "label_rmse_title" >
<property name= "text" >
<string> RMSE (m)</string>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QCheckBox" name= "checkBox_alignScansCloudsWithGroundTruth" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "9" column= "0" >
<widget class= "QLabel" name= "label_poses" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "6" column= "0" >
<widget class= "QLabel" name= "label_timeOptimization" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "3" column= "1" >
<widget class= "QLabel" name= "label_alignScansCloudsWithGroundTruth" >
<property name= "text" >
<string> Align scans/clouds with ground truth</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "8" column= "0" >
<widget class= "QLabel" name= "label_rmse" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "7" column= "0" >
<widget class= "QLabel" name= "label_timeGrid" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "10" column= "1" >
<widget class= "QLabel" name= "label_41" >
<property name= "toolTip" >
<string> < html>< head/>< body>< p> N: Neighbor< /p>< p> NM: Neighbor Merged< /p>< p> G: Global< /p>< p> LS: Local by Space (Proximity)< /p>< p> LT: Local by Time (Proximity)< /p>< p> U: User< /p>< p> P: Prior< /p>< p> LM: Landmark< /p>< p> GR: Gravity< /p>< /body>< /html> </string>
</property>
<property name= "text" >
<string> Links (N, NM, G, LS, LT, U, P, LM, GR)</string>
</property>
</widget>
</item>
<item row= "5" column= "1" >
<widget class= "QLabel" name= "label_10" >
<property name= "text" >
<string> Path length (m)</string>
</property>
</widget>
</item>
<item row= "9" column= "1" >
<widget class= "QLabel" name= "label_52" >
<property name= "text" >
<string> Poses</string>
</property>
</widget>
</item>
<item row= "5" column= "0" >
<widget class= "QLabel" name= "label_pathLength" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "0" column= "0" >
<widget class= "QSpinBox" name= "spinBox_optimizationsFrom" />
</item>
<item row= "10" column= "0" >
<widget class= "QLabel" name= "label_loopClosures" >
<property name= "text" >
<string/>
</property>
<property name= "textInteractionFlags" >
<set> Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_ignoreINtermediateNdoes" >
<property name= "text" >
<string> Ignore intermediate nodes</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "6" column= "1" >
<widget class= "QLabel" name= "label_39" >
<property name= "text" >
<string> Time optimization (s)</string>
</property>
</widget>
</item>
<item row= "2" column= "0" >
<widget class= "QCheckBox" name= "checkBox_alignPosesWithGroundTruth" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_alignPosesWithGPS" >
<property name= "text" >
<string> Align poses with GPS</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QCheckBox" name= "checkBox_alignPosesWithGPS" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
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</item>
</layout>
</widget>
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</widget>
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<widget class= "QDockWidget" name= "dockWidget_guiparameters" >
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<property name= "floating" >
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<bool> false</bool>
</property>
<property name= "allowedAreas" >
<set> Qt::AllDockWidgetAreas</set>
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</property>
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<property name= "windowTitle" >
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<string> GUI Parameters</string>
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</property>
<attribute name= "dockWidgetArea" >
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<number> 1</number>
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</attribute>
<widget class= "QWidget" name= "dockWidgetContents_3" >
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<layout class= "QVBoxLayout" name= "verticalLayout_10" >
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<property name= "leftMargin" >
<number> 0</number>
</property>
<property name= "topMargin" >
<number> 0</number>
</property>
<property name= "rightMargin" >
<number> 0</number>
</property>
<property name= "bottomMargin" >
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<number> 0</number>
</property>
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<item>
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<layout class= "QGridLayout" name= "gridLayout_4" columnstretch= "0,1" >
<item row= "0" column= "0" >
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<widget class= "QComboBox" name= "comboBox_logger_level" >
<property name= "currentIndex" >
<number> 1</number>
</property>
<item>
<property name= "text" >
<string> Debug</string>
</property>
</item>
<item>
<property name= "text" >
<string> Info</string>
</property>
</item>
<item>
<property name= "text" >
<string> Warning</string>
</property>
</item>
<item>
<property name= "text" >
<string> Error</string>
</property>
</item>
</widget>
</item>
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<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_logger_level" >
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<property name= "text" >
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<string> Logger level</string>
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</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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</layout>
</item>
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<item>
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<widget class= "QToolBox" name= "toolBox" >
<property name= "currentIndex" >
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<number> 1</number>
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</property>
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<widget class= "QWidget" name= "page_3" >
<property name= "geometry" >
<rect>
<x> 0</x>
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<y> 0</y>
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<width> 314</width>
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<height> 188</height>
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</rect>
</property>
<attribute name= "label" >
<string> Graph optimization</string>
</attribute>
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<layout class= "QGridLayout" name= "gridLayout_7" columnstretch= "0,0,0" >
<item row= "2" column= "0" >
<widget class= "QCheckBox" name= "checkBox_ignoreGlobalLoop" >
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<property name= "text" >
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<string/>
</property>
<property name= "checked" >
<bool> false</bool>
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</property>
</widget>
</item>
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<item row= "4" column= "2" >
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<widget class= "QLabel" name= "label_49" >
<property name= "text" >
<string> Ignore local loop closures (time)</string>
</property>
</widget>
</item>
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<item row= "3" column= "0" >
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<widget class= "QCheckBox" name= "checkBox_ignoreLocalLoopSpace" >
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<property name= "text" >
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<string/>
</property>
<property name= "checked" >
<bool> false</bool>
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</property>
</widget>
</item>
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<item row= "2" column= "2" >
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<widget class= "QLabel" name= "label_48" >
<property name= "text" >
<string> Ignore global loop closures</string>
</property>
</widget>
</item>
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<item row= "1" column= "2" >
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<widget class= "QLabel" name= "label_35" >
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<property name= "text" >
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<string> Ignore pose correction</string>
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</property>
</widget>
</item>
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<item row= "1" column= "0" >
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<widget class= "QCheckBox" name= "checkBox_ignorePoseCorrection" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "4" column= "0" >
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<widget class= "QCheckBox" name= "checkBox_ignoreLocalLoopTime" >
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<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "7" column= "0" >
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<spacer name= "verticalSpacer_3" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 0</width>
<height> 40</height>
</size>
</property>
</spacer>
</item>
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<item row= "5" column= "0" >
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<widget class= "QCheckBox" name= "checkBox_ignoreUserLoop" >
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<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "5" column= "2" >
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<widget class= "QLabel" name= "label_50" >
<property name= "text" >
<string> Ignore user loop closures</string>
</property>
</widget>
</item>
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<item row= "3" column= "2" >
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<widget class= "QLabel" name= "label_47" >
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<property name= "text" >
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<string> Ignore local loop closures (space)</string>
</property>
</widget>
</item>
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<item row= "0" column= "2" >
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<widget class= "QLabel" name= "label_scale_title" >
<property name= "text" >
<string> Scale</string>
</property>
</widget>
</item>
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<item row= "0" column= "0" >
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<widget class= "QDoubleSpinBox" name= "doubleSpinBox_optimizationScale" >
<property name= "decimals" >
<number> 3</number>
</property>
<property name= "minimum" >
<double> 0.100000000000000</double>
</property>
<property name= "maximum" >
<double> 9.900000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.001000000000000</double>
</property>
<property name= "value" >
<double> 1.000000000000000</double>
</property>
</widget>
</item>
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<item row= "6" column= "2" >
<widget class= "QLabel" name= "label_58" >
<property name= "text" >
<string> Ignore landmarks</string>
</property>
</widget>
</item>
<item row= "6" column= "0" >
<widget class= "QCheckBox" name= "checkBox_ignoreLandmarks" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
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</layout>
</widget>
<widget class= "QWidget" name= "page_4" >
<property name= "geometry" >
<rect>
<x> 0</x>
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<y> -316</y>
<width> 518</width>
<height> 1071</height>
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</rect>
</property>
<attribute name= "label" >
<string> Grid/cloud generation</string>
</attribute>
<layout class= "QVBoxLayout" name= "verticalLayout_16" >
<item>
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<layout class= "QGridLayout" name= "gridLayout_9" columnstretch= "0,0" >
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<item row= "3" column= "1" >
<widget class= "QLabel" name= "label_octomap_empty_3" >
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<property name= "text" >
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<string> Ground cell color</string>
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</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "14" column= "1" >
<widget class= "QLabel" name= "label_61" >
<property name= "text" >
<string> Minimum depth confidence.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "18" column= "1" >
<widget class= "QLabel" name= "label_59" >
<property name= "text" >
<string> Show probabilistic occupancy grid in Graph View.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "11" column= "0" >
<widget class= "QCheckBox" name= "checkBox_grid_regenerateFromSavedGrid" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
<item row= "0" column= "0" >
<widget class= "QCheckBox" name= "checkBox_grid_empty" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "17" column= "0" >
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<widget class= "QSpinBox" name= "spinBox_cropRadius" >
<property name= "suffix" >
<string> pixels</string>
</property>
<property name= "value" >
<number> 1</number>
</property>
</widget>
</item>
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<item row= "20" column= "1" >
<widget class= "QLabel" name= "label_logger_level_2" >
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<property name= "text" >
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<string> For stereo data, show disparity instead of right image in main views.</string>
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</property>
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<property name= "wordWrap" >
<bool> true</bool>
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</property>
</widget>
</item>
<item row= "13" column= "0" >
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<widget class= "QSpinBox" name= "spinBox_decimation" >
<property name= "prefix" >
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<string/>
</property>
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<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 16</number>
</property>
<property name= "value" >
<number> 16</number>
</property>
</widget>
</item>
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<item row= "5" column= "0" >
<layout class= "QHBoxLayout" name= "horizontalLayout_17" >
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<item>
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<widget class= "QToolButton" name= "toolButton_frontierColor" >
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<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item>
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<widget class= "QLineEdit" name= "lineEdit_frontierColor" >
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<property name= "readOnly" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</item>
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<item row= "17" column= "1" >
<widget class= "QLabel" name= "label_57" >
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<property name= "text" >
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<string> Crop radius when filtering empty space from 2d occupancy grid.</string>
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</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "18" column= "0" >
<widget class= "QCheckBox" name= "checkBox_grid_showProbMap" >
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<property name= "text" >
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<string/>
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</property>
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<property name= "checked" >
<bool> false</bool>
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</property>
</widget>
</item>
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<item row= "19" column= "1" >
<widget class= "QLabel" name= "label_60" >
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<property name= "text" >
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<string> Create RGB-D cloud from RGB projection on scan.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "11" column= "1" >
<widget class= "QLabel" name= "label_55" >
<property name= "text" >
<string> Local grid: regenerate from saved grid instead of sensors</string>
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</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "10" column= "1" >
<widget class= "QLabel" name= "label_octomap_depth" >
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<property name= "text" >
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<string> OctoMap: Tree depth</string>
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</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "9" column= "1" >
<widget class= "QLabel" name= "label_octomap_cubes" >
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<property name= "text" >
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<string> OctoMap: Rendering type</string>
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</property>
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<property name= "wordWrap" >
<bool> true</bool>
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</property>
</widget>
</item>
<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_octomap_empty_2" >
<property name= "text" >
<string> Obstacle cell color</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "12" column= "1" >
<widget class= "QLabel" name= "label_51" >
<property name= "text" >
<string> Gain compensation radius (Constraints view)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "1" column= "0" >
<widget class= "QCheckBox" name= "checkBox_grid_frontiers" >
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<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
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<item row= "19" column= "0" >
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<widget class= "QCheckBox" name= "checkBox_cameraProjection" >
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<property name= "text" >
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<string/>
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</property>
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<property name= "checked" >
<bool> false</bool>
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</property>
</widget>
</item>
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<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_octomap_empty" >
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<property name= "text" >
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<string> Show empty space</string>
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</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_octomap_frontiers" >
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<property name= "text" >
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<string> Show frontiers</string>
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</property>
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<property name= "wordWrap" >
<bool> true</bool>
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</property>
</widget>
</item>
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<item row= "6" column= "1" >
<widget class= "QLabel" name= "label_53" >
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<property name= "text" >
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<string> OctoMap</string>
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</property>
</widget>
</item>
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<item row= "16" column= "1" >
<widget class= "QLabel" name= "label_54" >
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<property name= "text" >
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<string> Voxel size (for clouds and scans)</string>
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</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "9" column= "0" >
<widget class= "QComboBox" name= "comboBox_octomap_rendering_type" >
<item>
<property name= "text" >
<string> Point Cloud</string>
</property>
</item>
<item>
<property name= "text" >
<string> Cube</string>
</property>
</item>
<item>
<property name= "text" >
<string> Volume</string>
</property>
</item>
</widget>
</item>
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<item row= "10" column= "0" >
<widget class= "QSpinBox" name= "spinBox_grid_depth" >
<property name= "prefix" >
<string/>
</property>
<property name= "minimum" >
<number> 0</number>
</property>
<property name= "maximum" >
<number> 16</number>
</property>
<property name= "value" >
<number> 16</number>
</property>
</widget>
</item>
<item row= "12" column= "0" >
<widget class= "QDoubleSpinBox" name= "doubleSpinBox_gainCompensationRadius" >
<property name= "suffix" >
<string> m</string>
</property>
<property name= "decimals" >
<number> 2</number>
</property>
<property name= "minimum" >
<double> 0.000000000000000</double>
</property>
<property name= "maximum" >
<double> 10.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.000000000000000</double>
</property>
</widget>
</item>
<item row= "5" column= "1" >
<widget class= "QLabel" name= "label_octomap_frontiers_3" >
<property name= "text" >
<string> Frontier cell color</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_octomap_empty_4" >
<property name= "text" >
<string> Empty cell color</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "13" column= "1" >
<widget class= "QLabel" name= "label_56" >
<property name= "text" >
<string> Decimation (for images)</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
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<item row= "6" column= "0" >
<widget class= "QCheckBox" name= "checkBox_octomap" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<layout class= "QHBoxLayout" name= "horizontalLayout_9" >
<item>
<widget class= "QToolButton" name= "toolButton_groundColor" >
<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item>
<widget class= "QLineEdit" name= "lineEdit_groundColor" >
<property name= "readOnly" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row= "16" column= "0" >
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<widget class= "QDoubleSpinBox" name= "doubleSpinBox_voxelSize" >
<property name= "suffix" >
<string> m</string>
</property>
<property name= "decimals" >
<number> 3</number>
</property>
<property name= "minimum" >
<double> 0.000000000000000</double>
</property>
<property name= "maximum" >
<double> 99.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.000000000000000</double>
</property>
</widget>
</item>
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<item row= "2" column= "0" >
<layout class= "QHBoxLayout" name= "horizontalLayout_11" >
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<item>
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<widget class= "QToolButton" name= "toolButton_obstacleColor" >
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<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item>
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<widget class= "QLineEdit" name= "lineEdit_obstacleColor" >
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<property name= "readOnly" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</item>
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<item row= "20" column= "0" >
<widget class= "QCheckBox" name= "checkBox_showDisparityInsteadOfRight" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<layout class= "QHBoxLayout" name= "horizontalLayout_12" >
<item>
<widget class= "QToolButton" name= "toolButton_emptyColor" >
<property name= "text" >
<string> ...</string>
</property>
</widget>
</item>
<item>
<widget class= "QLineEdit" name= "lineEdit_emptyColor" >
<property name= "readOnly" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row= "15" column= "1" >
<widget class= "QLabel" name= "label_62" >
<property name= "text" >
<string> Depth's edge bleeding filtering error.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "15" column= "0" >
<widget class= "QDoubleSpinBox" name= "doubleSpinBox_depthEdgeBleedingError" >
<property name= "suffix" >
<string> m</string>
</property>
<property name= "decimals" >
<number> 2</number>
</property>
<property name= "minimum" >
<double> 0.000000000000000</double>
</property>
<property name= "maximum" >
<double> 10.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.000000000000000</double>
</property>
</widget>
</item>
<item row= "14" column= "0" >
<widget class= "QSpinBox" name= "spinBox_depthConfidence" >
<property name= "suffix" >
<string> %</string>
</property>
<property name= "minimum" >
<number> 0</number>
</property>
<property name= "maximum" >
<number> 100</number>
</property>
<property name= "value" >
<number> 0</number>
</property>
</widget>
</item>
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</layout>
</item>
<item>
<widget class= "QGroupBox" name= "groupBox_posefiltering" >
<property name= "title" >
<string> Pose filtering</string>
</property>
<property name= "checkable" >
<bool> true</bool>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
<layout class= "QGridLayout" name= "gridLayout_12" columnstretch= "0,1" >
<item row= "4" column= "0" >
<widget class= "QDoubleSpinBox" name= "doubleSpinBox_posefilteringAngle" >
<property name= "suffix" >
<string> degrees</string>
</property>
<property name= "decimals" >
<number> 0</number>
</property>
<property name= "maximum" >
<double> 180.000000000000000</double>
</property>
<property name= "value" >
<double> 30.000000000000000</double>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QDoubleSpinBox" name= "doubleSpinBox_posefilteringRadius" >
<property name= "suffix" >
<string> m</string>
</property>
<property name= "minimum" >
<double> 0.010000000000000</double>
</property>
<property name= "value" >
<double> 0.100000000000000</double>
</property>
</widget>
</item>
<item row= "3" column= "1" >
<widget class= "QLabel" name= "label_42" >
<property name= "text" >
<string> Radius</string>
</property>
</widget>
</item>
<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_43" >
<property name= "text" >
<string> Angle</string>
</property>
</widget>
</item>
<item row= "5" column= "0" >
<spacer name= "verticalSpacer_4" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 20</width>
<height> 40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
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<item>
<widget class= "QGroupBox" name= "groupBox" >
<property name= "title" >
<string> Organized Fast Mesh</string>
</property>
<layout class= "QGridLayout" name= "gridLayout_13" >
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<item row= "3" column= "1" >
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<widget class= "QLabel" name= "label_14" >
<property name= "text" >
<string> Triangle size</string>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_12" >
<property name= "text" >
<string> Angle tolerance</string>
</property>
</widget>
</item>
<item row= "0" column= "0" >
<widget class= "QSpinBox" name= "spinBox_mesh_angleTolerance" >
<property name= "suffix" >
<string> deg</string>
</property>
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 180</number>
</property>
<property name= "value" >
<number> 15</number>
</property>
</widget>
</item>
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<item row= "3" column= "0" >
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<widget class= "QSpinBox" name= "spinBox_mesh_triangleSize" >
<property name= "suffix" >
<string> pix</string>
</property>
<property name= "minimum" >
<number> 2</number>
</property>
<property name= "maximum" >
<number> 99</number>
</property>
</widget>
</item>
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<item row= "2" column= "1" >
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<widget class= "QLabel" name= "label_13" >
<property name= "text" >
<string> Quad</string>
</property>
</widget>
</item>
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<item row= "5" column= "1" >
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<widget class= "QLabel" name= "label_17" >
<property name= "text" >
<string> Fill depth holes: error</string>
</property>
</widget>
</item>
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<item row= "5" column= "0" >
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<widget class= "QSpinBox" name= "spinBox_mesh_depthError" >
<property name= "suffix" >
<string> %</string>
</property>
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "value" >
<number> 10</number>
</property>
</widget>
</item>
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<item row= "2" 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= "4" column= "1" >
<widget class= "QLabel" name= "label_15" >
<property name= "text" >
<string> Fill depth holes: size</string>
</property>
</widget>
</item>
<item row= "4" column= "0" >
<widget class= "QSpinBox" name= "spinBox_mesh_fillDepthHoles" >
<property name= "suffix" >
<string> pix</string>
</property>
<property name= "minimum" >
<number> 0</number>
</property>
<property name= "maximum" >
<number> 99</number>
</property>
<property name= "value" >
<number> 0</number>
</property>
</widget>
</item>
<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_20" >
<property name= "text" >
<string> Min cluster size</string>
</property>
</widget>
</item>
<item row= "1" column= "0" >
<widget class= "QSpinBox" name= "spinBox_mesh_minClusterSize" >
<property name= "suffix" >
<string/>
</property>
<property name= "minimum" >
<number> 0</number>
</property>
<property name= "maximum" >
<number> 999</number>
</property>
<property name= "value" >
<number> 0</number>
</property>
</widget>
</item>
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</layout>
</widget>
</item>
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<item>
<spacer name= "verticalSpacer_6" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 20</width>
<height> 40</height>
</size>
</property>
</spacer>
</item>
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<item>
<spacer name= "verticalSpacer_2" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 0</width>
<height> 0</height>
</size>
</property>
</spacer>
</item>
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</layout>
</widget>
<widget class= "QWidget" name= "page_5" >
<property name= "geometry" >
<rect>
<x> 0</x>
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<y> 0</y>
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<width> 296</width>
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<height> 272</height>
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</rect>
</property>
<attribute name= "label" >
<string> Detect more loop closures</string>
</attribute>
<layout class= "QGridLayout" name= "gridLayout_10" columnstretch= "0,1" >
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<item row= "1" column= "0" >
<widget class= "QDoubleSpinBox" name= "doubleSpinBox_detectMore_radiusMin" >
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<property name= "suffix" >
<string> m</string>
</property>
<property name= "decimals" >
<number> 2</number>
</property>
<property name= "maximum" >
<double> 10.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.100000000000000</double>
</property>
<property name= "value" >
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<double> 0.000000000000000</double>
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</property>
</widget>
</item>
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<item row= "1" column= "1" >
<widget class= "QLabel" name= "label_36" >
<property name= "text" >
<string> Radius Min</string>
</property>
</widget>
</item>
<item row= "4" column= "1" >
<widget class= "QLabel" name= "label_32" >
<property name= "text" >
<string> Intra-session</string>
</property>
</widget>
</item>
<item row= "7" column= "0" >
<spacer name= "verticalSpacer_5" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 20</width>
<height> 40</height>
</size>
</property>
</spacer>
</item>
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<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_29" >
<property name= "text" >
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<string> Radius Max</string>
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</property>
</widget>
</item>
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<item row= "2" column= "1" >
<widget class= "QLabel" name= "label_30" >
<property name= "text" >
<string> Angle</string>
</property>
</widget>
</item>
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<item row= "2" column= "0" >
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<widget class= "QDoubleSpinBox" name= "doubleSpinBox_detectMore_angle" >
<property name= "suffix" >
<string> degrees</string>
</property>
<property name= "decimals" >
<number> 0</number>
</property>
<property name= "maximum" >
<double> 180.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 1.000000000000000</double>
</property>
<property name= "value" >
<double> 30.000000000000000</double>
</property>
</widget>
</item>
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<item row= "0" column= "0" >
<widget class= "QDoubleSpinBox" name= "doubleSpinBox_detectMore_radius" >
<property name= "suffix" >
<string> m</string>
</property>
<property name= "decimals" >
<number> 2</number>
</property>
<property name= "maximum" >
<double> 10.000000000000000</double>
</property>
<property name= "singleStep" >
<double> 0.100000000000000</double>
</property>
<property name= "value" >
<double> 1.000000000000000</double>
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</property>
</widget>
</item>
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<item row= "3" column= "0" >
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<widget class= "QSpinBox" name= "spinBox_detectMore_iterations" >
<property name= "minimum" >
<number> 1</number>
</property>
<property name= "maximum" >
<number> 100</number>
</property>
<property name= "value" >
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<number> 5</number>
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</property>
</widget>
</item>
2024-07-19 14:02:03 -07:00
<item row= "4" column= "0" >
<widget class= "QCheckBox" name= "checkBox_detectMore_intraSession" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
2021-03-12 17:47:36 -05:00
<item row= "3" column= "1" >
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<widget class= "QLabel" name= "label_31" >
<property name= "text" >
<string> Iterations</string>
</property>
</widget>
</item>
2021-03-12 17:47:36 -05:00
<item row= "5" column= "1" >
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<widget class= "QLabel" name= "label_34" >
<property name= "text" >
<string> Inter-session</string>
</property>
</widget>
</item>
2021-03-12 17:47:36 -05:00
<item row= "5" column= "0" >
2018-11-05 18:40:08 -05:00
<widget class= "QCheckBox" name= "checkBox_detectMore_interSession" >
<property name= "text" >
<string/>
</property>
</widget>
</item>
2024-07-19 14:02:03 -07:00
<item row= "6" column= "0" >
<widget class= "QCheckBox" name= "checkBox_opt_graph_as_guess" >
2021-03-12 17:47:36 -05:00
<property name= "text" >
2024-07-19 14:02:03 -07:00
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
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</property>
</widget>
</item>
2024-07-19 14:02:03 -07:00
<item row= "6" column= "1" >
<widget class= "QLabel" name= "label_37" >
<property name= "text" >
<string> Use optimized graph as guess</string>
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</property>
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<property name= "wordWrap" >
<bool> true</bool>
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</property>
</widget>
</item>
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</layout>
</widget>
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<widget class= "QWidget" name= "page_2" >
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<property name= "geometry" >
<rect>
<x> 0</x>
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<y> 0</y>
2025-06-01 14:14:29 -07:00
<width> 428</width>
<height> 196</height>
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</rect>
</property>
<attribute name= "label" >
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<string> Refine</string>
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</attribute>
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<layout class= "QGridLayout" name= "gridLayout_3" columnstretch= "0,0,1" >
2015-06-15 14:44:44 -04:00
<item row= "1" column= "0" >
2015-12-17 14:13:19 -05:00
<widget class= "QSpinBox" name= "spinBox_icp_decimation" >
2015-06-15 14:44:44 -04:00
<property name= "minimum" >
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<number> -32</number>
</property>
<property name= "maximum" >
<number> 32</number>
2015-06-15 14:44:44 -04:00
</property>
</widget>
</item>
2015-12-17 14:13:19 -05:00
<item row= "1" column= "2" >
<widget class= "QLabel" name= "label_9" >
2015-06-15 14:44:44 -04:00
<property name= "text" >
2016-10-30 16:03:23 -04:00
<string> Decimation. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).</string>
2015-12-11 17:44:15 -05:00
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
2015-12-17 14:13:19 -05:00
<item row= "2" column= "0" colspan= "2" >
<widget class= "QDoubleSpinBox" name= "doubleSpinBox_icp_maxDepth" />
</item>
<item row= "2" column= "2" >
<widget class= "QLabel" name= "label_11" >
<property name= "text" >
<string> Max depth</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "0" column= "0" >
2016-08-21 19:33:01 -04:00
<widget class= "QCheckBox" name= "checkBox_icp_from_depth" >
2015-12-11 17:44:15 -05:00
<property name= "text" >
<string/>
</property>
</widget>
</item>
2015-12-17 14:13:19 -05:00
<item row= "0" column= "2" >
<widget class= "QLabel" name= "label_7" >
<property name= "text" >
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<string> Generate laser scans from RGB-D images using the following parameters.</string>
2015-12-17 14:13:19 -05:00
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
2016-04-12 15:14:04 -04:00
<item row= "4" column= "0" >
2015-12-17 14:13:19 -05:00
<spacer name= "verticalSpacer" >
<property name= "orientation" >
<enum> Qt::Vertical</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 20</width>
<height> 0</height>
</size>
</property>
</spacer>
</item>
2016-04-12 15:14:04 -04:00
<item row= "3" column= "2" >
<widget class= "QLabel" name= "label_19" >
<property name= "text" >
<string> Min depth</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "3" column= "0" >
<widget class= "QDoubleSpinBox" name= "doubleSpinBox_icp_minDepth" />
</item>
2015-06-15 14:44:44 -04:00
</layout>
</widget>
2015-03-12 17:00:56 -04:00
</widget>
</item>
2014-08-11 15:23:06 +00:00
</layout>
</widget>
</widget>
2014-11-04 18:58:40 +00:00
<widget class= "QDockWidget" name= "dockWidget_stereoView" >
<property name= "windowTitle" >
<string> Stereo view</string>
</property>
<attribute name= "dockWidgetArea" >
<number> 4</number>
</attribute>
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<widget class= "QWidget" name= "dockWidgetContents_stereo" >
2015-06-15 14:44:44 -04:00
<layout class= "QVBoxLayout" name= "verticalLayout_11" stretch= "1,0" >
<property name= "spacing" >
<number> 0</number>
</property>
2018-04-04 19:14:13 -04:00
<property name= "leftMargin" >
<number> 0</number>
</property>
<property name= "topMargin" >
<number> 0</number>
</property>
<property name= "rightMargin" >
<number> 0</number>
</property>
<property name= "bottomMargin" >
2015-06-15 14:44:44 -04:00
<number> 0</number>
</property>
2014-11-04 18:58:40 +00:00
<item>
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<layout class= "QHBoxLayout" name= "horizontalLayout_stereo" stretch= "1" >
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<item>
<widget class= "rtabmap::ImageView" name= "graphicsView_stereo" native= "true" />
</item>
</layout>
2014-11-04 18:58:40 +00:00
</item>
<item>
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<layout class= "QHBoxLayout" name= "horizontalLayout_6" >
<property name= "spacing" >
<number> 6</number>
</property>
<item>
<widget class= "QLabel" name= "label_stereo_inliers_name" >
<property name= "text" >
<string> Inliers:</string>
</property>
<property name= "textFormat" >
<enum> Qt::RichText</enum>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_stereo_inliers" >
<property name= "text" >
<string> 0</string>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_stereo_slopeOutliers_name" >
<property name= "text" >
<string> Slope outliers:</string>
</property>
<property name= "textFormat" >
<enum> Qt::RichText</enum>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_stereo_slopeOutliers" >
<property name= "text" >
<string> 0</string>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_stereo_disparityOutliers_name" >
<property name= "text" >
<string> Negative disparity outliers:</string>
</property>
<property name= "textFormat" >
<enum> Qt::RichText</enum>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_stereo_disparityOutliers" >
<property name= "text" >
<string> 0</string>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_stereo_flowOutliers_name" >
<property name= "text" >
<string> Flow outliers:</string>
</property>
<property name= "textFormat" >
<enum> Qt::RichText</enum>
</property>
</widget>
</item>
<item>
<widget class= "QLabel" name= "label_stereo_flowOutliers" >
<property name= "text" >
<string> 0</string>
</property>
</widget>
</item>
<item>
<spacer name= "horizontalSpacer_2" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 40</width>
<height> 20</height>
</size>
</property>
</spacer>
</item>
</layout>
2014-11-04 18:58:40 +00:00
</item>
</layout>
</widget>
</widget>
2015-03-04 17:27:44 -05:00
<widget class= "QDockWidget" name= "dockWidget_view3d" >
<property name= "windowTitle" >
<string> 3D view</string>
</property>
<attribute name= "dockWidgetArea" >
<number> 4</number>
</attribute>
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<widget class= "QWidget" name= "dockWidgetContents_3dviews" >
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<layout class= "QVBoxLayout" name= "verticalLayout_5" stretch= "1,0" >
<property name= "spacing" >
<number> 0</number>
</property>
2018-04-04 19:14:13 -04:00
<property name= "leftMargin" >
<number> 0</number>
</property>
<property name= "topMargin" >
<number> 0</number>
</property>
<property name= "rightMargin" >
<number> 0</number>
</property>
<property name= "bottomMargin" >
2016-02-15 19:35:24 -05:00
<number> 0</number>
</property>
2015-03-04 17:27:44 -05:00
<item>
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<layout class= "QHBoxLayout" name= "horizontalLayout_3dviews" >
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<property name= "spacing" >
<number> 1</number>
</property>
</layout>
2015-03-04 17:27:44 -05:00
</item>
<item>
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<layout class= "QHBoxLayout" name= "horizontalLayout_3" >
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<item>
<widget class= "QCheckBox" name= "checkBox_showWords" >
<property name= "text" >
<string> Words</string>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
2016-09-03 18:59:43 -04:00
<item>
<widget class= "QCheckBox" name= "checkBox_showCloud" >
<property name= "text" >
<string> Cloud</string>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item>
<widget class= "QCheckBox" name= "checkBox_showMesh" >
<property name= "text" >
<string> Mesh</string>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
<item>
<widget class= "QCheckBox" name= "checkBox_showScan" >
<property name= "text" >
<string> Scan</string>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item>
<widget class= "QCheckBox" name= "checkBox_showMap" >
<property name= "text" >
<string> Map</string>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item>
<widget class= "QCheckBox" name= "checkBox_showGrid" >
<property name= "text" >
<string> Grid</string>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
2016-11-09 16:44:08 -05:00
<item>
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<widget class= "QCheckBox" name= "checkBox_showElevation" >
<property name= "toolTip" >
<string> Available if RTAB-Map is built with GridMap</string>
</property>
2016-11-09 16:44:08 -05:00
<property name= "text" >
2023-12-17 22:44:11 -08:00
<string> Elevation</string>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
<property name= "tristate" >
<bool> true</bool>
</property>
</widget>
</item>
<item>
<widget class= "QCheckBox" name= "checkBox_odomFrame_3dview" >
<property name= "toolTip" >
<string> Adjust roll, pitch and height based on odometry pose</string>
</property>
<property name= "text" >
<string> Odom</string>
2016-11-09 16:44:08 -05:00
</property>
2021-02-01 11:31:45 -05:00
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item>
<widget class= "QCheckBox" name= "checkBox_gravity_3dview" >
<property name= "text" >
<string> Gravity</string>
</property>
2016-11-09 16:44:08 -05:00
<property name= "checked" >
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<bool> true</bool>
2016-11-09 16:44:08 -05:00
</property>
</widget>
</item>
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<item>
<spacer name= "horizontalSpacer_4" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 40</width>
<height> 20</height>
</size>
</property>
</spacer>
</item>
</layout>
2015-03-04 17:27:44 -05:00
</item>
</layout>
</widget>
</widget>
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<widget class= "QDockWidget" name= "dockWidget_info" >
<property name= "windowTitle" >
<string> Info</string>
</property>
<attribute name= "dockWidgetArea" >
<number> 2</number>
</attribute>
<widget class= "QWidget" name= "dockWidgetContents_4" >
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<layout class= "QVBoxLayout" name= "verticalLayout_12" stretch= "0" >
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<item>
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<widget class= "QTextEdit" name= "textEdit_info" >
<property name= "lineWrapMode" >
<enum> QTextEdit::NoWrap</enum>
</property>
<property name= "readOnly" >
<bool> true</bool>
2015-10-24 17:03:44 -04:00
</property>
</widget>
</item>
</layout>
</widget>
</widget>
2015-12-17 14:13:19 -05:00
<widget class= "QDockWidget" name= "dockWidget_coreparameters" >
<property name= "windowTitle" >
<string> Core Parameters</string>
</property>
<attribute name= "dockWidgetArea" >
<number> 1</number>
</attribute>
<widget class= "QWidget" name= "dockWidgetContents_7" >
<layout class= "QVBoxLayout" name= "verticalLayout_13" >
2018-04-04 19:14:13 -04:00
<property name= "leftMargin" >
<number> 0</number>
</property>
<property name= "topMargin" >
<number> 0</number>
</property>
<property name= "rightMargin" >
<number> 0</number>
</property>
<property name= "bottomMargin" >
2015-12-17 14:13:19 -05:00
<number> 0</number>
</property>
<item>
2015-12-21 17:27:05 -05:00
<widget class= "rtabmap::ParametersToolBox" name= "parameters_toolbox" native= "true" />
2015-12-17 14:13:19 -05:00
</item>
</layout>
</widget>
</widget>
2016-09-20 11:19:34 -04:00
<widget class= "QDockWidget" name= "dockWidget_statistics" >
<property name= "windowTitle" >
<string> Statistics</string>
</property>
<attribute name= "dockWidgetArea" >
<number> 1</number>
</attribute>
<widget class= "QWidget" name= "dockWidgetContents_5" >
<layout class= "QVBoxLayout" name= "verticalLayout_7" >
2018-04-04 19:14:13 -04:00
<property name= "leftMargin" >
<number> 0</number>
</property>
<property name= "topMargin" >
<number> 0</number>
</property>
<property name= "rightMargin" >
<number> 0</number>
</property>
<property name= "bottomMargin" >
2016-09-20 11:19:34 -04:00
<number> 0</number>
</property>
2017-04-27 16:13:27 -04:00
<item>
<layout class= "QGridLayout" name= "gridLayout_8" columnstretch= "0,1" >
<item row= "0" column= "0" >
<widget class= "QCheckBox" name= "checkBox_timeStats" >
<property name= "text" >
<string/>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
<item row= "0" column= "1" >
<widget class= "QLabel" name= "label_logger_level_3" >
<property name= "text" >
<string> Time (s) used in figures for x-axis instead of node IDs.</string>
</property>
<property name= "wordWrap" >
<bool> true</bool>
</property>
</widget>
</item>
</layout>
</item>
2016-09-20 11:19:34 -04:00
<item>
<widget class= "rtabmap::StatsToolBox" name= "toolBox_statistics" native= "true" />
</item>
</layout>
</widget>
</widget>
2017-03-21 21:51:39 -04:00
<widget class= "QDockWidget" name= "dockWidget_occupancyGridView" >
<property name= "windowTitle" >
<string> Occupancy Grid</string>
</property>
<attribute name= "dockWidgetArea" >
<number> 4</number>
</attribute>
<widget class= "QWidget" name= "dockWidgetContents_occupancyGrid" >
<layout class= "QVBoxLayout" name= "verticalLayout_14" stretch= "1,0" >
<property name= "spacing" >
<number> 0</number>
</property>
2018-04-04 19:14:13 -04:00
<property name= "leftMargin" >
<number> 0</number>
</property>
<property name= "topMargin" >
<number> 0</number>
</property>
<property name= "rightMargin" >
<number> 0</number>
</property>
<property name= "bottomMargin" >
2017-03-21 21:51:39 -04:00
<number> 0</number>
</property>
<item>
<layout class= "QVBoxLayout" name= "layout_occupancyGridView" >
<property name= "spacing" >
<number> 0</number>
</property>
</layout>
</item>
<item>
<layout class= "QHBoxLayout" name= "horizontalLayout_8" >
2023-12-17 22:44:11 -08:00
<item>
<widget class= "QCheckBox" name= "checkBox_grid_grid" >
<property name= "text" >
<string> Grid</string>
</property>
<property name= "checked" >
<bool> true</bool>
</property>
</widget>
</item>
2017-03-21 21:51:39 -04:00
<item>
<widget class= "QCheckBox" name= "checkBox_grid_2d" >
<property name= "text" >
<string> 2d Map</string>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
</widget>
</item>
2023-12-17 22:44:11 -08:00
<item>
<widget class= "QCheckBox" name= "checkBox_grid_elevation" >
<property name= "toolTip" >
<string> Available if RTAB-Map is built with GridMap</string>
</property>
<property name= "text" >
<string> Elevation</string>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
<property name= "tristate" >
<bool> true</bool>
</property>
</widget>
</item>
2017-03-21 21:51:39 -04:00
<item>
<spacer name= "horizontalSpacer_5" >
<property name= "orientation" >
<enum> Qt::Horizontal</enum>
</property>
<property name= "sizeHint" stdset= "0" >
<size>
<width> 40</width>
<height> 20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
2012-12-11 18:05:05 +00:00
<action name= "actionOpen_database" >
<property name= "text" >
<string> Open database</string>
</property>
</action>
<action name= "actionQuit" >
<property name= "text" >
<string> Quit</string>
</property>
</action>
<action name= "actionGenerate_graph_dot" >
<property name= "text" >
2014-02-27 17:00:46 +00:00
<string> Generate graph (*.dot) ...</string>
2012-12-11 18:05:05 +00:00
</property>
</action>
<action name= "actionGenerate_local_graph_dot" >
<property name= "text" >
<string> Generate local graph (.dot) ...</string>
</property>
</action>
2013-12-11 00:12:44 +00:00
<action name= "actionGenerate_3D_map_pcd" >
<property name= "text" >
2015-11-22 18:08:32 -05:00
<string> Export 3D map (*.ply *.pcd) ...</string>
2013-12-11 00:12:44 +00:00
</property>
</action>
2014-01-22 19:49:28 +00:00
<action name= "actionExport" >
<property name= "text" >
2015-10-16 20:11:24 -04:00
<string> Export database...</string>
2014-01-22 19:49:28 +00:00
</property>
</action>
2014-02-11 23:04:22 +00:00
<action name= "actionExtract_images" >
<property name= "text" >
<string> Extract images...</string>
</property>
</action>
<action name= "actionView_3D_map" >
<property name= "text" >
<string> View 3D map...</string>
</property>
</action>
2023-12-20 14:39:49 -08:00
<action name= "actionRefine_links" >
2014-08-11 15:23:06 +00:00
<property name= "text" >
2023-12-20 14:39:49 -08:00
<string> Refine links...</string>
2016-11-09 16:44:08 -05:00
</property>
<property name= "toolTip" >
2023-12-20 14:39:49 -08:00
<string> Refine selected links with the registration strategy set in " Core Parameters" ->" Reg" , " Vis" and/or " Icp" </string>
2014-08-11 15:23:06 +00:00
</property>
</action>
<action name= "actionDetect_more_loop_closures" >
<property name= "text" >
<string> Detect more loop closures...</string>
</property>
</action>
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<action name= "actionSave_config" >
<property name= "text" >
<string> Save config</string>
</property>
</action>
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<action name= "actionReset_all_changes" >
<property name= "text" >
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<string> Reset link and grid map changes</string>
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</property>
</action>
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<action name= "actionRegenerate_local_grid_maps" >
<property name= "text" >
<string> Regenerate local grid maps...</string>
</property>
</action>
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<action name= "actionRegenerate_local_grid_maps_selected" >
<property name= "text" >
<string> Regenerate local grid maps (selected)...</string>
</property>
</action>
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<action name= "actionEdit_depth_image" >
<property name= "text" >
<string> Edit depth image...</string>
</property>
</action>
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<action name= "actionVertical_Layout" >
<property name= "checkable" >
<bool> true</bool>
</property>
<property name= "checked" >
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<bool> false</bool>
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</property>
<property name= "text" >
<string> Vertical Layout</string>
</property>
</action>
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<action name= "actionConcise_Layout" >
<property name= "checkable" >
<bool> true</bool>
</property>
<property name= "checked" >
<bool> false</bool>
</property>
<property name= "text" >
<string> Concise Layout</string>
</property>
</action>
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<action name= "actionRestore_default_GUI_settings" >
<property name= "text" >
<string> Restore default GUI settings</string>
</property>
</action>
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<action name= "actionRaw_format_txt" >
<property name= "text" >
<string> Raw format (*.txt)</string>
</property>
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<property name= "toolTip" >
<string> Raw format (12 values transform)</string>
</property>
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</action>
<action name= "actionRGBD_SLAM_format_txt" >
<property name= "text" >
<string> RGBD-SLAM format (*.txt)</string>
</property>
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<property name= "toolTip" >
<string> RGBD-SLAM (stamp tx ty tz qx qy qz qw)</string>
</property>
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</action>
<action name= "actionKITTI_format_txt" >
<property name= "text" >
<string> KITTI format (*.txt)</string>
</property>
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<property name= "toolTip" >
<string> KITTI (stamp + 12 values transform)</string>
</property>
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</action>
<action name= "actionTORO_graph" >
<property name= "text" >
<string> TORO (*.graph)</string>
</property>
</action>
<action name= "actionG2o_g2o" >
<property name= "text" >
<string> g2o (*.g2o)</string>
</property>
</action>
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<action name= "actionGPS_KML" >
<property name= "text" >
<string> Google Earth (*.kml)</string>
</property>
</action>
<action name= "actionGPS_TXT" >
<property name= "text" >
<string> Raw format (*.txt)</string>
</property>
</action>
<action name= "actionPoses_KML" >
<property name= "text" >
<string> Google Earth (*.kml)</string>
</property>
</action>
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<action name= "actionDatabase_recovery" >
<property name= "text" >
<string> Database recovery</string>
</property>
</action>
<action name= "actionClose_database" >
<property name= "text" >
<string> Close database</string>
</property>
</action>
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<action name= "actionExport_saved_2D_map" >
<property name= "text" >
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<string> Export optimized 2D map...</string>
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</property>
</action>
<action name= "actionImport_2D_map" >
<property name= "text" >
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<string> Import optimized 2D map...</string>
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</property>
</action>
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<action name= "actionView_optimized_mesh" >
<property name= "text" >
<string> View optimized mesh</string>
</property>
</action>
<action name= "actionExport_optimized_mesh" >
<property name= "text" >
<string> Export optimized mesh...</string>
</property>
</action>
<action name= "actionUpdate_optimized_mesh" >
<property name= "text" >
<string> Update optimized mesh...</string>
</property>
</action>
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<action name= "actionUpdate_all_neighbor_covariances" >
<property name= "text" >
<string> Update all neighbor covariances...</string>
</property>
</action>
<action name= "actionUpdate_all_loop_closure_covariances" >
<property name= "text" >
<string> Update all loop closure covariances...</string>
</property>
</action>
2018-11-08 12:26:37 -05:00
<action name= "actionRGBD_SLAM_motion_capture_format_txt" >
<property name= "text" >
<string> RGBD-SLAM motion capture format (*.txt)</string>
</property>
<property name= "toolTip" >
<string> RGBD-SLAM (stamp tx ty tz qx qy qz qw)</string>
</property>
</action>
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<action name= "actionEdit_optimized_2D_map" >
<property name= "text" >
<string> Edit optimized 2D map...</string>
</property>
</action>
<action name= "actionRegenerate_optimized_2D_map" >
<property name= "text" >
<string> Regenerate optimized 2D map...</string>
</property>
</action>
2021-04-13 15:49:04 -04:00
<action name= "actionRGBD_SLAM_ID_format_txt" >
<property name= "text" >
<string> RGBD-SLAM ID format (*.txt)</string>
</property>
</action>
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<action name= "actionUpdate_all_landmark_covariances" >
<property name= "text" >
<string> Update all landmark covariances...</string>
</property>
</action>
2012-12-11 18:05:05 +00:00
</widget>
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<customwidgets>
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<customwidget>
<class> rtabmap::ImageView</class>
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<extends> QWidget</extends>
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<header> ../include/rtabmap/gui/ImageView.h</header>
</customwidget>
<customwidget>
<class> rtabmap::StatsToolBox</class>
<extends> QWidget</extends>
<header> ../include/rtabmap/gui/StatsToolBox.h</header>
<container> 1</container>
2014-11-04 18:58:40 +00:00
</customwidget>
2014-02-11 23:04:22 +00:00
<customwidget>
<class> rtabmap::GraphViewer</class>
<extends> QGraphicsView</extends>
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<header> ../include/rtabmap/gui/GraphViewer.h</header>
2014-02-11 23:04:22 +00:00
</customwidget>
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<customwidget>
<class> rtabmap::ParametersToolBox</class>
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<extends> QWidget</extends>
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<header> ../include/rtabmap/gui/ParametersToolBox.h</header>
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<container> 1</container>
</customwidget>
2013-12-11 00:12:44 +00:00
</customwidgets>
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<resources/>
<connections/>
</ui>
