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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>preferencesDialog</class>
<widget class="QDialog" name="preferencesDialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
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<width>1059</width>
<height>914</height>
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</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Preferences</string>
</property>
<property name="windowIcon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
</property>
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<layout class="QVBoxLayout" name="verticalLayout_26">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,1">
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<property name="spacing">
<number>0</number>
</property>
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_18">
<item>
<widget class="QTreeView" name="treeView">
<property name="minimumSize">
<size>
<width>180</width>
<height>0</height>
</size>
</property>
<property name="editTriggers">
<set>QAbstractItemView::NoEditTriggers</set>
</property>
<attribute name="headerVisible">
<bool>false</bool>
</attribute>
</widget>
</item>
</layout>
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</item>
<item>
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<layout class="QVBoxLayout" name="verticalLayout_17">
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<property name="spacing">
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<number>0</number>
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</property>
<item>
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<widget class="QScrollArea" name="scrollArea">
<property name="widgetResizable">
<bool>true</bool>
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</property>
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<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
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<width>777</width>
<height>826</height>
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</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_24">
<property name="spacing">
<number>0</number>
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</property>
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<item>
<widget class="QStackedWidget" name="stackedWidget">
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
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<number>0</number>
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</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
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<item>
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<widget class="QGroupBox" name="groupBox_generalSettingsGui0">
<property name="title">
<string>General settings (GUI)</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_28">
<item>
<layout class="QFormLayout" name="formLayout_14">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_imagesKept">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_59">
<property name="text">
<string>Insert new data received in the GUI cache. Used to show the loop closure image and the 3D Map.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_beep">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_88">
<property name="text">
<string>Beep! on special events (finished processing the data set, an error has occured, ...).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
<string>Image view</string>
</property>
<layout class="QFormLayout" name="formLayout_12">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_imageFlipped">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Flip image (like a mirror).</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_imageRejectedShown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_73">
<property name="text">
<string>Show image when an hypothesis is rejected.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_imageHighestHypShown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_105">
<property name="text">
<string>Show the image of the highest hypothesis.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSlider" name="horizontalSlider_keypointsOpacity">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="sliderPosition">
<number>16</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_102">
<property name="text">
<string>Keypoints opacity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_70">
<property name="text">
<string>Vertical layout used for the main window.</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_verticalLayoutUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
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<string>Save/load settings</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QPushButton" name="pushButton_saveConfig">
<property name="text">
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<string>Save settings (*.ini) ...</string>
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</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_loadConfig">
<property name="text">
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<string>Load settings (*.ini) ...</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_resetConfig">
<property name="text">
<string>Reset all settings</string>
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</property>
</widget>
</item>
</layout>
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</widget>
</item>
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</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_24">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_2">
<layout class="QVBoxLayout" name="verticalLayout_42">
<item>
<widget class="QGroupBox" name="groupBox_cloudRendering1">
<property name="title">
<string>3D Rendering</string>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,0,1">
<item row="5" column="3">
<widget class="QLabel" name="label_155">
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<property name="text">
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<string>3D cloud opacity.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
<property name="suffix">
<string> m</string>
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</property>
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<property name="decimals">
<number>1</number>
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</property>
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<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
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</property>
</widget>
</item>
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<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_showClouds">
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<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="0" column="1">
<widget class="QLabel" name="label_137">
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<property name="text">
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<string>Odometry</string>
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</property>
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<property name="alignment">
<set>Qt::AlignCenter</set>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
<property name="suffix">
<string> m</string>
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</property>
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<property name="decimals">
<number>3</number>
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</property>
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<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
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</property>
</widget>
</item>
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<item row="3" column="3">
<widget class="QLabel" name="label_108">
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<property name="text">
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<string>3D cloud decimation (1-2-4-8-...).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="3">
<widget class="QLabel" name="label_132">
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<property name="text">
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<string>3D cloud maximum depth (0 means no limit).</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="0" column="0">
<widget class="QLabel" name="label_154">
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<property name="text">
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<string>Map</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
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</property>
<property name="wordWrap">
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<bool>true</bool>
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</property>
</widget>
</item>
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<item row="5" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
<property name="suffix">
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<string/>
</property>
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<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.600000000000000</double>
</property>
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</widget>
</item>
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<item row="1" column="3">
<widget class="QLabel" name="label_119">
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<property name="text">
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<string>Show 3D clouds.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_decimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>4</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_odom">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
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<number>3</number>
</property>
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<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
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</property>
</widget>
</item>
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<item row="3" column="1">
<widget class="QSpinBox" name="spinBox_decimation_odom">
<property name="minimum">
<number>1</number>
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</property>
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<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
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</property>
</widget>
</item>
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<item row="2" column="3">
<widget class="QLabel" name="label_107">
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<property name="text">
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<string>3D cloud voxel size.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="5" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="8" column="3">
<widget class="QLabel" name="label_156">
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<property name="text">
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<string>2D scan opacity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix">
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<string/>
</property>
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<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
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</widget>
</item>
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<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
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</property>
<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
<double>0.100000000000000</double>
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</property>
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<property name="value">
<double>1.000000000000000</double>
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</property>
</widget>
</item>
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<item row="7" column="0">
<widget class="QCheckBox" name="checkBox_showScans">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
</property>
</widget>
</item>
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<item row="7" column="3">
<widget class="QLabel" name="label_110">
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<property name="text">
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<string>Show 2D scans.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="7" column="1">
<widget class="QCheckBox" name="checkBox_showOdomScans">
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<property name="text">
<string/>
</property>
<property name="checked">
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<bool>true</bool>
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</property>
</widget>
</item>
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<item row="1" column="1">
<widget class="QCheckBox" name="checkBox_showOdomClouds">
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<property name="text">
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<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QLabel" name="label_157">
<property name="text">
<string>3D cloud point size (1..64).</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="9" column="3">
<widget class="QLabel" name="label_158">
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<property name="text">
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<string>2D scan point size (1..64).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="0" column="2">
<widget class="QLabel" name="label_159">
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<property name="text">
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<string>Saving/
High-res view</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="1" column="2">
<widget class="QCheckBox" name="checkBox_showSaveClouds">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_save">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="spinBox_decimation_save">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_save">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>4.000000000000000</double>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QCheckBox" name="checkBox_showSaveScans">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QSpinBox" name="spinBox_ptsize_scan">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QSpinBox" name="spinBox_ptsize_odom">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QSpinBox" name="spinBox_ptsize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QCheckBox" name="checkBox_meshing">
<property name="text">
<string>Meshing</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<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>
<widget class="QWidget" name="page_8">
<layout class="QVBoxLayout" name="verticalLayout_43">
<item>
<widget class="QGroupBox" name="groupBox_logging1">
<property name="title">
<string>Logging</string>
</property>
<layout class="QFormLayout" name="formLayout_11">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_loggerLevel">
<property name="currentIndex">
<number>2</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</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>
<item row="0" column="1">
<widget class="QLabel" name="label_60">
<property name="text">
<string>Logger level.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="comboBox_loggerEventLevel">
<property name="currentIndex">
<number>3</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</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>
<item row="1" column="1">
<widget class="QLabel" name="label_61">
<property name="text">
<string>Logger event sent level (fatal messages are always sent).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="comboBox_loggerPauseLevel">
<property name="currentIndex">
<number>3</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</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>
<item>
<property name="text">
<string>FATAL</string>
</property>
</item>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_62">
<property name="text">
<string>Logger level on which the process will automatically pause, showing the log console. A level set under the logger event level will do nothing.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_logger_printTime">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_67">
<property name="text">
<string>Logger print time.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="comboBox_loggerType">
<property name="currentIndex">
<number>1</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>No log</string>
</property>
</item>
<item>
<property name="text">
<string>Console</string>
</property>
</item>
<item>
<property name="text">
<string>File</string>
</property>
</item>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_68">
<property name="text">
<string>Logger type:
when using the file type, logs are saved in LogRtabmap.txt (located in the working directory).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<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>
<widget class="QWidget" name="page_4">
<layout class="QVBoxLayout" name="verticalLayout_27">
<item>
<widget class="QGroupBox" name="groupBox_source0">
<property name="title">
<string>Source</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_7">
<item>
<layout class="QGridLayout" name="gridLayout_28" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_imgRate">
<property name="suffix">
<string> Hz</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Input rate (0 means as fast as possible).</string>
</property>
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</widget>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_sourceImage">
<property name="title">
<string>Image source</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
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<property name="checked">
<bool>false</bool>
</property>
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<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="source_comboBox_image_type">
<property name="currentIndex">
<number>0</number>
</property>
<item>
<property name="text">
<string>Usb camera</string>
</property>
</item>
<item>
<property name="text">
<string>Images</string>
</property>
</item>
<item>
<property name="text">
<string>Video file</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_20">
<property name="text">
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<string>Source type. 0-Usb camera (Webcam), 1-Images (directory of images), 2-Video (AVI)</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_autoRestart">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Auto restart.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Image width (set to 0 to use the default size of the source).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Image height (set to 0 to use the default size of the source).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="source_spinBox_imgWidth">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
<property name="singleStep">
<number>160</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="source_spinBox_imgheight">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
<property name="singleStep">
<number>120</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="general_checkBox_cameraKeypoints">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Keypoints extraction post threatement.</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_128">
<property name="text">
<string>Frames dropped (ignore X frames after each frame acquired, used to decrease source framerate)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="source_spinBox_framesDropped">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QStackedWidget" name="stackedWidget_image">
<property name="currentIndex">
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<number>0</number>
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</property>
<widget class="QWidget" name="page_7">
<layout class="QVBoxLayout" name="verticalLayout_30">
<item>
<widget class="QGroupBox" name="source_groupBox_usbDevice">
<property name="title">
<string>Usb device</string>
</property>
<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,1">
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<item row="0" column="1">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Usb device.</string>
</property>
</widget>
</item>
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<item row="0" column="0">
<widget class="QSpinBox" name="source_usbDevice_spinBox_id">
<property name="minimum">
<number>-1</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_8">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="page_5">
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QGroupBox" name="source_groupBox_images">
<property name="title">
<string>Images dataset</string>
</property>
<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,10">
<item row="0" column="0">
<widget class="QToolButton" name="source_images_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_images_lineEdit_path">
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="source_images_spinBox_startPos">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Start position (default 1, 0=start from the last).</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="source_images_refreshDir">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
<string>Refresh the directory files list after each image loaded.</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_9">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="page_6">
<layout class="QVBoxLayout" name="verticalLayout_8">
<item>
<widget class="QGroupBox" name="source_groupBox_video">
<property name="title">
<string>Video (AVI)</string>
</property>
<layout class="QGridLayout" name="gridLayout_8" columnstretch="0,10">
<item row="0" column="0">
<widget class="QToolButton" name="source_video_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_video_lineEdit_path">
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_10">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_sourceDatabase">
<property name="title">
<string>Database source</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<item row="0" column="0">
<widget class="QToolButton" name="source_database_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_58">
<property name="text">
<string>Start position (index)</string>
</property>
</widget>
</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="source_spinBox_databaseStartPos">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QToolButton" name="toolButton_dbViewer">
<property name="toolTip">
<string>Open database viewer</string>
</property>
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
</property>
</widget>
</item>
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<item row="1" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_72">
<property name="text">
<string>Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
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</widget>
</item>
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<item>
<widget class="QGroupBox" name="groupBox_sourceOpenni">
<property name="title">
<string>OpenNI camera (RGB-D)</string>
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</property>
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<property name="checkable">
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<bool>true</bool>
</property>
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<property name="checked">
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<bool>true</bool>
</property>
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<layout class="QVBoxLayout" name="verticalLayout_11">
<item>
<widget class="QLabel" name="label_40">
<property name="text">
<string>Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QLineEdit" name="lineEdit_openniDevice">
<property name="text">
<string>#1</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_39">
<property name="text">
<string>ID of the device, which might be a serial number, bus@address or the index of the device. If empty, the first device found is taken.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLineEdit" name="lineEdit_openniLocalTransform">
<property name="text">
<string>0 0 0 -PI_2 0 -PI_2</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_42">
<property name="text">
<string>Local transform from /base_link to /camera_link. Format (6 values): x y z roll pitch yaw.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
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</widget>
</item>
</layout>
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</widget>
</item>
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<item>
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<spacer name="verticalSpacer_7">
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<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
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</item>
</layout>
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</widget>
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<widget class="QWidget" name="page_20">
<layout class="QVBoxLayout" name="verticalLayout_23">
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<item>
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<widget class="QGroupBox" name="groupBox_rtabmap_basic0">
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<property name="title">
<string>RTAB-Map settings</string>
</property>
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<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,0,1">
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<item row="0" column="0">
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<widget class="QCheckBox" name="general_checkBox_SLAM_mode_2">
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<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="2">
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<widget class="QLabel" name="label_79">
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<property name="text">
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<string>SLAM mode.
If set to false, global localization is performed, so without adding new data to the map.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_activateRGBD_2">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
</property>
</widget>
</item>
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<item row="1" column="2">
<widget class="QLabel" name="label_activateRGBD_2">
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<property name="text">
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<string>Activate metric RGB-D SLAM.
If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="0">
<widget class="QCheckBox" name="general_checkBox_publishStats_2">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="2">
<widget class="QLabel" name="label_publishStat">
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<property name="text">
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<string>Publish statistics.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate_2">
<property name="suffix">
<string> Hz</string>
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</property>
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<property name="decimals">
<number>1</number>
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</property>
<property name="value">
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<double>1.000000000000000</double>
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</property>
</widget>
</item>
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<item row="3" column="2">
<widget class="QLabel" name="label_134">
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<property name="text">
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<string>Detection rate (0 means inf). RTAB-Map will filter input images to satisfy this rate.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="4" column="0">
<widget class="QSpinBox" name="general_spinBox_imagesBufferSize_2">
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<property name="maximum">
<number>999</number>
</property>
<property name="value">
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<number>1</number>
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</property>
</widget>
</item>
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<item row="4" column="2">
<widget class="QLabel" name="label_112">
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<property name="text">
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<string>Images buffer size (0 means inf).</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="5" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_timeThr_2">
<property name="suffix">
<string> ms</string>
</property>
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<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
<property name="singleStep">
<double>50.000000000000000</double>
</property>
<property name="value">
<double>700.000000000000000</double>
</property>
</widget>
</item>
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<item row="5" column="2">
<widget class="QLabel" name="label_timeLimit_2">
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<property name="text">
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<string>T_time : Max time (ms) allowed (0 means inf).</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="6" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_hardThr_2">
<property name="maximum">
<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
<double>0.010000000000000</double>
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</property>
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<property name="value">
<double>0.950000000000000</double>
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</property>
</widget>
</item>
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<item row="6" column="2">
<widget class="QLabel" name="label_121">
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<property name="text">
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<string>T_loop : Loop closure threshold.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
</property>
</widget>
</item>
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<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_similarityThreshold_2">
<property name="maximum">
<double>1.000000000000000</double>
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</property>
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<property name="value">
<double>0.200000000000000</double>
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</property>
</widget>
</item>
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<item row="7" column="2">
<widget class="QLabel" name="label_similarity_2">
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<property name="text">
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<string>T_similarity : Similarity threshold (for Rehearsal/Weight Update).</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="8" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize_2">
<property name="minimum">
<number>1</number>
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</property>
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<property name="maximum">
<number>9999</number>
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</property>
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<property name="value">
<number>15</number>
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</property>
</widget>
</item>
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<item row="8" column="2">
<widget class="QLabel" name="label_126">
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<property name="text">
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<string>STM size : Short-term memory size.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
</property>
</widget>
</item>
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<item row="9" column="0">
<widget class="QLabel" name="label_databasePath_2">
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<property name="text">
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<string>Database path.</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="QToolButton" name="toolButton_databasePath_2">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
</item>
<item row="9" column="2">
<widget class="QLineEdit" name="lineEdit_databasePath_2">
<property name="readOnly">
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<bool>true</bool>
</property>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
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<spacer name="verticalSpacer_5">
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<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="page">
<layout class="QVBoxLayout" name="verticalLayout_44">
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<item>
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<widget class="QGroupBox" name="groupBox_rtabmap_advanced0">
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<property name="title">
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<string>RTAB-Map settings</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_15">
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<item>
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<layout class="QFormLayout" name="formLayout_17">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
<item row="0" column="0">
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<widget class="QCheckBox" name="general_checkBox_SLAM_mode">
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<property name="text">
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<string/>
</property>
<property name="checked">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="0" column="1">
<widget class="QLabel" name="label_92">
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<property name="text">
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<string>SLAM mode.
If set to false, global localization is performed, so without adding new data to the map.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate">
<property name="suffix">
<string> Hz</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="value">
<double>1.000000000000000</double>
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</property>
</widget>
</item>
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<item row="1" column="1">
<widget class="QLabel" name="label_135">
<property name="text">
<string>Detection rate (0 means inf). RTAB-Map will filter input data to satisfy this rate. If you want to process all data, consider set "Detection rate" to 0 and "Data buffer size" to 0.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="2" column="1">
<widget class="QLabel" name="label_84">
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<property name="text">
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<string>Data buffer size (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="2" column="0">
<widget class="QSpinBox" name="general_spinBox_imagesBufferSize">
<property name="maximum">
<number>999</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
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</item>
</layout>
</item>
<item>
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<widget class="QGroupBox" name="groupBox_6">
<property name="title">
<string>Thresholds</string>
</property>
<layout class="QFormLayout" name="formLayout_18">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_timeThr">
<property name="suffix">
<string> ms</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>10000.000000000000000</double>
</property>
<property name="singleStep">
<double>50.000000000000000</double>
</property>
<property name="value">
<double>700.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_timeLimit">
<property name="text">
<string>T_time : Max time (ms) allowed (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="general_spinBox_memoryThr">
<property name="maximum">
<number>99999</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_maxWmSize">
<property name="text">
<string>Maximum signatures allowed in Working Memory (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_hardThr">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.950000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_93">
<property name="text">
<string>T_loop : Loop closure threshold. Setting to 0 means that the new place hypothesis is used as threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_loopRatio">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_96">
<property name="text">
<string>T_ratio : The loop closure hypothesis must be over T_ratio x lastHypothesisValue.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_publishing">
<property name="title">
<string>Publishing (stuff to be shown in the GUI)</string>
</property>
<layout class="QFormLayout" name="formLayout_15">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_publishStats">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_35">
<property name="text">
<string>Publish statistics (when false, this disables other "Publish *").</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_publishRawData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_91">
<property name="text">
<string>Publish raw sensor data.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="general_checkBox_publishPdf">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_106">
<property name="text">
<string>Publish pdf. See the probability density function</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="general_checkBox_publishLikelihood">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_116">
<property name="text">
<string>Publish likelihood.</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_statistics">
<property name="title">
<string>Statistics</string>
</property>
<layout class="QFormLayout" name="formLayout_16">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_statisticLogsBufferedInRAM">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_143">
<property name="text">
<string>Statistics logs buffered in RAM and written to hard drive on exit (otherwise logs are written at each iteration on hard drive).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_144">
<property name="text">
<string>Log statistics (in LogI.txt and LogF.txt in the working directory).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_statisticLogged">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_4" columnstretch="0,0,1">
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<item row="0" column="0">
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<widget class="QLabel" name="label_databasePath">
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<property name="text">
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<string>Database path.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="0" column="1">
<widget class="QToolButton" name="toolButton_databasePath">
<property name="text">
<string>...</string>
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</property>
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</widget>
</item>
<item row="0" column="2">
<widget class="QLineEdit" name="lineEdit_databasePath">
<property name="readOnly">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="1" column="0">
<widget class="QLabel" name="label_workingDirectory">
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<property name="text">
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<string>Working directory (where to put logs/dump stuff).</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="QToolButton" name="toolButton_workingDirectory">
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<property name="text">
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<string>...</string>
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</property>
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</widget>
</item>
<item row="1" column="2">
<widget class="QLineEdit" name="lineEdit_workingDirectory">
<property name="readOnly">
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<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
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<spacer name="verticalSpacer_4">
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<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="page_23">
<layout class="QVBoxLayout" name="verticalLayout_2">
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<item>
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<widget class="QGroupBox" name="groupBox_bayes1">
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<property name="title">
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<string>Bayes filter</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_22">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Prediction probabilities for each loop closure event:</string>
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</property>
</widget>
</item>
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<item>
<widget class="QLabel" name="label_76">
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<property name="text">
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<string>We can edit how will like the prediction used in the Bayes filter when there is a loop closure hypothesis. Format is [VP LC N1 N2 N3...]. LC is the loop closure event and N# are its neighbors. VP (virtual place) is the probability to be in a new place when a loop closure was found on the last iteration.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item>
<layout class="QGridLayout" name="gridLayout_24">
<item row="0" column="0">
<widget class="QLabel" name="label_65">
<property name="text">
<string>Prediction</string>
</property>
</widget>
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</item>
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<item row="1" column="0">
<widget class="QLabel" name="label_66">
<property name="text">
<string>Sum</string>
</property>
</widget>
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</item>
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<item row="1" column="1">
<widget class="QLabel" name="label_prediction_sum">
<property name="text">
<string/>
</property>
</widget>
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</item>
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<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_bayes_predictionLC">
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
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</item>
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</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_6" stretch="0,1">
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<item>
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<widget class="QLabel" name="label_63">
<property name="text">
<string>Preview</string>
</property>
</widget>
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</item>
<item>
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<widget class="UPlot" name="predictionPlot" native="true"/>
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</item>
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</layout>
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</item>
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<item>
<layout class="QGridLayout" name="gridLayout_22" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_bayes_fullPredictionUpdate">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_vp">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.900000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_113">
<property name="text">
<string>The VP here is the probability to be in a new place since no loop closure was found on the last iteration.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_142">
<property name="text">
<string>Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
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</item>
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</layout>
</widget>
</item>
<item>
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<spacer name="verticalSpacer_23">
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<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="page_3">
<layout class="QVBoxLayout" name="verticalLayout_4">
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<item>
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<widget class="QGroupBox" name="groupBox_memory1">
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<property name="title">
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<string>Memory</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<layout class="QFormLayout" name="formLayout_10">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<item row="0" column="0">
<widget class="QSpinBox" name="general_spinBox_maxStMemSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>15</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
<string>STM size : Short-term memory size.</string>
</property>
<property name="wordWrap">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_recentWmRatio">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_ratioRecent">
<property name="text">
<string>T_recent : Ratio of locations after the last loop closure in WM that cannot be transferred.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="general_spinBox_maxRetrieved">
<property name="maximum">
<number>999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_retrieved">
<property name="text">
<string>Maximum locations retrieved at the same time from LTM to WM.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="general_checkBox_generateIds">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_retrieved_2">
<property name="text">
<string>True=Generate location Ids, False=use input image ids.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="1">
<widget class="QLabel" name="label_retrieved_3">
<property name="text">
<string>Bad signatures are ignored.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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</layout>
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</item>
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<item>
<widget class="QGroupBox" name="groupBox_rehearsal2">
<property name="title">
<string>Rehearsal / Weight Update</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_12" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_similarity">
<property name="text">
<string>T_similarity : Similarity threshold. Values must be >=0.0 ans <=1.0.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_similarityThreshold">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.200000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_rehearsalIdUpdate">
<property name="text">
<string>On merging, update to new id.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="general_checkBox_RehearsalIdUpdatedToNewOne">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
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</widget>
</item>
</layout>
</widget>
</item>
<item>
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<spacer name="verticalSpacer_6">
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<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="page_24">
<layout class="QVBoxLayout" name="verticalLayout_33">
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<item>
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<widget class="QGroupBox" name="groupBox_database2">
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<property name="title">
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<string>Database</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_11" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRawData">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
</property>
</widget>
</item>
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<item row="0" column="1">
<widget class="QLabel" name="label_keepRawData">
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<property name="text">
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<string>Keep raw sensor data.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_dbInMemory">
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<property name="text">
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<string/>
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</property>
</widget>
</item>
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<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_dbCacheSize">
<property name="minimum">
<number>10</number>
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</property>
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<property name="maximum">
<number>999999</number>
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</property>
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<property name="singleStep">
<number>100</number>
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</property>
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<property name="value">
<number>2000</number>
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</property>
</widget>
</item>
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<item row="3" column="1">
<widget class="QLabel" name="label_75">
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<property name="text">
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<string>Sqlite3 cache size,
see Sqlite3 doc 'PRAGMA cache_size'.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
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<widget class="QComboBox" name="comboBox_dbJournalMode">
<item>
<property name="text">
<string>DELETE</string>
</property>
</item>
<item>
<property name="text">
<string>TRUNCATE</string>
</property>
</item>
<item>
<property name="text">
<string>PERSIST</string>
</property>
</item>
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<item>
<property name="text">
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<string>MEMORY</string>
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</property>
</item>
<item>
<property name="text">
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<string>OFF</string>
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</property>
</item>
</widget>
</item>
<item row="4" column="1">
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<widget class="QLabel" name="label_77">
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<property name="text">
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<string>Sqlite3 journal mode,
see Sqlite3 doc 'PRAGMA journal_mode'.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="1">
<widget class="QLabel" name="label_74">
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<property name="text">
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<string>Using database in the memory instead of a file on the hard disk (this greatly improve database access performance but it requires more RAM memory).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
</property>
</widget>
</item>
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<item row="5" column="1">
<widget class="QLabel" name="label_89">
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<property name="text">
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<string>Sqlite3 synchronous,
see Sqlite3 doc 'PRAGMA synchronous'.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="6" column="1">
<widget class="QLabel" name="label_120">
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<property name="text">
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<string>Sqlite3 temp store,
see Sqlite3 doc 'PRAGMA temp_store'.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="5" column="0">
<widget class="QComboBox" name="comboBox_dbSynchronous">
<property name="currentIndex">
<number>2</number>
</property>
<item>
<property name="text">
<string>OFF</string>
</property>
</item>
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<item>
<property name="text">
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<string>NORMAL</string>
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</property>
</item>
<item>
<property name="text">
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<string>FULL</string>
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</property>
</item>
</widget>
</item>
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<item row="6" column="0">
<widget class="QComboBox" name="comboBox_dbTempStore">
<item>
<property name="text">
<string>DEFAULT</string>
</property>
</item>
<item>
<property name="text">
<string>FILE</string>
</property>
</item>
<item>
<property name="text">
<string>MEMORY</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_keepRehearsed">
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<property name="text">
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<string>Keep rehearsed locations.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_keepRehearsedNodes">
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<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_12">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_9">
<layout class="QVBoxLayout" name="verticalLayout_58">
<item>
<widget class="QGroupBox" name="groupBox_signature_keypoint1">
<property name="title">
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<string>Visual word</string>
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</property>
<layout class="QVBoxLayout" name="verticalLayout_39">
<item>
<layout class="QFormLayout" name="formLayout_7">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_kp_publishKeypoints">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_publishWords">
<property name="text">
<string>Publish visual words.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="surf_spinBox_wordsPerImageTarget">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_22">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
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used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
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</property>
<property name="text">
<string>Maximum words per image.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.050000000000000</double>
</property>
<property name="value">
<double>0.250000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_81">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
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used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
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</property>
<property name="text">
<string>Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_kp_tfIdfLikelihoodUsed">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_82">
<property name="text">
<string>Use the tf-idf method to compute the likelihood.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_kp_parallelized">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_94">
<property name="text">
<string>If the dictionary update and signature creation were parallelized.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLineEdit" name="lineEdit_kp_roi">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_101">
<property name="text">
<string>ROI ratios [left, right, top, bottom].</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_97">
<property name="text">
<string>Left ROI ratio (0 = no change).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_98">
<property name="text">
<string>Right ROI ratio (0 = no change).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_99">
<property name="text">
<string>Top ROI ratio (0 = no change).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_100">
<property name="text">
<string>Bottom ROI ratio (0 = no change).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLabel" name="label_117">
<property name="text">
<string>Visual word type.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QComboBox" name="comboBox_detector_strategy">
<item>
<property name="text">
<string>SURF</string>
</property>
</item>
<item>
<property name="text">
<string>SIFT</string>
</property>
</item>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QStackedWidget" name="stackedWidget_visualWord">
<property name="currentIndex">
<number>0</number>
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</property>
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<widget class="QWidget" name="page_25">
<layout class="QVBoxLayout" name="verticalLayout_41">
<item>
<widget class="QGroupBox" name="groupBox_detector_surf">
<property name="title">
<string>SURF</string>
</property>
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_hessianThr">
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>50000.000000000000000</double>
</property>
<property name="value">
<double>500.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Hessian threshold.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="surf_spinBox_octaves">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>4</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_26">
<property name="text">
<string>Octaves.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="surf_spinBox_octaveLayers">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>Octave layers.</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_49">
<property name="text">
<string>U-SURF used.</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="surf_checkBox_upright">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_surfExtended">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_8">
<property name="text">
<string>Descriptor extended (true=128, false=64).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="surf_checkBox_gpuVersion">
<property name="enabled">
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<bool>true</bool>
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</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
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<widget class="QLabel" name="label_surf_checkBox_gpuVersion">
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<property name="enabled">
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<bool>true</bool>
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</property>
<property name="text">
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<string>GPU version (as well for descriptor).</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_26">
<layout class="QVBoxLayout" name="verticalLayout_40">
<item>
<widget class="QGroupBox" name="groupBox_detector_sift">
<property name="title">
<string>SIFT</string>
</property>
<layout class="QGridLayout" name="gridLayout_19" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="sift_spinBox_nFeatures"/>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_129">
<property name="text">
<string>Sigma.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_contrastThr">
<property name="decimals">
<number>6</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>50000.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.006667000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Contrast threshold.</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_30">
<property name="text">
<string>Edge threshold.</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_edgeThr">
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>10.000000000000000</double>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="sift_doubleSpinBox_sigma">
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>10.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="sift_spinBox_nOctaveLayers"/>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_130">
<property name="text">
<string>nOctaveLayers.</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_131">
<property name="text">
<string>nFeatures.</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
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</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_15">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="page_14">
<layout class="QVBoxLayout" name="verticalLayout_12">
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<item>
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<widget class="QGroupBox" name="groupBox_dictionary_strategy2">
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<property name="title">
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<string>Dictionary</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_18" columnstretch="0,0,10">
<item row="9" column="0">
<widget class="QSpinBox" name="surf_spinBox_maxLeafs">
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<property name="maximum">
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<number>1024</number>
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</property>
<property name="value">
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<number>64</number>
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</property>
</widget>
</item>
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<item row="9" column="2">
<widget class="QLabel" name="label_95">
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<property name="text">
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<string>Maximum number of leafs checked (when using kd-trees).</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="3" column="0">
<widget class="QCheckBox" name="checkBox_dictionary_nndrUsed">
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<property name="text">
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<string/>
</property>
<property name="checked">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="2" column="2">
<widget class="QLabel" name="label_dictionaryPath">
<property name="text">
<string>Path to a pre-computed dictionary (when "Use an incremental dictionary" is not set).</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">
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<widget class="QToolButton" name="toolButton_dictionaryPath">
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<property name="text">
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<string>...</string>
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</property>
</widget>
</item>
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<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_dictionary_incremental">
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<property name="text">
<string/>
</property>
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<property name="checked">
<bool>true</bool>
</property>
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</widget>
</item>
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<item row="1" column="2">
<widget class="QLabel" name="label_incrementalDict">
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<property name="text">
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<string>Use an incremental dictionary.
When set to false, no new words are added to dictionary, so no more updates are required after each detection, which greatly increases time performance at the cost of lower adaptation to new environments.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="0">
<widget class="QLineEdit" name="lineEdit_dictionaryPath"/>
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</item>
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<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_dictionary_minDistUsed">
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<property name="text">
<string/>
</property>
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<property name="checked">
<bool>true</bool>
</property>
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</widget>
</item>
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<item row="6" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_matchThr">
<property name="maximum">
<double>999.990000000000009</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.160000000000000</double>
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</property>
</widget>
</item>
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<item row="5" column="2">
<widget class="QLabel" name="label_32">
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<property name="text">
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<string>Use a minimum distance for the nearest neighbor.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="6" column="2">
<widget class="QLabel" name="label_9">
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<property name="text">
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<string>Minimum distance (for the nearest neighbor)
Lower the distance -> higher the precision.</string>
</property>
<property name="wordWrap">
<bool>false</bool>
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</property>
</widget>
</item>
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<item row="3" column="2">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Use nearest neighbor distance ratio approach (NNDR).</string>
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</property>
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<property name="wordWrap">
<bool>true</bool>
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</property>
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</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_nndrRatio">
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<property name="maximum">
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<double>999.990000000000009</double>
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</property>
<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
<property name="value">
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<double>0.700000000000000</double>
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</property>
</widget>
</item>
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<item row="4" column="2">
<widget class="QLabel" name="label_78">
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<property name="text">
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<string>NNDR ratio
(A matching pair is accepted, if its distance is closer than X times the distance of the second nearest neighbor)
Lower the ratio -> higher the precision.</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="7" column="2">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Nearest neighbor strategy.</string>
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</property>
</widget>
</item>
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<item row="7" column="0">
<widget class="QComboBox" name="comboBox_dictionary_strategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
<property name="text">
<string>Naive</string>
</property>
</item>
<item>
<property name="text">
<string>KdForest FLANN</string>
</property>
</item>
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</widget>
</item>
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</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_19">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_19">
<layout class="QVBoxLayout" name="verticalLayout_13">
<item>
<widget class="QGroupBox" name="groupBox_vh_strategy1">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>Hypotheses verification</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<layout class="QFormLayout" name="formLayout_9">
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_vh_strategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>No verification</string>
</property>
</item>
<item>
<property name="text">
<string>Epipolar constraints</string>
</property>
</item>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_50">
<property name="text">
<string>Hypotheses verification.</string>
</property>
</widget>
</item>
</layout>
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</item>
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<item>
<widget class="QGroupBox" name="groupBox_vh_epipolar2">
<property name="title">
<string>Epipolar constraints</string>
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</property>
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<layout class="QGridLayout" name="gridLayout" columnstretch="0,10">
<item row="0" column="0">
<widget class="QSpinBox" name="surf_spinBox_matchCountMinAccepted">
<property name="minimum">
<number>8</number>
</property>
<property name="maximum">
<number>100000</number>
</property>
<property name="value">
<number>11</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_25">
<property name="text">
<string>Minimum match count to accept a loop closure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ransacParam1">
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>3.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_27">
<property name="text">
<string>Fundamental Matrix : Distance (pixels) for inliers.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ransacParam2">
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>0.990000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.990000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_28">
<property name="text">
<string>Fundamental Matrix : Ransac performance.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
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</widget>
</item>
</layout>
</widget>
</item>
<item>
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<spacer name="verticalSpacer_3">
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<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="page_10">
<layout class="QVBoxLayout" name="verticalLayout_19">
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<item>
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<widget class="QGroupBox" name="groupBox_slam1">
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<property name="title">
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<string>RGB-D SLAM</string>
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</property>
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<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_25">
<item>
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<layout class="QHBoxLayout" name="horizontalLayout_4" stretch="0,1">
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<item>
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<widget class="QCheckBox" name="general_checkBox_activateRGBD">
<property name="text">
<string/>
</property>
</widget>
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</item>
<item>
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<widget class="QLabel" name="label_activateRGBD">
<property name="text">
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<string>Activate metric RGB-D SLAM. This module enables 6d metric SLAM directly in RTAB-Map.
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If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
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</item>
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</layout>
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</item>
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<item>
<widget class="QLabel" name="label_83">
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<property name="text">
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<string>Rigid transformations between nodes are saved on the neighbor links of the RTAB-Map's graph. On loop closures, a new constraint is added to the graph and TORO optimizes the graph. RGB-D images must be sent to work (see Source->Openni).</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item>
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<widget class="QGroupBox" name="groupBox_slam_update">
<property name="title">
<string>Update</string>
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</property>
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<layout class="QFormLayout" name="formLayout_20">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_153">
<property name="text">
<string>Linear update: Minimum linear displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="rgdb_angularUpdate">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>3.140000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_152">
<property name="text">
<string>Angular update: Minimum angular displacement to update the map. Note that Weight Update is done prior to this, so weights are still updated.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_globalConstraints">
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<property name="title">
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<string>Global loop closure constraints</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_20">
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<item>
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<widget class="QLabel" name="label_55">
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<property name="text">
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<string>When a global loop closure is detected by the Bayes filter, a transform is computed between the current location and the old one. If a transform cannot be computed, the loop closure is rejected. The computation of the transform is done in 2 steps: </string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
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<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_57">
<property name="text">
<string>A transformation is computed using the 3D visual word correspondences. See "Visual transformation" panel for parameters.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="0" column="0">
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<widget class="QLabel" name="label_17">
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<property name="text">
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<string>1)</string>
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</property>
</widget>
</item>
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<item row="1" column="1">
<widget class="QLabel" name="label_64">
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<property name="text">
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<string>Then if enabled, the visual transform is used as a guess for ICP estimation (3D or 2D). See "ICP" panel for parameters.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
<item row="1" column="0">
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<widget class="QLabel" name="label_18">
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<property name="text">
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<string>2)</string>
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</property>
</widget>
</item>
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</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,1">
<item>
<widget class="QComboBox" name="globalDetection_icpType">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
<property name="text">
<string>No ICP</string>
</property>
</item>
<item>
<property name="text">
<string>ICP 3D (e.g. Kinect depth)</string>
</property>
</item>
<item>
<property name="text">
<string>ICP 2D (e.g. Laser scan)</string>
</property>
</item>
</widget>
</item>
<item>
<widget class="QLabel" name="label_19">
<property name="text">
<string>Use ICP estimation. If ICP 2D is selected, laser scans are required.</string>
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</property>
</widget>
</item>
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</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_odom_correction">
<property name="title">
<string>Odometry correction (laser scans are required)</string>
</property>
<layout class="QFormLayout" name="formLayout_21">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QSpinBox" name="odomScanHistory"/>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_scanMatching">
<property name="text">
<string>Laser scan matching history size for odometry correction. Set to 0 to disable odometry correction. ICP 2D only is used here.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_localDetection_time">
<property name="title">
<string>Local loop closure detection in time</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_21">
<item>
<widget class="QLabel" name="label_54">
<property name="text">
<string>Activate local detection over all locations in STM. The Bayes filter is not used here, so it may results in more false detections. The same 2-steps technique as for global loop closure constraints is used here.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_localDetection_space">
<property name="title">
<string>Local loop closure detection in space (laser scans are required)</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_48">
<item>
<widget class="QLabel" name="label_space1_2">
<property name="text">
<string>Activate local detection over locations (in Working Memory) near in space. The Bayes filter is not used here, so it may results in more false detections. ICP 2D only is used here.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QFormLayout" name="formLayout_13">
<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="localDetection_radius">
<property name="suffix">
<string> m</string>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_space2">
<property name="text">
<string>Maximum radius for space detection.</string>
</property>
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<property name="wordWrap">
<bool>true</bool>
</property>
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</widget>
</item>
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<item row="1" column="0">
<widget class="QSpinBox" name="localDetection_maxNeighbors">
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="1" column="1">
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<widget class="QLabel" name="label_space3">
<property name="text">
<string>Maximum nearest neighbors for space detection.</string>
</property>
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<property name="wordWrap">
<bool>true</bool>
</property>
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</widget>
</item>
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<item row="2" column="1">
<widget class="QLabel" name="label_space3_2">
<property name="text">
<string>Maximum ID difference between the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="localDetection_maxDiffID">
<property name="maximum">
<number>999</number>
</property>
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<property name="value">
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<number>0</number>
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</property>
</widget>
</item>
</layout>
</item>
</layout>
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</widget>
</item>
</layout>
</widget>
</item>
<item>
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<spacer name="verticalSpacer_11">
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<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
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<width>20</width>
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<height>0</height>
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</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="page_21">
<layout class="QVBoxLayout" name="verticalLayout_50">
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<item>
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<widget class="QGroupBox" name="groupBox_visualTransform2">
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<property name="title">
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<string>Visual transformation</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_49">
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<item>
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<widget class="QLabel" name="label_16">
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<property name="text">
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<string>Parameters to compute a transform from 3D visual word correspondences.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
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<layout class="QFormLayout" name="formLayout_6">
<item row="0" column="0">
<widget class="QSpinBox" name="loopClosure_bowMinInliers">
<property name="minimum">
<number>1</number>
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</property>
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<property name="maximum">
<number>1000</number>
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</property>
<property name="value">
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<number>10</number>
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</property>
</widget>
</item>
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<item row="0" column="1">
<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Minimum visual word correspondences to compute geometry transform.</string>
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</property>
</widget>
</item>
<item row="1" column="1">
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<widget class="QLabel" name="label_14">
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<property name="text">
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<string>Maximum distance for visual word correspondences.</string>
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</property>
</widget>
</item>
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<item row="1" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_bowInlierDistance">
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<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
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<double>0.020000000000000</double>
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</property>
</widget>
</item>
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<item row="2" column="1">
<widget class="QLabel" name="label_15">
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<property name="text">
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<string>Maximum iterations to compute the transform from visual words.</string>
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</property>
</widget>
</item>
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<item row="2" column="0">
<widget class="QSpinBox" name="loopClosure_bowIterations">
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<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
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<item row="3" column="1">
<widget class="QLabel" name="label_146">
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<property name="text">
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<string>Max feature depth.</string>
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</property>
</widget>
</item>
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<item row="3" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_bowMaxDepth">
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<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="value">
<double>5.000000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
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</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_20">
<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>
<widget class="QWidget" name="page_27">
<layout class="QVBoxLayout" name="verticalLayout_52">
<item>
<widget class="QGroupBox" name="groupBox_icp2">
<property name="title">
<string>ICP</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_51">
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<item>
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<widget class="QLabel" name="label_7">
<property name="text">
<string>Iterative closest point (ICP) parameters.</string>
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</property>
</widget>
</item>
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<item>
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<widget class="QGroupBox" name="groupBox_loopClosure_icp3">
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<property name="title">
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<string>ICP 3D - Point To Plane (e.g. Kinect depth)</string>
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</property>
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<layout class="QFormLayout" name="formLayout_3">
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<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
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<widget class="QSpinBox" name="loopClosure_icpDecimation">
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<property name="minimum">
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<number>1</number>
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</property>
<property name="maximum">
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<number>32</number>
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</property>
</widget>
</item>
<item row="0" column="1">
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<widget class="QLabel" name="label_109">
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<property name="text">
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<string>Depth image decimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icpMaxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="value">
<double>5.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_115">
<property name="text">
<string>Max cloud depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpVoxelSize">
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<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
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<double>0.000000000000000</double>
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</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
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<double>0.005000000000000</double>
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</property>
</widget>
</item>
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<item row="2" column="1">
<widget class="QLabel" name="label_125">
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<property name="text">
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<string>Voxel size to be used for ICP computation. Set to 0 to disable voxel filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="3" column="0">
<widget class="QSpinBox" name="loopClosure_icpSamples">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>100</number>
</property>
<property name="value">
<number>5000</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_118">
<property name="text">
<string>Random samples to be used for ICP computation. Not used if Voxel size is null.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpMaxCorrespondenceDistance">
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_122">
<property name="text">
<string>Max distance for point correspondences.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="loopClosure_icpIterations">
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<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
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<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_124">
<property name="text">
<string>Max iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpMaxFitness">
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_133">
<property name="text">
<string>Maximum fitness to accept the computed transform.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_loopClosure_icp2">
<property name="title">
<string>ICP 2D (e.g. Laser scan)</string>
</property>
<layout class="QFormLayout" name="formLayout_4">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icp2MaxCorrespondenceDistance">
<property name="minimum">
<double>0.010000000000000</double>
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</property>
<property name="singleStep">
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<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_138">
<property name="text">
<string>Max distance for point correspondences.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="loopClosure_icp2Iterations">
<property name="minimum">
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<number>1</number>
</property>
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<property name="maximum">
<number>1000</number>
</property>
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<property name="value">
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<number>10</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_139">
<property name="text">
<string>Max iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icp2MaxFitness">
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
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</property>
</widget>
</item>
<item row="2" column="1">
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<widget class="QLabel" name="label_141">
<property name="text">
<string>Maximum fitness to accept the computed transform.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icp2Ratio">
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.900000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_148">
<property name="text">
<string>Ratio of matching correspondences to accept the transform.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_150">
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<property name="text">
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<string>Voxel size. Set to 0 to disable voxel filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="4" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icp2Voxel">
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<property name="suffix">
<string> m</string>
</property>
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<property name="decimals">
<number>3</number>
</property>
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<property name="minimum">
<double>0.000000000000000</double>
</property>
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<property name="maximum">
<double>0.100000000000000</double>
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</property>
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<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
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</property>
</widget>
</item>
</layout>
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</widget>
</item>
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</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_21">
<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>
<widget class="QWidget" name="page_12">
<layout class="QVBoxLayout" name="verticalLayout_32">
<item>
<widget class="QGroupBox" name="groupBox_odometry2">
<property name="title">
<string>Odometry</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_34">
<item>
<widget class="QLabel" name="label_114">
<property name="text">
<string>Odometry is computed as fast as possible up to "Source->Input rate" parameter. Odometry is not computed if already provided by the source.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item>
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<layout class="QFormLayout" name="formLayout_8">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="odom_linearUpdate">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.015000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_45">
<property name="text">
<string>Linear update: minimum linear distance to update the odometry.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="odom_angularUpdate">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.015000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_46">
<property name="text">
<string>Angular update: minimum angular distance to update the odometry.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="odom_type">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>Bag-of-words (SURF/SIFT)</string>
</property>
</item>
<item>
<property name="text">
<string>Binary (FAST+BRIEF)</string>
</property>
</item>
<item>
<property name="text">
<string>Iterative closest point (ICP)</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_44">
<property name="text">
<string>Type</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_136">
<property name="text">
<string>Max features extracted from the images (0 means inf). Not used for ICP.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QSpinBox" name="odom_maxFeatures">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_149">
<property name="text">
<string>Maximum distance for visual word correspondences. Not used for ICP.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_145">
<property name="text">
<string>Minimum visual word correspondences to compute geometry transform. Not used for ICP.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QDoubleSpinBox" name="odom_inlierDistance">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.005000000000000</double>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="odom_minInliers">
<property name="minimum">
<number>8</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_36">
<property name="text">
<string>Maximum iterations to compute the transform from visual words. Not used for ICP.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="odom_iterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QLabel" name="label_104">
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<property name="text">
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<string>Max feature depth. For ICP, it is the max cloud depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="odom_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
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</property>
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<property name="value">
<double>5.000000000000000</double>
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</property>
</widget>
</item>
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<item row="4" column="1">
<widget class="QLabel" name="label_47">
<property name="text">
<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="4" column="0">
<widget class="QSpinBox" name="odom_countdown">
<property name="maximum">
<number>999999</number>
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</property>
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</widget>
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</item>
</layout>
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</item>
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<item>
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<widget class="QStackedWidget" name="stackedWidget_odom">
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<property name="currentIndex">
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<number>1</number>
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</property>
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<widget class="QWidget" name="page_15">
<layout class="QVBoxLayout" name="verticalLayout_35">
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<item>
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<widget class="QGroupBox" name="groupBox_odom_bow">
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<property name="title">
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<string>Bag-of-words odometry (SIFT/SURF)</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<widget class="QLabel" name="label_24">
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<property name="text">
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<string>SIFT or SURF features extracted/descriptors with the depth images (making 3d visual words) are used to compute the odometry. The transformation is estimated using RANSAC between 3D correspondences. Parameters about SIFT or SURF can be found under RTAB-Map->"Visual Word". The nearest neighbor parameters are the same as in RTAB-Map->"Visual Word"->Dictionary (so a FLANN kd-tree is used with euclidian distance).</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>
<spacer name="verticalSpacer_13">
<property name="orientation">
<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
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</property>
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</spacer>
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</item>
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</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_16">
<layout class="QVBoxLayout" name="verticalLayout_36">
<item>
<widget class="QGroupBox" name="groupBox_odom_fast">
<property name="title">
<string>Binary odometry (FAST+BRIEF)</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="label_43">
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<property name="text">
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<string>Odometry is computed using BRIEF binary descriptors computed from FAST features. The transformation is estimated using RANSAC between 3D correspondences. Nearest neigbor is computed with Hamming distance.</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>
<layout class="QFormLayout" name="formLayout_2">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<item row="0" column="0">
<widget class="QSpinBox" name="odom_bin_briefBytes">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>32</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_52">
<property name="text">
<string>BRIEF bytes.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="odom_bin_fastThreshold">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_56">
<property name="text">
<string>FAST Threshold.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="odom_bin_fastSuppressNonMax">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_69">
<property name="text">
<string>FAST Non max suppression.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="odom_bin_bruteForceMatching">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_147">
<property name="text">
<string>Brute force nerarest neighbor matching. If false, FLANN LSH index is used.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
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</item>
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<item>
<spacer name="verticalSpacer_16">
<property name="orientation">
<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
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</property>
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</spacer>
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</item>
</layout>
</widget>
</item>
</layout>
</widget>
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<widget class="QWidget" name="page_11">
<layout class="QVBoxLayout" name="verticalLayout_46">
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<item>
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<widget class="QGroupBox" name="groupBox_odom_icp">
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<property name="title">
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<string>ICP odometry</string>
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</property>
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<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_45">
<item>
<widget class="QLabel" name="label_160">
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<property name="text">
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<string>Only geometric information is used here. Iterative closest point (ICP) is done with the 3D point clouds.</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>
<layout class="QFormLayout" name="formLayout_19">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<item row="0" column="0">
<widget class="QSpinBox" name="odom_icpDecimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_165">
<property name="text">
<string>Depth image decimation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="odom_icpSamples">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>100</number>
</property>
<property name="value">
<number>5000</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_166">
<property name="text">
<string>Random samples to be used for ICP computation. Not used if Voxel size is not null.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="odom_icpMaxCorrespondenceDistance">
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="singleStep">
<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_161">
<property name="text">
<string>Max distance for point correspondences.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="odom_icpIterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_164">
<property name="text">
<string>Max iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QDoubleSpinBox" name="odom_icpMaxFitness">
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_162">
<property name="text">
<string>Maximum fitness to accept the computed transform.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_167">
<property name="text">
<string>Voxel size to be used for ICP computation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="odom_icpVoxelSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.005000000000000</double>
</property>
</widget>
</item>
</layout>
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</item>
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<item>
<spacer name="verticalSpacer_18">
<property name="orientation">
<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
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</property>
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</spacer>
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</item>
</layout>
</widget>
</item>
</layout>
</widget>
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</widget>
</item>
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<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QPushButton" name="pushButton_testSourceOdometry">
<property name="text">
<string>Test selected odometry</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>
</item>
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</layout>
</widget>
</item>
<item>
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<spacer name="verticalSpacer_14">
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<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
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<width>20</width>
<height>40</height>
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</size>
</property>
</spacer>
</item>
</layout>
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</widget>
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</widget>
</item>
</layout>
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</item>
</layout>
</widget>
</widget>
</item>
<item>
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<layout class="QHBoxLayout" name="horizontalLayout">
<property name="leftMargin">
<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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<item>
<widget class="QDialogButtonBox" name="buttonBox_local">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Apply|QDialogButtonBox::RestoreDefaults</set>
</property>
</widget>
</item>
</layout>
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</item>
</layout>
</item>
</layout>
</item>
<item>
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<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QRadioButton" name="radioButton_basic">
<property name="text">
<string>Basic</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="radioButton_advanced">
<property name="text">
<string>Advanced</string>
</property>
</widget>
</item>
<item>
<widget class="QDialogButtonBox" name="buttonBox_global">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="standardButtons">
<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
</property>
</widget>
</item>
</layout>
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</item>
</layout>
</widget>
<customwidgets>
<customwidget>
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<class>UPlot</class>
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<extends>QWidget</extends>
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<header>utilite/UPlot.h</header>
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<container>1</container>
</customwidget>
</customwidgets>
<resources>
<include location="../GuiLib.qrc"/>
</resources>
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<connections/>
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</ui>
