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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>1058</width>
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<height>592</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>
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<width>160</width>
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<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>
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<y>0</y>
<width>760</width>
<height>1570</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>1</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>
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<layout class="QGridLayout" name="gridLayout_39" columnstretch="0,1">
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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>
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<item row="2" column="1">
<widget class="QLabel" name="label_102">
<property name="text">
<string>Notify when a new global path is received.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_notifyWhenNewGlobalPathIsReceived">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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</layout>
</item>
<item>
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
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<string>Loop closure detection view</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_31" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QCheckBox" name="checkBox_imageRejectedShown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_105">
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<property name="text">
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<string>Show the image of the highest hypothesis.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="0">
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<widget class="QCheckBox" name="checkBox_imageHighestHypShown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
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<item row="1" column="1">
<widget class="QLabel" name="label_73">
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<property name="text">
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<string>Show image when an hypothesis is rejected.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_70">
<property name="text">
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<string>Vertical layout.</string>
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</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">
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<bool>true</bool>
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</property>
</widget>
</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_222">
<property name="text">
<string>Show loop closure hypotheses on the graph view. Nodes are colorized from blue to red depending on the highest hypothesis (which is red). Posterior hypotheses should be published. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox_posteriorGraphView">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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</layout>
</widget>
</item>
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<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>3D Map view</string>
</property>
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<layout class="QGridLayout" name="gridLayout_38" columnstretch="0,1">
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<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_odomQualityWarnThr">
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_86">
<property name="text">
<string>Odometry warning theshold:
Show a yellow background when the number of odometry inliers goes under this threshold. If 0, it is ignored. You can see the current odometry inliers count under Statistics view -> General -> Odom inliers.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
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<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="QHBoxLayout" name="horizontalLayout_9">
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<item>
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<widget class="QPushButton" name="pushButton_loadConfig">
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<property name="text">
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<string>Load settings (*.ini) ...</string>
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</property>
</widget>
</item>
<item>
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<widget class="QPushButton" name="pushButton_saveConfig">
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<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_resetConfig">
<property name="text">
<string>Reset all settings</string>
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</property>
</widget>
</item>
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<item>
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
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</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>
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<layout class="QVBoxLayout" name="verticalLayout_31">
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<item>
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<widget class="QGroupBox" name="groupBox_filtering">
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<property name="title">
<string>Cloud filtering</string>
</property>
<property name="checkable">
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<bool>false</bool>
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</property>
<property name="checked">
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<bool>false</bool>
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</property>
<layout class="QVBoxLayout" name="verticalLayout_37">
<item>
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<widget class="QLabel" name="label_160">
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<property name="text">
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<string>For visualization purpose, superposed clouds can be filtered by one or both approaches below.</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_64" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_33">
<property name="text">
<string>Node filtering. By comparing poses in the same area, only one cloud in a fixed radius and angle is shown.</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="1" column="1">
<layout class="QGridLayout" name="gridLayout_17" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Radius.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterAngle">
<property name="suffix">
<string> degrees</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>180.000000000000000</double>
</property>
<property name="value">
<double>30.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_48">
<property name="text">
<string>Angle.</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_nodeFiltering">
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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="1">
<widget class="QLabel" name="label_161">
<property name="text">
<string>Cloud subtraction filtering. When a new cloud is added to the map, the previous cloud is subtracted from the new cloud. Using "Node filtering" at the same time may generate large "holes" in the map (so better to use without "Node filtering"). Voxel size of the map below is used for the radius search of the close points to filter between the two 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 row="2" column="0">
<widget class="QCheckBox" name="checkBox_subtractFiltering">
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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="1">
<layout class="QGridLayout" name="gridLayout_65" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_174">
<property name="text">
<string>Minimum number of previous cloud's points in the fixed radius in order to substract the point in the new cloud (radius is the voxel size). Increasing this value reduces the black contours between clouds.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_substractFilteringMinPts"/>
</item>
</layout>
</item>
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</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_gridMap">
<property name="title">
<string>Occupancy grid map</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_45">
<item>
<widget class="QLabel" name="label_167">
<property name="text">
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<string>When the Graph view is visible or if the "Show in 3D map view" below is checked, the grid map is generated using the laser scans.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_20" columnstretch="0,1">
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<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_map_opacity">
<property name="suffix">
<string/>
</property>
<property name="minimum">
<double>0.750000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.750000000000000</double>
</property>
</widget>
</item>
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<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_map_shown">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_map_shown">
<property name="text">
<string>Show in 3D map view.</string>
</property>
</widget>
</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_map_resolution">
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<property name="suffix">
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<string> m</string>
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</property>
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<property name="minimum">
<double>0.010000000000000</double>
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</property>
<property name="maximum">
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<double>1.000000000000000</double>
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</property>
<property name="value">
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<double>0.050000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_159">
<property name="text">
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<string>Resolution (cell size).</string>
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</property>
</widget>
</item>
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<item row="2" column="1">
<widget class="QLabel" name="label_170">
<property name="text">
<string>Opacity.</string>
</property>
</widget>
</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox_map_occupancyFrom3DCloud">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
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<item row="3" column="1">
<widget class="QLabel" name="label_210">
<property name="text">
<string>Occupancy from 3D cloud projection on the ground. Laser scans are ignored when activated.</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="4" column="1">
<widget class="QLabel" name="label_224">
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<property name="text">
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<string>Erode.</string>
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</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="QCheckBox" name="checkBox_map_erode">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
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</layout>
</item>
</layout>
</widget>
</item>
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<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
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</property>
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<property name="frameShadow">
<enum>QFrame::Raised</enum>
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</property>
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<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
<item row="9" column="0">
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<widget class="QCheckBox" name="checkBox_showScans">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="11" column="0">
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<widget class="QSpinBox" name="spinBox_ptsize_scan">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
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<item row="4" column="2">
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<widget class="QLabel" name="label_108">
<property name="text">
<string>3D cloud decimation (1-2-4-8-...).</string>
</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">
<property name="text">
<string>Map</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_137">
<property name="text">
<string>Odometry</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_showClouds">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QCheckBox" name="checkBox_showOdomClouds">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_119">
<property name="text">
<string>Show 3D clouds.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
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<item row="3" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_odom">
<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>0.000000000000000</double>
</property>
</widget>
</item>
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<item row="3" column="2">
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<widget class="QLabel" name="label_107">
<property name="text">
<string>3D cloud voxel size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="0">
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<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>
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<item row="4" column="1">
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<widget class="QSpinBox" name="spinBox_decimation_odom">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>32</number>
</property>
<property name="value">
<number>2</number>
</property>
</widget>
</item>
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<item row="5" column="0">
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<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>
</property>
</widget>
</item>
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<item row="5" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth_odom">
<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>0.000000000000000</double>
</property>
</widget>
</item>
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<item row="5" column="2">
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<widget class="QLabel" name="label_132">
<property name="text">
<string>3D cloud maximum depth (0 means no limit).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity">
<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">
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<double>1.000000000000000</double>
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</property>
</widget>
</item>
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<item row="6" column="1">
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<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>
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<item row="6" column="2">
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<widget class="QLabel" name="label_155">
<property name="text">
<string>3D cloud opacity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="7" column="0">
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<widget class="QSpinBox" name="spinBox_ptsize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
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<item row="7" column="1">
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<widget class="QSpinBox" name="spinBox_ptsize_odom">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
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<item row="7" column="2">
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<widget class="QLabel" name="label_157">
<property name="text">
<string>3D cloud point size (1..64).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="9" column="1">
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<widget class="QCheckBox" name="checkBox_showOdomScans">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="9" column="2">
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<widget class="QLabel" name="label_110">
<property name="text">
<string>Show 2D scans.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="10" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_scan">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
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<item row="13" column="0">
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<widget class="QCheckBox" name="checkBox_meshing">
<property name="text">
<string/>
</property>
</widget>
</item>
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<item row="10" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom_scan">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
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<item row="10" column="2">
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<widget class="QLabel" name="label_156">
<property name="text">
<string>2D scan opacity.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="11" column="1">
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<widget class="QSpinBox" name="spinBox_ptsize_odom_scan">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>64</number>
</property>
</widget>
</item>
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<item row="11" column="2">
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<widget class="QLabel" name="label_158">
<property name="text">
<string>2D scan point size (1..64).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="15" column="2">
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<widget class="QLabel" name="label_168">
<property name="text">
<string>Sphere radius that is to be used for determining the k-nearest neighbors used for triangulating (GP3). Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="17" column="2">
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<widget class="QLabel" name="label_85">
<property name="text">
<string>Mesh smoothing using Moving Least Squares algorithm (MLS).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="15" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Radius">
<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>0.040000000000000</double>
</property>
</widget>
</item>
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<item row="18" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_mlsRadius">
<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>0.040000000000000</double>
</property>
</widget>
</item>
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<item row="13" column="2">
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<widget class="QLabel" name="label_169">
<property name="text">
<string>Online meshing using Greedy Projection Triangulation (GP3).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="18" column="2">
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<widget class="QLabel" name="label_87">
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<property name="text">
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<string>MLS search radius: Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting. Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="17" column="0">
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<widget class="QCheckBox" name="checkBox_mls">
<property name="text">
<string/>
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</property>
<property name="checked">
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<bool>false</bool>
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</property>
</widget>
</item>
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<item row="14" column="2">
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<widget class="QLabel" name="label_71">
<property name="text">
<string>Set the number of k nearest neighbors to use for the normal estimation to create the mesh. Not used when mesh smoothing below is used.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="14" column="0">
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<widget class="QSpinBox" name="spinBox_normalKSearch">
<property name="value">
<number>20</number>
</property>
</widget>
</item>
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<item row="12" column="2">
<widget class="QLabel" name="label_213">
<property name="text">
<string>Show graphs.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QCheckBox" name="checkBox_showGraphs">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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</layout>
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</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>
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<layout class="QGridLayout" name="gridLayout_40" columnstretch="0,1">
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<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>
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<layout class="QGridLayout" name="gridLayout_28" columnstretch="0,0">
<item row="1" column="0">
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<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">
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<double>0.000000000000000</double>
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</property>
</widget>
</item>
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<item row="1" column="1">
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<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>
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<item row="4" column="1">
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<widget class="QLabel" name="label_17">
<property name="text">
<string>Mirroring mode (flip image horizontally). It has no effect on database source.</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="4" column="0">
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<widget class="QCheckBox" name="source_mirroring">
<property name="text">
<string/>
</property>
</widget>
</item>
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<item row="5" column="0">
<widget class="QLineEdit" name="lineEdit_calibrationName">
<property name="minimumSize">
<size>
<width>100</width>
<height>0</height>
</size>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Calibration name. Used to search for calibration files (*.yaml) in "camera_info" folder of the working directory. If empty, the GUID of the camera is used (for those having one). OpenNI and Freenect drivers use factory calibration by default (so they ignore this parameter). A calibrated camera is required for RGB-D SLAM mode.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLineEdit" name="lineEdit_sourceLocalTransform">
<property name="text">
<string>0 0 1 -1 0 0 0 -1 0</string>
</property>
</widget>
</item>
<item row="3" 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. Format (9 values): r11 r12 r13 r21 r22 r23 r31 r32 r33.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Source type. Select specific driver below.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" 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="0" column="0">
<widget class="QComboBox" name="comboBox_sourceType">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>RGB-D</string>
</property>
</item>
<item>
<property name="text">
<string>Stereo</string>
</property>
</item>
<item>
<property name="text">
<string>RGB</string>
</property>
</item>
<item>
<property name="text">
<string>Database</string>
</property>
</item>
</widget>
</item>
<item row="7" column="0">
<widget class="QPushButton" name="pushButton_test_camera">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Test</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QPushButton" name="pushButton_calibrate">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Calibrate</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_24">
<property name="text">
<string>Calibration files are saved in "camera_info" folder of the working directory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLineEdit" name="lineEdit_sourceDevice">
<property name="text">
<string/>
</property>
</widget>
</item>
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</layout>
</item>
<item>
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<widget class="QStackedWidget" name="stackedWidget_src">
<property name="currentIndex">
<number>0</number>
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</property>
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<widget class="QWidget" name="page_41">
<layout class="QVBoxLayout" name="verticalLayout_64">
<item>
<widget class="QGroupBox" name="groupBox_sourceRGBD">
<property name="title">
<string>RGB-D</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_11">
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<item>
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<widget class="QLabel" name="label_40">
<property name="text">
<string>Grabber for RGB-D devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
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</item>
<item>
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<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,0,1">
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_cameraRGBD">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
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<property name="text">
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<string>OpenNI-PCL</string>
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</property>
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</item>
<item>
<property name="text">
<string>Freenect</string>
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</property>
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</item>
<item>
<property name="text">
<string>OpenNI-CV</string>
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</property>
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</item>
<item>
<property name="text">
<string>OpenNI-CV-ASUS</string>
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</property>
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</item>
<item>
<property name="text">
<string>OpenNI2</string>
</property>
</item>
<item>
<property name="text">
<string>Freenect2</string>
</property>
</item>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_228">
<property name="text">
<string>Driver</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_229">
<property name="text">
<string>Only RGB images are published.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QCheckBox" name="checkbox_rgbd_colorOnly">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
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</item>
<item>
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<widget class="QStackedWidget" name="stackedWidget_rgbd">
<property name="currentIndex">
<number>4</number>
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</property>
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<widget class="QWidget" name="page_32">
<layout class="QVBoxLayout" name="verticalLayout_63">
<item>
<widget class="QGroupBox" name="groupBox_openni">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>OpenNI</string>
</property>
<layout class="QGridLayout" name="gridLayout_57" columnstretch="0,0,0">
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_openniOniPath">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_245">
<property name="text">
<string>Path to a *.ONI file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_34">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_openniOniPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_33"/>
<widget class="QWidget" name="page_34"/>
<widget class="QWidget" name="page_35"/>
<widget class="QWidget" name="page_36">
<layout class="QVBoxLayout" name="verticalLayout_51">
<item>
<widget class="QGroupBox" name="groupBox_openni2">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>OpenNI 2</string>
</property>
<layout class="QGridLayout" name="gridLayout_54" columnstretch="0,1,0">
<item row="1" column="0">
<widget class="QCheckBox" name="openni2_autoWhiteBalance">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_217">
<property name="text">
<string>Auto white balance.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="openni2_autoExposure">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_218">
<property name="text">
<string>Auto exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="openni2_exposure">
<property name="maximum">
<number>65535</number>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_219">
<property name="text">
<string>Exposure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<spacer name="verticalSpacer_33">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="0">
<widget class="QSpinBox" name="openni2_gain">
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_220">
<property name="text">
<string>Gain.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="openni2_mirroring">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_223">
<property name="text">
<string>Mirroring.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_openni2OniPath">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_231">
<property name="text">
<string>Path to a *.ONI file.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_openni2OniPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_37">
<layout class="QVBoxLayout" name="verticalLayout_62">
<item>
<widget class="QGroupBox" name="groupBox_freenect2">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>Freenect2</string>
</property>
<layout class="QGridLayout" name="gridLayout_56" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_230">
<property name="text">
<string>Format.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="comboBox_freenect2Format">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>RGB+Depth SD</string>
</property>
</item>
<item>
<property name="text">
<string>RGB+Depth HD</string>
</property>
</item>
<item>
<property name="text">
<string>IR+Depth</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer_32">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</widget>
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</item>
</layout>
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</widget>
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</item>
</layout>
</widget>
<widget class="QWidget" name="page_44">
<layout class="QVBoxLayout" name="verticalLayout_71">
<item>
<widget class="QGroupBox" name="groupBox_sourceStereo">
<property name="title">
<string>Stereo</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_67">
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<item>
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<widget class="QLabel" name="label_46">
<property name="text">
<string>Grabber for stereo devices (i.e., Bumblebee2).</string>
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</property>
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<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_58" columnstretch="0,0,0">
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_cameraStereo">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
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<property name="text">
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<string>DC1394</string>
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</property>
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</item>
<item>
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<property name="text">
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<string>FlyCapture2</string>
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</property>
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</item>
<item>
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<property name="text">
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<string>Images</string>
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</property>
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</item>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_240">
<property name="text">
<string>Driver</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
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</item>
<item>
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<widget class="QStackedWidget" name="stackedWidget_stereo">
<property name="currentIndex">
<number>2</number>
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</property>
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<widget class="QWidget" name="page_47"/>
<widget class="QWidget" name="page_48"/>
<widget class="QWidget" name="page_53">
<layout class="QVBoxLayout" name="verticalLayout_70">
<item>
<widget class="QGroupBox" name="groupBox_cameraStereoImages">
<property name="sizePolicy">
<sizepolicy hsizetype="Ignored" vsizetype="Ignored">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="title">
<string>CameraStereoImages</string>
</property>
<layout class="QGridLayout" name="gridLayout_61" columnstretch="0,0,1">
<item row="1" column="1">
<widget class="QLineEdit" name="lineEdit_cameraStereoImages_timestamps">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QToolButton" name="toolButton_cameraStereoImages_timestamps">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_248">
<property name="text">
<string>Optional timestamps file (*.txt). The file should contain one column. The number of rows should be the same than the number of images in the folder. </string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="lineEdit_cameraStereoImages_path">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_249">
<property name="text">
<string>Path to directory containing stereo images. The images order should be left/right/left/right... and so on. You can also set two directories (separated by ';'), one for left images and one for right images.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="toolButton_cameraStereoImages_path">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="2" column="0">
<spacer name="verticalSpacer_38">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</widget>
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</item>
</layout>
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</widget>
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</item>
</layout>
</widget>
<widget class="QWidget" name="page_42">
<layout class="QVBoxLayout" name="verticalLayout_65">
<item>
<widget class="QGroupBox" name="groupBox_sourceRGB">
<property name="title">
<string>RGB</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
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<item>
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<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>
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<property name="text">
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<string>Usb camera</string>
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</property>
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</item>
<item>
<property name="text">
<string>Images</string>
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</property>
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</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">
<string>Source type.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
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</item>
<item>
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<widget class="QStackedWidget" name="stackedWidget_image">
<property name="currentIndex">
<number>1</number>
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</property>
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<widget class="QWidget" name="page_7">
<layout class="QVBoxLayout" name="verticalLayout_30">
<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>
</widget>
<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="0,1">
<item row="2" column="0">
<widget class="QCheckBox" name="source_images_refreshDir">
<property name="text">
<string/>
</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="0" column="1">
<widget class="QLineEdit" name="source_images_lineEdit_path">
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QToolButton" name="source_images_toolButton_selectSource">
<property name="text">
<string>...</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>
<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>
</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>
</widget>
<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>
</widget>
</widget>
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</item>
</layout>
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</widget>
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</item>
</layout>
</widget>
<widget class="QWidget" name="page_43">
<layout class="QVBoxLayout" name="verticalLayout_66">
<item>
<widget class="QGroupBox" name="groupBox_sourceDatabase">
<property name="title">
<string>Database</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<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>
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</item>
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<item row="1" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
<property name="text">
<string/>
</property>
</widget>
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</item>
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<item row="0" column="0">
<widget class="QToolButton" name="source_database_toolButton_selectSource">
<property name="text">
<string>...</string>
</property>
</widget>
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</item>
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<item row="0" column="1">
<widget class="QLineEdit" name="source_database_lineEdit_path"/>
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</item>
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<item row="4" column="1">
<widget class="QLabel" name="label_58">
<property name="text">
<string>Start position (index)</string>
</property>
</widget>
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</item>
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<item row="4" column="0">
<widget class="QSpinBox" name="source_spinBox_databaseStartPos">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999999</number>
</property>
</widget>
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</item>
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<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>
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</item>
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<item row="3" column="1">
<widget class="QLabel" name="label_80">
<property name="text">
<string>Ignore goal delay.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
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</item>
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<item row="3" column="0">
<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
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<property name="text">
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<string/>
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</property>
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</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_90">
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<property name="text">
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<string>Use database stamps as input rate.</string>
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</property>
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<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="source_checkBox_useDbStamps">
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<property name="text">
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<string/>
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</property>
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</widget>
</item>
<item row="5" column="1">
<spacer name="verticalSpacer_35">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
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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="0,1">
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_detectionRate_2">
<property name="suffix">
<string> Hz</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
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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>
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<item row="0" column="1">
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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="1">
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<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="1">
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<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="1">
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<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="1">
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<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="1">
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<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="1">
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<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="1">
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<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="1">
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<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>
</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="QGridLayout" name="gridLayout_43" columnstretch="0,1">
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<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="4" column="0">
<widget class="QCheckBox" name="general_checkBox_startNewMapOnLoopClosure">
<property name="text">
<string/>
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</property>
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<property name="checked">
<bool>true</bool>
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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="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>
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<item row="4" column="1">
<widget class="QLabel" name="label_185">
<property name="text">
<string>Start a new map only if there is a global loop closure detected first with a previous map. If there is no map in memory, a new map is still created.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="1">
<widget class="QLabel" name="label_84">
<property name="text">
<string>Data buffer size (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</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>
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</property>
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<property name="decimals">
<number>1</number>
</property>
<property name="value">
<double>1.000000000000000</double>
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</property>
</widget>
</item>
<item row="3" column="1">
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<widget class="QLabel" name="label_165">
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<property name="text">
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<string>Create intermediate nodes if odometry is faster than the detection rate.</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="QCheckBox" name="general_checkBox_createIntermediateNodes">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
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</layout>
</item>
<item>
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<widget class="QGroupBox" name="groupBox_6">
<property name="title">
<string>Thresholds</string>
</property>
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<layout class="QGridLayout" name="gridLayout_44" columnstretch="0,1">
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<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">
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<string>Publish statistics (stuff to be shown in the GUI)</string>
</property>
<property name="checkable">
<bool>true</bool>
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</property>
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<layout class="QGridLayout" name="gridLayout_45" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QCheckBox" name="general_checkBox_publishRawData">
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<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
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<widget class="QLabel" name="label_91">
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<property name="text">
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<string>Publish signature data.</string>
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</property>
</widget>
</item>
<item row="1" column="0">
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<widget class="QCheckBox" name="general_checkBox_publishPdf">
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<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
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<widget class="QLabel" name="label_106">
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<property name="text">
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<string>Publish loop closure hypotheses (pdf).</string>
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</property>
</widget>
</item>
<item row="2" column="0">
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<widget class="QCheckBox" name="general_checkBox_publishLikelihood">
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<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
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<widget class="QLabel" name="label_116">
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<property name="text">
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<string>Publish loop closure likelihood.</string>
</property>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_statistics">
<property name="title">
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<string>Log statistics (LogI.txt and LogF.txt) in the working directory.</string>
</property>
<property name="checkable">
<bool>true</bool>
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</property>
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<layout class="QGridLayout" name="gridLayout_46" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QCheckBox" name="general_checkBox_statisticLogsBufferedInRAM">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="0" column="1">
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<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>
2014-10-18 13:12:45 +00:00
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_statisticLoggedHeaders">
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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="1">
<widget class="QLabel" name="label_209">
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<property name="text">
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<string>Add headers (column names) to log files.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
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<layout class="QGridLayout" name="gridLayout_4" columnstretch="0,0,0">
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<item row="0" column="0">
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<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="0" column="1">
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<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>
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<item row="0" column="2">
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<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>
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<item row="2" column="1">
<widget class="QLabel" name="label_82">
<property name="text">
<string>Use the tf-idf method to compute the likelihood. Otherwise, images are compared with each other.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_kp_tfIdfLikelihoodUsed">
<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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</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>
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<layout class="QGridLayout" name="gridLayout_42" columnstretch="0,1">
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<item row="8" column="0">
<widget class="QSpinBox" name="spinBox_imageDecimation">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>16</number>
</property>
</widget>
</item>
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<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>
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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>
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<item row="6" column="1">
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<widget class="QLabel" name="label_retrieved_4">
<property name="text">
<string>Initialize the Woking Memory with all nodes from Long-Term memory, instead of only nodes of the last session. This may be useful in localization mode, where less processing time is required than in SLAM mode, so more nodes can be kept in Working Memory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<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="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>
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<item row="4" column="0">
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<widget class="QCheckBox" name="general_checkBox_generateIds">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="1">
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<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="5" column="0">
2014-09-21 21:14:17 +00:00
<widget class="QCheckBox" name="general_checkBox_badSignaturesIgnored">
<property name="text">
<string/>
</property>
<property name="checked">
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<bool>false</bool>
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</property>
</widget>
</item>
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<item row="5" column="1">
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<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>
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<item row="6" column="0">
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<widget class="QCheckBox" name="general_checkBox_initWMWithAllNodes">
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<property name="text">
<string/>
</property>
<property name="checked">
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<bool>false</bool>
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</property>
</widget>
</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_retrieved_5">
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<property name="text">
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<string>Keep raw sensor data. Only useful to save loop closure computation time when features re-extraction is enabled. Disable to save RAM memory.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="7" column="0">
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<widget class="QCheckBox" name="general_checkBox_keepRawData">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_retrieved_6">
<property name="text">
<string>Image decimation. This feature can be used to save images in lower resolution (size/decimation).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="1">
<widget class="QLabel" name="label_retrieved_7">
<property name="text">
<string>On transfer, signatures are sorted by weight->ID (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.</string>
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</property>
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<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="general_checkBox_transferSortingByWeightId">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="9" column="1">
<widget class="QLabel" name="label_retrieved_8">
<property name="text">
<string>If > 0.0, voxelize laser scans when creating a location. This feature can be used to save laser scans already voxelized.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="9" column="0">
<widget class="QDoubleSpinBox" name="general_doubleSpinBox_laserScanVoxel">
<property name="minimumSize">
<size>
<width>50</width>
<height>0</height>
</size>
</property>
<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>0.000000000000000</double>
</property>
</widget>
</item>
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</layout>
2012-12-11 18:05:05 +00:00
</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">
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<item row="2" column="0">
<widget class="QCheckBox" name="general_checkBox_RehearsalIdUpdatedToNewOne">
<property name="text">
<string/>
</property>
</widget>
</item>
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<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>
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<item row="3" column="1">
<widget class="QLabel" name="label_rehearsalIdUpdate_2">
<property name="text">
<string>Ignore Weight Update when the robot is moving.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="rgdb_rehearsalWeightIgnoredWhileMoving">
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<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">
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<widget class="QCheckBox" name="general_checkBox_keepBinaryData">
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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 sensor compressed 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 not linked nodes in db (rehearsed nodes and deleted nodes are saved).</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="1" column="0">
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<widget class="QCheckBox" name="general_checkBox_keepNotLinkedNodes">
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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>
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<layout class="QVBoxLayout" name="verticalLayout_12">
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<item>
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<layout class="QGridLayout" name="gridLayout_41" columnstretch="0,1">
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<item row="0" column="0">
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<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>
<item>
<property name="text">
<string>ORB</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>BRISK</string>
</property>
</item>
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</widget>
</item>
<item row="0" column="1">
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<widget class="QLabel" name="label_117">
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<property name="text">
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<string>Visual word type.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_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="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
</property>
</widget>
</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_53">
<property name="toolTip">
<string>0 means that the response (hessian) threshold
used for the detector will not be adapted.
Otherwise, the threshold is modified to
generate the number of words requested.</string>
</property>
<property name="text">
<string>Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image".</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="surf_spinBox_wordsPerImageTarget">
<property name="minimum">
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<number>-1</number>
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</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>150</number>
</property>
</widget>
</item>
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<item row="2" column="1">
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<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">
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<string>Maximum words per image (0=no maximum). Setting to -1 will disable features extraction, so disabling loop closure detection indirectly.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="0">
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<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>
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<item row="3" column="1">
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<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>
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<item row="4" column="0">
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<widget class="QLineEdit" name="lineEdit_kp_roi">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_101">
<property name="text">
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<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="5" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
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<item row="5" column="1">
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<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>
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
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<item row="6" column="1">
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<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>
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
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<item row="7" column="1">
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<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>
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<item row="8" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
<property name="suffix">
<string> %</string>
</property>
<property name="decimals">
<number>0</number>
</property>
</widget>
</item>
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<item row="8" column="1">
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<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>
</layout>
</item>
<item>
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<widget class="QGroupBox" name="groupBox_dictionary_strategy2">
<property name="title">
<string>Dictionary</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_18" columnstretch="0,0,1">
<item row="3" column="1">
<widget class="QToolButton" name="toolButton_dictionaryPath">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="label_78">
<property name="text">
<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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_nndrRatio">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLineEdit" name="lineEdit_dictionaryPath"/>
</item>
<item row="3" 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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_dictionary_incremental">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Nearest neighbor strategy.</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QComboBox" name="comboBox_dictionary_strategy">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>FLANN Linear</string>
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</property>
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</item>
<item>
<property name="text">
<string>FLANN KdTree </string>
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</property>
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</item>
<item>
<property name="text">
<string>FLANN LSH</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force GPU</string>
</property>
</item>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_incrementalDict">
<property name="text">
<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>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="2">
<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="2" column="0">
<widget class="QCheckBox" name="checkBox_kp_parallelized">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_kp_newWordsComparedTogether">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="label_186">
<property name="text">
<string>When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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</layout>
</widget>
</item>
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<item>
<widget class="QGroupBox" name="groupBox_9">
<property name="title">
<string>Sub pixel keypoints</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_59">
<item>
<widget class="QLabel" name="label_35">
<property name="text">
<string>Refining corners to sub pixel. Only useful in RGB-D SLAM mode. Sub pixel corners may not be needed for features like SURF/SIFT, which are already sub pixel.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_32" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="subpix_winSize">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_200">
<property name="text">
<string>Window size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="subpix_iterations">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_203">
<property name="text">
<string>Iterations. 0 disables sub pixel refining.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="subpix_eps">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>0.100000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.030000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_204">
<property name="text">
<string>Epsilon.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
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</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>
</widget>
<widget class="QWidget" name="page_13">
<layout class="QVBoxLayout" name="verticalLayout_38">
<item>
<widget class="QGroupBox" name="groupBox_detector_surf2">
<property name="title">
<string>SURF</string>
</property>
<layout class="QGridLayout" name="gridLayout_15" columnstretch="0,1">
<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="2" column="1">
<widget class="QLabel" name="label_41">
<property name="text">
<string>Octave layers.</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="6" column="1">
<widget class="QLabel" name="label_surf_checkBox_gpuKeypointsRatio">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>GPU keypoints ratio.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_surf_checkBox_gpuVersion">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>GPU version.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</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="5" column="0">
<widget class="QCheckBox" name="surf_checkBox_gpuVersion">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<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="6" column="0">
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_gpuKeypointsRatio">
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<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="3" column="0">
<widget class="QCheckBox" name="checkBox_surfExtended">
<property name="text">
<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="1" column="1">
<widget class="QLabel" name="label_26">
<property name="text">
<string>Octaves.</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Hessian threshold.</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_17">
<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_14">
<layout class="QVBoxLayout" name="verticalLayout_39">
<item>
<widget class="QGroupBox" name="groupBox_detector_sift2">
<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>
<item>
<spacer name="verticalSpacer_19">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
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</property>
</spacer>
</item>
</layout>
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</widget>
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<widget class="QWidget" name="page_17">
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<widget class="QGroupBox" name="groupBox_detector_fast2">
<property name="title">
<string>FAST</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QFormLayout" name="formLayout_2">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QSpinBox" name="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="0" column="1">
<widget class="QLabel" name="label_56">
<property name="text">
<string>Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="fastSuppressNonMax">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_69">
<property name="text">
<string>If true, non-maximum suppression is applied to detected corners (keypoints).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="fastGpu">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_fastGPU">
<property name="text">
<string>GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="fastKeypointRatio">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_fastGPUKptRatio">
<property name="text">
<string>Used with FAST GPU.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer_16">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_15">
<layout class="QVBoxLayout" name="verticalLayout_40">
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<item>
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<widget class="QGroupBox" name="groupBox_detector_brief2">
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<property name="title">
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<string>BRIEF</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_16" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="briefBytes">
<property name="minimum">
<number>1</number>
</property>
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<property name="maximum">
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<number>1000</number>
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</property>
<property name="value">
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<number>32</number>
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</property>
</widget>
</item>
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<item row="0" column="1">
<widget class="QLabel" name="label_52">
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<property name="text">
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<string>Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.</string>
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</property>
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<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_22">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>660</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_18">
<layout class="QVBoxLayout" name="verticalLayout_35">
<item>
<widget class="QGroupBox" name="groupBox_detector_orb2">
<property name="title">
<string>ORB</string>
</property>
<layout class="QGridLayout" name="gridLayout_14" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_ORBScaleFactor">
<property name="decimals">
<number>1</number>
</property>
<property name="value">
<double>1.200000000000000</double>
</property>
</widget>
</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_32">
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<property name="text">
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<string>Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.</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="1" column="0">
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<widget class="QSpinBox" name="spinBox_ORBNLevels">
<property name="value">
<number>8</number>
</property>
</widget>
</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_43">
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<property name="text">
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<string>The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="spinBox_ORBEdgeThreshold">
<property name="value">
<number>31</number>
</property>
</widget>
</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_95">
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<property name="text">
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<string>This is size of the border where the features are not detected. It should roughly match the patchSize parameter.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
</property>
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</widget>
</item>
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<item row="3" column="0">
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<widget class="QSpinBox" name="spinBox_ORBFirstLevel">
<property name="maximum">
<number>0</number>
</property>
</widget>
</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_127">
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<property name="text">
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<string>It should be 0 in the current implementation.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="0">
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<widget class="QSpinBox" name="spinBox_ORBWTA_K">
<property name="value">
<number>2</number>
</property>
</widget>
</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_128">
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<property name="text">
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<string>WTA_K: The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
</property>
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</widget>
</item>
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<item row="5" column="0">
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<widget class="QSpinBox" name="spinBox_ORBScoreType"/>
</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_140">
<property name="text">
<string>The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.</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>
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<item row="6" column="0">
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<widget class="QSpinBox" name="spinBox_ORBPatchSize">
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<property name="value">
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<number>31</number>
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</property>
</widget>
</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_147">
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<property name="text">
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<string>size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="7" column="0">
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<widget class="QCheckBox" name="checkBox_ORBGpu">
<property name="text">
<string/>
</property>
</widget>
</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_orbGpu">
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<property name="text">
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<string>GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.</string>
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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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</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_18">
<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_11">
<layout class="QVBoxLayout" name="verticalLayout_36">
<item>
<widget class="QGroupBox" name="groupBox_detector_freak2">
<property name="title">
<string>FREAK</string>
</property>
<layout class="QGridLayout" name="gridLayout_13" columnstretch="0,1">
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_FREAKOrientationNormalized">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_6">
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<property name="text">
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<string>Enable orientation normalization.</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>
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<item row="1" column="0">
<widget class="QCheckBox" name="checkBox_FREAKScaleNormalized">
<property name="text">
<string/>
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</property>
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<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Enable scale normalization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
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</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_FREAKPatternScale">
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<property name="value">
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<double>22.000000000000000</double>
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</property>
</widget>
</item>
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<item row="2" column="1">
<widget class="QLabel" name="label_13">
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<property name="text">
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<string>Scaling of the description pattern.</string>
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</property>
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<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
2014-06-22 03:33:56 +00:00
<item row="3" column="0">
<widget class="QSpinBox" name="spinBox_FREAKNOctaves">
<property name="value">
<number>4</number>
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</property>
</widget>
</item>
2014-06-22 03:33:56 +00:00
<item row="3" column="1">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Number of octaves covered by the detected keypoints.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
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<spacer name="verticalSpacer_13">
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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>
</widget>
2014-08-20 23:05:06 +00:00
<widget class="QWidget" name="page_16">
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QGroupBox" name="groupBox_detector_gftt2">
<property name="title">
<string>GFTT</string>
</property>
<layout class="QGridLayout" name="gridLayout_21" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_qualityLevel">
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<property name="decimals">
<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>0.010000000000000</double>
</property>
</widget>
</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_minDistance">
<property name="decimals">
<number>1</number>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox_GFTT_useHarrisDetector">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="1">
2014-08-20 23:05:06 +00:00
<widget class="QLabel" name="label_172">
<property name="text">
<string>Use Harris detector.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="0">
2014-08-20 23:05:06 +00:00
<widget class="QDoubleSpinBox" name="doubleSpinBox_GFTT_k">
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.040000000000000</double>
</property>
</widget>
</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_173">
<property name="text">
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<string>K. Harris detector free parameter.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="spinBox_GFTT_blockSize">
<property name="value">
<number>3</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_175">
<property name="text">
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<string>Quality level. Parameter characterizing the minimal accepted quality of image corners. The parameter value is multiplied by the best corner quality measure, which is the minimal eigenvalue (see cornerMinEigenVal() ) or the Harris function response. The corners with the quality measure less than the product are rejected. For example, if the best corner has the quality measure = 1500, and the qualityLevel=0.01 , then all the corners with the quality measure less than 15 are rejected.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_176">
<property name="text">
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<string>Minimum possible Euclidean distance between the returned corners.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="1">
2014-08-20 23:05:06 +00:00
<widget class="QLabel" name="label_177">
<property name="text">
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<string>Block size. Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.</string>
2014-08-20 23:05:06 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_25">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>644</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
2014-10-06 19:41:45 +00:00
<widget class="QWidget" name="page_25">
<layout class="QVBoxLayout" name="verticalLayout_47">
<item>
<widget class="QGroupBox" name="groupBox_detector_brisk2">
<property name="title">
<string>BRISK</string>
</property>
<layout class="QGridLayout" name="gridLayout_26" columnstretch="0,1">
<item row="0" column="1">
<widget class="QLabel" name="label_191">
<property name="text">
<string>FAST/AGAST detection threshold score.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_BRISK_patterScale">
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_188">
<property name="text">
<string>Detection octaves. Use 0 to do single scale.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="spinBox_BRISK_octaves">
<property name="maximum">
<number>10</number>
</property>
<property name="value">
<number>3</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_189">
<property name="text">
<string>Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_BRISK_thresh">
<property name="maximum">
<number>9999</number>
</property>
<property name="value">
<number>30</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_26">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>742</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
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<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>
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<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
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<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>
2011-06-05 14:45:39 +00:00
</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>
2012-12-11 18:05:05 +00:00
</item>
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</layout>
2012-12-11 18:05:05 +00:00
</item>
2013-12-11 00:12:44 +00:00
<item>
<widget class="QLabel" name="label_83">
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<property name="text">
2014-06-25 23:00:35 +00:00
<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->RGB-D Camera).</string>
2012-12-11 18:05:05 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
2013-12-11 00:12:44 +00:00
<item>
2014-01-22 19:49:28 +00:00
<widget class="QGroupBox" name="groupBox_slam_update">
<property name="title">
2014-06-25 23:00:35 +00:00
<string>Map update</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_47" columnstretch="0,1">
2014-01-22 19:49:28 +00:00
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="rgdb_linearUpdate">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
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<number>3</number>
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</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>
2015-05-04 16:00:21 -04:00
<item row="2" column="0">
2014-02-19 19:00:38 +00:00
<widget class="QDoubleSpinBox" name="rgdb_newMapOdomChange">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>99.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_163">
2014-06-25 23:00:35 +00:00
<property name="text">
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<string>Odometry change detected that triggers a new map (0 means whatever the odometry change, the detector will still link the new pose in the current map). Also by default, when an odometry with Identity transformation is detected, a new map is automatically created. </string>
2014-06-25 23:00:35 +00:00
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="0">
2014-11-19 23:38:15 +00:00
<widget class="QCheckBox" name="odomScanHistory">
<property name="text">
<string/>
</property>
</widget>
2014-06-25 23:00:35 +00:00
</item>
2015-05-04 16:00:21 -04:00
<item row="3" column="1">
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<widget class="QLabel" name="label_scanMatching">
<property name="text">
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<string>Pose scan matching: odometry pose correction using laser scan matching. ICP 2D only is used here.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_scanMatching_3">
<property name="text">
<string>Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="5" column="0">
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<widget class="QSpinBox" name="spinBox_maxLocalLocationsRetrieved"/>
</item>
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<item row="7" 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="7" column="1">
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<widget class="QLabel" name="label_space2">
<property name="text">
<string>Local radius for nodes selection in the local map. This parameter is used in some approaches below.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="6" column="1">
<widget class="QLabel" name="label_scanMatching_5">
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<property name="text">
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<string>Ratio of working memory for which local nodes are immunized from transfer.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
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</property>
</widget>
</item>
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<item row="6" column="0">
<widget class="QDoubleSpinBox" name="rgdb_localImmunizationRatio">
<property name="suffix">
<string/>
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</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>0.100000000000000</double>
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</property>
</widget>
</item>
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</layout>
</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_graphOptimization">
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<property name="title">
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<string>Graph optimization</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_49" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QComboBox" name="graphOptimization_type">
<item>
<property name="text">
<string>TORO</string>
</property>
</item>
<item>
<property name="text">
<string>g2o</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="graphOptimization_iterations">
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<property name="minimum">
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<number>0</number>
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</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
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</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="graphOptimization_covarianceIgnored">
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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="6" column="0">
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<widget class="QCheckBox" name="graphOptimization_fromGraphEnd">
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<property name="text">
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<string/>
</property>
</widget>
</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_151">
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<property name="text">
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<string>Optimize graph from the newest node.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="5" column="1">
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<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="graphOptimization_slam2d">
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<property name="text">
<string/>
</property>
</widget>
</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_164">
<property name="text">
<string>2d SLAM: use fast 3DoF (x, y, theta) optimization instead of 6DoF (x, y, z, roll, pitch, yaw) optimization.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_45">
<property name="text">
<string>Graph optimization algorithm.</string>
</property>
</widget>
</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_183">
<property name="text">
<string>-If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_211">
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<property name="text">
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<string>-If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="1" column="1">
<widget class="QLabel" name="label_31">
<property name="text">
<string>Iterations.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_64">
<property name="text">
<string>Stop optimizing when the error improvement is less than this value.</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="graphOptimization_stopEpsilon">
<property name="decimals">
<number>4</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.001000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_141">
<property name="text">
<string>Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links (transitional and rotational variances).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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</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">
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<string>Activate local detection over all locations in STM. The Bayes filter is not used here: If there are enough correspondences between the current image and others in STM, transformations are computed. This generates more constraints in the map's graph, so more time is required to optimize the graph.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_localDetection_space">
<property name="title">
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<string>Local loop closure detection in space</string>
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</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">
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<string>Activate local detection over locations (in Working Memory) near in space. The locations are compared to those inside the local radius of the current estimated position of the robot (at a maximum distance of the path filtering radius below). If the laser scans are used, local locations are merged together and the current laser scan is compared to them. It is useful when the robot is visiting backward (camera not in the same direction) already visited locations.</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_50" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="localDetection_pathFilteringRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
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<number>2</number>
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</property>
<property name="singleStep">
<double>0.100000000000000</double>
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</property>
<property name="value">
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<double>1.000000000000000</double>
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</property>
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</widget>
</item>
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<item row="0" column="0">
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<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>
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<item row="0" column="1">
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<widget class="QLabel" name="label_space3_2">
<property name="text">
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<string>Maximum graph depth between the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox_localSpaceLinksKeptInWM">
<property name="text">
<string/>
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</property>
</widget>
</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_scanMatching_2">
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<property name="text">
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<string>If local space links are kept in WM.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="1" column="1">
<widget class="QLabel" name="label_space3_3">
<property name="text">
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<string>Path filtering radius to avoid merging laser scans which are close. 0 to ignore.</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_scanMatching_4">
<property name="text">
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<string>When comparing to a local path, merge the laser scans using the odometry poses instead of the ones in the optimized local graph.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="checkBox_localSpacePathOdomPosesUsed">
<property name="text">
<string/>
</property>
</widget>
</item>
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</layout>
</item>
</layout>
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</widget>
</item>
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<item>
<widget class="QGroupBox" name="groupBox_12">
<property name="title">
<string>Graph planning</string>
</property>
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<layout class="QVBoxLayout" name="verticalLayout_61">
<item>
<widget class="QLabel" name="label_space2_3">
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<property name="text">
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<string> If the goal is too far (>local radius) from the graph, the plan is aborted. The next goal in the graph can't be farther than the local radius around the current position. Anticipated nodes on the path are retrieved in the local radius up to "Maximum local locations retrieved". A virtual link is added between the current location and the nearest one on the path up to local radius.</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_51" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="graphPlan_goalReachedRadius">
<property name="suffix">
<string> m</string>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_space2_2">
<property name="text">
<string>Goal reached radius.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="graphPlan_planWithNearNodesLinked">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_space3_4">
<property name="text">
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<string>Add virtual links. Before planning in the graph, near nodes are linked together. The maximum distance is defined by "Goal reached radius" above. If "Maximum ID difference" below is set, only close nodes in time can be linked together.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
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</widget>
</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_space3_5">
<property name="text">
<string>When a goal is received and processed with success, it is saved in user data of the location with this format: "GOAL:#".</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="0">
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<widget class="QCheckBox" name="graphPlan_goalsSavedInUserData">
<property name="text">
<string/>
</property>
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</widget>
</item>
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</layout>
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</item>
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</layout>
</widget>
</item>
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</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>Loop closure constraint</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_41">
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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>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. A transformation is computed using the 3D visual word correspondences.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item>
<widget class="QLabel" name="label_171">
<property name="text">
<string>Note that when a loop closure constraint must be computed, the words already extracted for the loop closure detector are used. These words are limited (see Visual Word->Words Per Image) and matched to the loop closure detection vocabulary. When the vocabulary is large, there maybe less corresponding words on a loop closure. You may consider to enable "Re-extract features" option below to increase the number of correspondences.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_23" columnstretch="0,1">
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<item row="1" column="0">
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<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="1" column="1">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Minimum visual word correspondences to accept the estimated transformation.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="5" column="0">
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<widget class="QCheckBox" name="loopClosure_bowForce2D">
<property name="text">
<string/>
</property>
</widget>
</item>
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<item row="3" column="0">
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<widget class="QSpinBox" name="loopClosure_bowIterations">
<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">
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<widget class="QLabel" name="label_15">
<property name="text">
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<string>Maximum RANSAC iterations.</string>
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</property>
</widget>
</item>
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<item row="4" column="0">
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<widget class="QComboBox" name="globalDetection_icpType">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<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>
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<item row="5" column="1">
<widget class="QLabel" name="label_184">
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<property name="text">
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<string>Force 2D transform (3DoF: x,y and yaw).</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_57">
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<property name="text">
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<string>When enabled, the visual transform is used as a guess for ICP estimation (3D or 2D). See "ICP" panel for parameters.</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="QComboBox" name="loopClosure_estimationType">
<item>
<property name="text">
<string>3D to 3D</string>
</property>
</item>
<item>
<property name="text">
<string>3D to 2D (PnP)</string>
</property>
</item>
<item>
<property name="text">
<string>2D to 2D (Epipolar Geometry)</string>
</property>
</item>
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</widget>
</item>
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<item row="0" column="1">
<widget class="QLabel" name="label_146">
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<property name="text">
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<string>Motion estimation approach using 3D and/or 2D visual words correspondences.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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</layout>
</item>
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<item>
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<widget class="QStackedWidget" name="stackedWidget_loopClosureEstimation">
<property name="currentIndex">
<number>0</number>
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</property>
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<widget class="QWidget" name="page_38">
<layout class="QVBoxLayout" name="verticalLayout_68">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="title">
<string>3D to 3D</string>
</property>
<layout class="QGridLayout" name="gridLayout_6" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_bowInlierDistance">
<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>0.020000000000000</double>
</property>
</widget>
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</item>
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<item row="0" column="1">
<widget class="QLabel" name="label_14">
<property name="text">
<string>Maximum distance accepted between visual word correspondences.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
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</item>
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<item row="1" column="0">
<widget class="QSpinBox" name="loopClosure_bowRefineIterations">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_38">
<property name="text">
<string>Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_39">
<layout class="QVBoxLayout" name="verticalLayout_69">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox_13">
<property name="title">
<string>3D to 2D (PnP)</string>
</property>
<layout class="QGridLayout" name="gridLayout_59" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_pnpReprojError">
<property name="suffix">
<string> pix</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>8.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_236">
<property name="text">
<string>Reprojection error.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="loopClosure_pnpFlags">
<item>
<property name="text">
<string>Iterative</string>
</property>
</item>
<item>
<property name="text">
<string>EPNP</string>
</property>
</item>
<item>
<property name="text">
<string>P3P</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_235">
<property name="text">
<string>Flags.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_40">
<layout class="QVBoxLayout" name="verticalLayout_72">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox_14">
<property name="title">
<string>2D to 2D (Epipolar Geometry)</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_73">
<item>
<widget class="QLabel" name="label_671">
<property name="text">
<string>Experimental!</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_60" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_bowEpipolarGeometryVar">
<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>0.001000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_664">
<property name="text">
<string>Epipolar geometry maximum variance to accept the loop closure.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_reextract">
<property name="title">
<string>Re-extract features</string>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>true</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_46">
<item>
<widget class="QLabel" name="label_182">
<property name="text">
<string>By activating the re-extraction of the features, the features from the two images will be re-extracted using the settings below, and matched directly instead of using the big vocabulary. This adds an overhead processing time but it will mostly produce more corresponding words between the images, so better transformations computed. We recommend to use binary features for fast extraction and matching.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_25" columnstretch="0,1">
<item row="4" column="0">
<widget class="QComboBox" name="reextract_nn">
<property name="currentIndex">
<number>3</number>
</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>FLANN Linear</string>
</property>
</item>
<item>
<property name="text">
<string>FLANN KdTree</string>
</property>
</item>
<item>
<property name="text">
<string>FLANN LSH</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force</string>
</property>
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</item>
<item>
<property name="text">
<string>Brute Force GPU</string>
</property>
</item>
</widget>
</item>
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<item row="5" column="0">
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<widget class="QDoubleSpinBox" name="reextract_nndrRatio">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QSpinBox" name="reextract_maxFeatures">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_180">
<property name="text">
<string>Max features extracted from the images (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_179">
<property name="text">
<string>Nearest neighbor strategy. FLANN KdTree must be used only with SURF/SIFT. FLANN LSH must be used only with binary feature detector.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_181">
<property name="text">
<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. 0 means disabled, matching the nearest.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="reextract_type">
<property name="currentIndex">
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<number>0</number>
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</property>
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>SURF</string>
</property>
</item>
<item>
<property name="text">
<string>SIFT</string>
</property>
</item>
<item>
<property name="text">
<string>ORB</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+BRIEF</string>
</property>
</item>
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<item>
<property name="text">
<string>BRISK</string>
</property>
</item>
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</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_178">
<property name="text">
<string>Feature detector </string>
</property>
</widget>
</item>
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<item row="3" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_bowMaxDepth">
<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="3" column="1">
<widget class="QLabel" name="label_237">
<property name="text">
<string>Max feature depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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</layout>
</item>
</layout>
</widget>
</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>
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<layout class="QVBoxLayout" name="verticalLayout_20">
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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>
<layout class="QGridLayout" name="gridLayout_48" columnstretch="0,1">
<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="globalDetection_icpMaxTranslation">
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<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</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="0" column="1">
<widget class="QLabel" name="label_51">
<property name="text">
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<string>Maximum ICP translation correction accepted (>0). A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_55">
<property name="text">
<string>Maximum ICP rotation correction accepted (>0). A large rotation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</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="QDoubleSpinBox" name="globalDetection_icpMaxRotation">
<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>0.010000000000000</double>
</property>
<property name="value">
<double>0.780000000000000</double>
</property>
</widget>
</item>
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</layout>
</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 (e.g. Kinect depth)</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_53" columnstretch="0,1">
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<item row="5" column="0">
<widget class="QSpinBox" name="loopClosure_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="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="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>
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<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>
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<item row="4" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icpMaxCorrespondenceDistance">
<property name="decimals">
<number>3</number>
</property>
<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>
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<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="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="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="6" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icpRatio">
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<property name="minimum">
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<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
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<double>0.010000000000000</double>
</property>
<property name="value">
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<double>0.700000000000000</double>
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</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_133">
<property name="text">
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<string>Ratio of matching correspondences to accept the transform.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="7" column="0">
<widget class="QCheckBox" name="loopClosure_icpPointToPlane">
<property name="text">
<string/>
</property>
</widget>
</item>
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<item row="7" column="1">
<widget class="QLabel" name="label_144">
<property name="text">
<string>Point to plane ICP.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QSpinBox" name="loopClosure_icpPointToPlaneNormals">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLabel" name="label_212">
<property name="text">
<string>Number of neighbors to compute normals for point to plane.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_loopClosure_icp2">
<property name="title">
<string>ICP 2D (e.g. Laser scan)</string>
</property>
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<layout class="QGridLayout" name="gridLayout_52" columnstretch="0,1">
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<item row="0" column="0">
<widget class="QDoubleSpinBox" name="loopClosure_icp2MaxCorrespondenceDistance">
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<property name="decimals">
<number>3</number>
</property>
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<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_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">
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<double>0.700000000000000</double>
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</property>
</widget>
</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_148">
<property name="text">
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<string>Minimum ratio of correspondences on laser scan maximum size to accept the transform.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="0">
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<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>
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<item row="3" column="1">
<widget class="QLabel" name="label_150">
<property name="text">
<string>Voxel size. Set to 0 to disable voxel filtering.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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</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>
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<widget class="QWidget" name="page_29">
<layout class="QVBoxLayout" name="verticalLayout_57">
<item>
<widget class="QGroupBox" name="groupBox_stereo2">
<property name="title">
<string>Stereo</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_56">
<item>
<widget class="QLabel" name="label_187">
<property name="text">
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<string>These parameters are used to find the 3D positions of visual words using disparity between the left and right images. Optical flow is used to find corresponding corners in the right image of words extracted from the left image.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_10">
<property name="title">
<string>calcOpticalFlowPyrLK()</string>
</property>
<layout class="QGridLayout" name="gridLayout_33" columnstretch="0,1">
<item row="0" column="0">
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<widget class="QSpinBox" name="stereo_flow_winSize">
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<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_205">
<property name="text">
<string>Window size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
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<widget class="QSpinBox" name="stereo_flow_iterations">
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<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>30</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_206">
<property name="text">
<string>Iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="stereo_flow_eps">
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<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>0.100000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_207">
<property name="text">
<string>Epsilon.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_208">
<property name="text">
<string>Max level.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
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<widget class="QSpinBox" name="stereo_flow_maxLevel">
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<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>3</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
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<layout class="QGridLayout" name="gridLayout_35" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="stereo_maxSlope">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<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_215">
<property name="text">
<string>The maximum slope for each stereo pairs. This will filter bad matches from calcOpticalFlowPyrLK().</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
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</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_29">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>464</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
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<widget class="QWidget" name="page_12">
<layout class="QVBoxLayout" name="verticalLayout_32">
<item>
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<widget class="QGroupBox" name="groupBox_odometry1">
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<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="QGridLayout" name="gridLayout_27" columnstretch="0,1">
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<item row="3" column="0">
<widget class="QCheckBox" name="odom_force2D">
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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="5" column="1">
<widget class="QLabel" name="label_233">
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<property name="text">
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<string>Particle filtering to smooth the odometry trajectory. See "Particle Filter" panel for the related parameters.</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>
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<item row="6" column="0">
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<widget class="QCheckBox" name="odom_fillInfoData">
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<property name="text">
<string/>
</property>
</widget>
</item>
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<item row="5" column="0">
<widget class="QCheckBox" name="odom_particleFiltering">
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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="6" column="1">
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<widget class="QLabel" name="label_221">
<property name="text">
<string>Fill info with data (inliers/outliers features to be shown in Odometry view).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="7" column="1">
<widget class="QLabel" name="label_232">
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<property name="text">
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<string>Data 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="0" column="1">
<widget class="QLabel" name="label_103">
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<property name="text">
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<string>Odometry strategy. More info corresponding panels.</string>
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</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_47">
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<property name="text">
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<string>Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset). When reset, the odometry starts from the last pose computed.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="4" column="0">
<widget class="QCheckBox" name="odom_holonomic">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QSpinBox" name="odom_dataBufferSize">
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<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
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<item row="4" column="1">
<widget class="QLabel" name="label_238">
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<property name="text">
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<string>If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).</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="QComboBox" name="odom_strategy">
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<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
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<string>BOW (bag-of-words)</string>
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</property>
</item>
<item>
<property name="text">
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<string>Optical Flow</string>
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</property>
</item>
<item>
<property name="text">
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<string>Mono</string>
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</property>
</item>
</widget>
</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="odom_countdown">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
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<item row="3" column="1">
<widget class="QLabel" name="label_196">
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<property name="text">
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<string>Force 2D transform (3DoF: x,y and yaw).</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="QPushButton" name="pushButton_testOdometry">
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<property name="text">
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<string>Test selected odometry</string>
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</property>
</widget>
</item>
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</layout>
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</item>
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<item>
<widget class="QLabel" name="label_162">
<property name="text">
<string/>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item>
<widget class="QGroupBox" name="groupBox_11">
<property name="title">
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<string>Motion estimation</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_76">
<item>
<layout class="QGridLayout" name="gridLayout_63" columnstretch="0,1">
<item row="0" column="0">
<widget class="QComboBox" name="odom_estimationType">
<item>
<property name="text">
<string>3D to 3D</string>
</property>
</item>
<item>
<property name="text">
<string>3D to 2D (PnP)</string>
</property>
</item>
</widget>
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</item>
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<item row="0" column="1">
<widget class="QLabel" name="label_166">
<property name="text">
<string>Motion estimation approach using 3D and/or 2D visual words correspondences.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
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</item>
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<item row="1" 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="1" column="1">
<widget class="QLabel" name="label_145">
<property name="text">
<string>Minimum feature correspondences to accept the estimated transformation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
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</item>
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<item row="2" 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="2" column="1">
<widget class="QLabel" name="label_36">
<property name="text">
<string>Maximum iterations to compute the transform from 3D features.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QStackedWidget" name="stackedWidget_odomEstimation">
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="page_45">
<layout class="QVBoxLayout" name="verticalLayout_74">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox_15">
<property name="title">
<string>3D to 3D</string>
</property>
<layout class="QGridLayout" name="gridLayout_37" columnstretch="0,1">
<item row="0" 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="0" column="1">
<widget class="QLabel" name="label_149">
<property name="text">
<string>Maximum distance for 3D feature correspondences. Lower the value, higher the precision but higher the chance of RED screens (odometry lost).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="odom_refine_iterations">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>10</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_111">
<property name="text">
<string>Refine iterations of the resulting transformation computed by RANSAC. 0 means no refining.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_46">
<layout class="QVBoxLayout" name="verticalLayout_75">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox_16">
<property name="title">
<string>3D to 2D (PnP)</string>
</property>
<layout class="QGridLayout" name="gridLayout_62" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="odom_pnpReprojError">
<property name="suffix">
<string> pix</string>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>8.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_225">
<property name="text">
<string>Reprojection error.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="odom_pnpFlags">
<item>
<property name="text">
<string>Iterative</string>
</property>
</item>
<item>
<property name="text">
<string>EPNP</string>
</property>
</item>
<item>
<property name="text">
<string>P3P</string>
</property>
</item>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_227">
<property name="text">
<string>Flags.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
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</widget>
</item>
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</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_8">
<property name="title">
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<string>Features</string>
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</property>
<layout class="QGridLayout" name="gridLayout_36" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QSpinBox" name="odom_maxFeatures">
<property name="maximum">
<number>999999</number>
</property>
</widget>
</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_123">
<property name="text">
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="3" column="0">
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<widget class="QLineEdit" name="lineEdit_odom_roi">
<property name="text">
<string>0.0 0.0 0.0 0.0</string>
</property>
<property name="readOnly">
<bool>false</bool>
</property>
</widget>
</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_136">
<property name="text">
<string>Max features extracted from the images (0 means inf).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_104">
<property name="text">
<string>Maximum feature depth.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="odom_maxDepth">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
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<number>0</number>
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</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
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<property name="maximum">
<double>999.000000000000000</double>
</property>
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<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>5.000000000000000</double>
</property>
</widget>
</item>
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<item row="0" column="1">
<widget class="QLabel" name="label_44">
<property name="text">
<string>Feature detector. In BOW/Mono modes, the related descriptor is also used. In Optical flow mode, only the keypoint detector is used.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QComboBox" name="odom_type">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>SURF</string>
</property>
</item>
<item>
<property name="text">
<string>SIFT</string>
</property>
</item>
<item>
<property name="text">
<string>ORB</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>FAST+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+FREAK</string>
</property>
</item>
<item>
<property name="text">
<string>GFTT+BRIEF</string>
</property>
</item>
<item>
<property name="text">
<string>BRISK</string>
</property>
</item>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_7">
<property name="title">
<string>Sub pixel corners</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_60">
<item>
<widget class="QLabel" name="label_216">
<property name="text">
<string>Refining corners to sub pixel. Sub pixel corners may not be needed for features like SURF/SIFT, which are already sub pixel.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_34" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="odom_subpix_winSize">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_197">
<property name="text">
<string>Window size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="odom_subpix_iterations">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_198">
<property name="text">
<string>Iterations. 0 disables sub pixel refining.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="odom_subpix_eps">
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>0.100000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.030000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_214">
<property name="text">
<string>Epsilon.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</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 class="QWidget" name="page_26">
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<layout class="QVBoxLayout" name="verticalLayout_77">
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<item>
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<widget class="QGroupBox" name="groupBox_odometryBOW2">
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<property name="title">
<string>BOW</string>
</property>
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<layout class="QVBoxLayout" name="verticalLayout_54">
<item>
<widget class="QLabel" name="label_226">
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<property name="text">
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<string>Features extracted from frames are matached a using nearest neighbor approach. It maintains a local map of features to match to.</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_29" columnstretch="0,0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="odom_localHistory">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>0</number>
</property>
</widget>
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</item>
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<item row="0" column="2">
<widget class="QLabel" name="label_190">
<property name="text">
<string>Local history size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words. This will decrease odometry drifting when the camera is not moving.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
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</item>
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<item row="1" column="0">
<widget class="QComboBox" name="odom_bin_nn">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
<item>
<property name="text">
<string>FLANN Linear</string>
</property>
</item>
<item>
<property name="text">
<string>FLANN KdTree</string>
</property>
</item>
<item>
<property name="text">
<string>FLANN LSH</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force</string>
</property>
</item>
<item>
<property name="text">
<string>Brute Force GPU</string>
</property>
</item>
</widget>
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</item>
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<item row="1" column="2">
<widget class="QLabel" name="label_201">
<property name="text">
<string>Nearest neighbor strategy. FLANN KdTree must be used only with SURF/SIFT. FLANN LSH must be used only with binary feature detector.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
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</item>
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<item row="2" column="0">
<widget class="QDoubleSpinBox" name="odom_bin_nndrRatio">
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.100000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.700000000000000</double>
</property>
</widget>
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</item>
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<item row="2" column="2">
<widget class="QLabel" name="label_202">
<property name="text">
<string>NNDR ratio
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(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. 0 means disabled, matching the nearest.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLineEdit" name="odom_fixedLocalMapPath"/>
</item>
<item row="3" column="1">
<widget class="QToolButton" name="toolButton_odomBowFixedLocalMap">
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_239">
<property name="text">
<string>Path to a fixed map (RTAB-Map's database) to be used for odometry. Odometry will be constraint to this map. RGB-only images can be used if odometry PnP pose estimation is activated.</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>
<spacer name="verticalSpacer_27">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>670</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<widget class="QWidget" name="page_28">
<layout class="QVBoxLayout" name="verticalLayout_55">
<item>
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<widget class="QGroupBox" name="groupBox_odometryFlow2">
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<property name="title">
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<string>Optical Flow</string>
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</property>
<layout class="QVBoxLayout" name="verticalLayout_53">
<item>
<widget class="QLabel" name="label_199">
<property name="text">
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<string>Features from the last frame are estimated in the new frame using an optical flow approach (see cv::calcOpticalFlowPyrLK()).</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_4">
<property name="title">
<string>calcOpticalFlowPyrLK()</string>
</property>
<layout class="QGridLayout" name="gridLayout_30" columnstretch="0,1">
<item row="0" column="0">
<widget class="QSpinBox" name="odom_flow_winSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>21</number>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_192">
<property name="text">
<string>Window size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QSpinBox" name="odom_flow_iterations">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>30</number>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_193">
<property name="text">
<string>Iterations.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_194">
<property name="text">
<string>Epsilon.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QSpinBox" name="odom_flow_maxLevel">
<property name="minimum">
<number>0</number>
</property>
<property name="maximum">
<number>999999</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="value">
<number>3</number>
</property>
</widget>
</item>
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<item row="3" column="1">
<widget class="QLabel" name="label_195">
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<property name="text">
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<string>Max level.</string>
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</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="odom_flow_eps">
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<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
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<double>1.000000000000000</double>
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</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
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<double>0.010000000000000</double>
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</property>
</widget>
</item>
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</layout>
</widget>
</item>
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</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_28">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>518</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
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<widget class="QWidget" name="page_30">
<layout class="QVBoxLayout" name="verticalLayout_169">
<item>
<widget class="QGroupBox" name="groupBox_odometryMono2">
<property name="title">
<string>Mono</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_168">
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<item>
<widget class="QLabel" name="label_672">
<property name="text">
<string>Mono is for single camera motion estimation (MonoSLAM). On initialization, the camera must be translated on the side until a first transform can be computed.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
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<item>
<widget class="QLabel" name="label_661">
<property name="text">
<string>Parameters from BOW and OpticalFlow are also used here. PnP parameters on Odometry panel are used too.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_166" columnstretch="0,1">
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minFlow">
<property name="suffix">
<string> pixels</string>
</property>
<property name="decimals">
<number>0</number>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>10.000000000000000</double>
</property>
<property name="value">
<double>100.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_659">
<property name="text">
<string>Minimum optical flow required for the initialization step.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minTranslation">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.020000000000000</double>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_660">
<property name="text">
<string>Minimum translation to add new points to local map. On initialization, translation x 5 is used as the required minimum transformation.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_662">
<property name="text">
<string>Minimum translation required for the initialization step.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_minInitTranslation">
<property name="suffix">
<string> m</string>
</property>
<property name="minimum">
<double>0.000000000000000</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_663">
<property name="text">
<string>Maximum variance to add new points to local map.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_maxVariance">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="singleStep">
<double>0.001000000000000</double>
</property>
<property name="value">
<double>0.010000000000000</double>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
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<spacer name="verticalSpacer_30">
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<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
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<height>40</height>
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</size>
</property>
</spacer>
</item>
</layout>
</widget>
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<widget class="QWidget" name="page_31">
<layout class="QVBoxLayout" name="verticalLayout_49">
<item>
<widget class="QGroupBox" name="groupBox_odometryParticleFilter2">
<property name="title">
<string>Particle Filter</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_170">
<item>
<widget class="QLabel" name="label_665">
<property name="text">
<string>Parameters for the particle filter when used to smooth the odometry trajectory.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_167" columnstretch="0,1">
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleLambdaT">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleNoiseR">
<property name="suffix">
<string> rad</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.005000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleNoiseT">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>3</number>
</property>
<property name="minimum">
<double>0.001000000000000</double>
</property>
<property name="maximum">
<double>1.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
<property name="value">
<double>0.050000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_666">
<property name="text">
<string>Noise of translation components (x,y,z).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_667">
<property name="text">
<string>Noise of rotation components (roll, pitch, yaw).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_668">
<property name="text">
<string>Lambda of translation components (x,y,z).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_669">
<property name="text">
<string>Lambda of rotation components (roll, pitch, yaw).</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_particleLambdaR">
<property name="suffix">
<string/>
</property>
<property name="decimals">
<number>1</number>
</property>
<property name="minimum">
<double>0.000000000000000</double>
</property>
<property name="maximum">
<double>1000.000000000000000</double>
</property>
<property name="singleStep">
<double>1.000000000000000</double>
</property>
<property name="value">
<double>15.000000000000000</double>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_670">
<property name="text">
<string>Particle size.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QSpinBox" name="spinBox_particleSize">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10000</number>
</property>
<property name="value">
<number>400</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_31">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>1324</height>
</size>
</property>
</spacer>
</item>
</layout>
</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>
