mirror of
https://github.com/introlab/rtabmap.git
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Detect more loop closures from/to specific map ID only option (#1653)
* Detect more loop closures from/to specific map ID only option * default value -1 * Added elapsed time * Avoid loading ALL signatures in RAM, only load them when necessary * Avoid creating flann index when initializing with Kp/NNStrategy>=3 * Setting opt params by default
This commit is contained in:
matlabbe
@@ -61,7 +61,7 @@
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@@ -392,7 +392,7 @@
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@@ -1722,7 +1722,7 @@
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@@ -1885,8 +1885,8 @@
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@@ -2604,15 +2604,22 @@
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<height>287</height>
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</rect>
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</property>
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<attribute name="label">
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<string>Detect more loop closures</string>
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</attribute>
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<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
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<item row="5" column="0">
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<widget class="QCheckBox" name="checkBox_detectMore_interSession">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radiusMin">
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<property name="suffix">
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@@ -2632,13 +2639,6 @@
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_36">
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<property name="text">
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<string>Radius Min</string>
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</property>
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</widget>
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<item row="4" column="1">
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@@ -2646,23 +2646,43 @@
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<item row="7" column="0">
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<spacer name="verticalSpacer_5">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>40</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_29">
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<item row="3" column="1">
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<widget class="QLabel" name="label_31">
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<property name="text">
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<string>Radius Max</string>
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<string>Iterations</string>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QSpinBox" name="spinBox_detectMore_iterations">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>100</number>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
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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>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_37">
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<property name="text">
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<string>Use optimized graph as guess</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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@@ -2673,25 +2693,6 @@
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
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<property name="suffix">
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<string> degrees</string>
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</property>
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<property name="decimals">
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<number>0</number>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>30.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
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<property name="suffix">
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@@ -2711,18 +2712,18 @@
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QSpinBox" name="spinBox_detectMore_iterations">
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<property name="minimum">
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<number>1</number>
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<item row="8" column="0">
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<spacer name="verticalSpacer_5">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="maximum">
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<number>100</number>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>40</height>
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</size>
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</property>
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<property name="value">
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<number>5</number>
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</property>
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</widget>
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</spacer>
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</item>
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<item row="4" column="0">
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<widget class="QCheckBox" name="checkBox_detectMore_intraSession">
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@@ -2731,10 +2732,17 @@
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_31">
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<item row="0" column="1">
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<widget class="QLabel" name="label_29">
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<property name="text">
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<string>Iterations</string>
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<string>Radius Max</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_36">
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<property name="text">
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<string>Radius Min</string>
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</property>
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</widget>
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</item>
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@@ -2745,30 +2753,42 @@
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<widget class="QCheckBox" name="checkBox_detectMore_interSession">
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<property name="text">
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<string/>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
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<property name="suffix">
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<string> degrees</string>
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</property>
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<property name="decimals">
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<number>0</number>
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</property>
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<property name="maximum">
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<double>180.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>1.000000000000000</double>
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</property>
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<property name="value">
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<double>30.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="6" column="0">
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<widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
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<property name="text">
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<string/>
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<item row="7" column="0">
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<widget class="QSpinBox" name="spinBox_fromToMapId">
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<property name="minimum">
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<number>-1</number>
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</property>
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<property name="checked">
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<bool>true</bool>
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<property name="maximum">
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<number>9999</number>
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</property>
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<property name="value">
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<number>-1</number>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_37">
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<item row="7" column="1">
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<widget class="QLabel" name="label_38">
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<property name="text">
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<string>Use optimized graph as guess</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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<string>From/to map ID only (-1 is all)</string>
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</property>
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</widget>
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</item>
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