mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
GUI: Added "Edit->Post processing..." action to detect more loop closures and/or refine all links in the graph with ICP 3D.
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1940 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<width>1076</width>
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<height>675</height>
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<height>711</height>
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</rect>
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</property>
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<property name="windowTitle">
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@@ -825,7 +825,7 @@
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<number>1000</number>
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</property>
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<property name="value">
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<number>3</number>
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<number>10</number>
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</property>
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</widget>
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</item>
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@@ -851,7 +851,7 @@
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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>0.010000000000000</double>
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<double>0.020000000000000</double>
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</property>
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</widget>
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</item>
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@@ -948,19 +948,39 @@
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<item row="9" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
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<property name="suffix">
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<string> rad</string>
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<string> degrees</string>
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</property>
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<property name="decimals">
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<number>2</number>
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<number>0</number>
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</property>
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<property name="maximum">
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<double>3.140000000000000</double>
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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>0.100000000000000</double>
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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>0.300000000000000</double>
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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="10" column="0">
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<widget class="QLabel" name="label_31">
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<property name="text">
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<string>Detect more LCs: iterations</string>
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</property>
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</widget>
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</item>
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<item row="10" column="1">
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<widget class="QSpinBox" name="doubleSpinBox_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>1</number>
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</property>
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</widget>
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</item>
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@@ -68,6 +68,8 @@
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<addaction name="separator"/>
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<addaction name="actionData_recorder"/>
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<addaction name="separator"/>
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<addaction name="actionPost_processing"/>
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<addaction name="separator"/>
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<addaction name="actionView_high_res_point_cloud"/>
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<addaction name="actionView_scans"/>
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</widget>
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@@ -1088,6 +1090,11 @@
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<string>Edit database...</string>
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</property>
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</action>
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<action name="actionPost_processing">
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<property name="text">
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<string>Post-processing...</string>
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</property>
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</action>
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</widget>
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<customwidgets>
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<customwidget>
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252
guilib/src/ui/postProcessingDialog.ui
Normal file
252
guilib/src/ui/postProcessingDialog.ui
Normal file
@@ -0,0 +1,252 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>PostProcessingDialog</class>
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<widget class="QDialog" name="PostProcessingDialog">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>486</width>
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<height>369</height>
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</rect>
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</property>
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<property name="windowTitle">
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<string>Post-Processing</string>
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</property>
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<property name="windowIcon">
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<iconset resource="../GuiLib.qrc">
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<normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_3">
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<item>
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<widget class="QGroupBox" name="detectMoreLoopClosures">
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<property name="title">
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<string>Detect more loop closures</string>
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</property>
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<property name="checkable">
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<bool>true</bool>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="clusterAngle">
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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="minimum">
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<double>0.000000000000000</double>
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</property>
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<property name="maximum">
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<double>180.000000000000000</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="clusterRadius">
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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">
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<double>0.010000000000000</double>
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</property>
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<property name="maximum">
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<double>99.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.300000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_3">
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<property name="text">
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<string>Cluster radius</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="clusterAngle_label">
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<property name="text">
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<string>Cluster angle</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_5">
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<property name="text">
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<string>Re-extract features</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="reextractFeatures">
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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>false</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_6">
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<property name="text">
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<string>Iterations</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="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>1</number>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<widget class="QLabel" name="label">
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<property name="text">
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<string>See "RTAB-Map settings/RGB-D SLAM/Loop closure constraint" to tune the parameters used.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_3">
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<property name="title">
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<string>Refine links with ICP 3D</string>
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</property>
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<property name="checkable">
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<bool>false</bool>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_2">
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<item>
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>See "RTAB-Map settings/RGB-D SLAM/ICP" to tune the parameters used.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="refineNeighborLinks">
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<property name="text">
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<string>Refine neighbor links</string>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="refineLoopClosureLinks">
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<property name="text">
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<string>Refine loop closure links</string>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer">
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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="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>
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<widget class="QDialogButtonBox" name="buttonBox">
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<property name="orientation">
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="standardButtons">
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<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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<resources>
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<include location="../GuiLib.qrc"/>
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</resources>
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<connections>
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<connection>
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<sender>buttonBox</sender>
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<signal>accepted()</signal>
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<receiver>PostProcessingDialog</receiver>
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<slot>accept()</slot>
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<hints>
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<hint type="sourcelabel">
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<x>248</x>
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<y>254</y>
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</hint>
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<hint type="destinationlabel">
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<x>157</x>
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<y>274</y>
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</hint>
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</hints>
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</connection>
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<connection>
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<sender>buttonBox</sender>
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<signal>rejected()</signal>
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<receiver>PostProcessingDialog</receiver>
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<slot>reject()</slot>
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<hints>
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<hint type="sourcelabel">
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<x>316</x>
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<y>260</y>
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</hint>
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<hint type="destinationlabel">
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<x>286</x>
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<y>274</y>
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</hint>
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</hints>
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</connection>
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</connections>
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</ui>
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>5</number>
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<number>21</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29">
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@@ -5642,6 +5642,46 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_144">
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<property name="text">
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<string>Point to plane ICP.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QCheckBox" name="loopClosure_icpPointToPlane">
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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="8" column="0">
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<widget class="QSpinBox" name="loopClosure_icpPointToPlaneNormals">
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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>1000</number>
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</property>
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<property name="value">
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<number>20</number>
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_212">
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<property name="text">
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<string>Number of neighbors to compute normals for point to plane.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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Block a user