mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Increased version to 0.6.2
Memory management tested on RGBD SLAM Fixed some crashes New parameter RGBD/LocalLoopDetectionMaxDiffID New parameter LccIcp2/VoxelSize Updated parameter LccIcp/Type (added "No ICP" type) Updated parameter kLccBowMinInliers (inliers minimum reduced to 1) TORO optimization: The graph root is explicitly defined as the last node added (fixed a TORO crash when a root could not be found) TORO optimization: only one constraint between neighbors and loop closures TORO optimization: added initial tree guess Map correction/Map transform: now only used in localization mode (map correction is always identity on mapping mode) New statistics: local loop space diff, last loop closure parent and child ids Database: Fixed empty signatures with no poses loaded ICP: fixed transform multiplication order Dump memory: added 3D words DatabaseViewer: added Export option (added ExportDialog object) DataRecorder: Option recording in RAM or Hard drive GUI: added a dock widget (MapVisibilityWidget) to change visibility of nodes in the 3D map GUI: fixed progress bar step count when generating the map Menu option: generate TORO graph (full/current map, optimized/not optimized) Menu option: download map (full/current map, optimized/not optimized) Preferences: added Reset all settings button Preferences: A QGroupBox can be a boolean parameter git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1066 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -288,7 +288,7 @@
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<x>0</x>
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<y>0</y>
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<width>736</width>
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<height>21</height>
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<height>25</height>
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</rect>
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</property>
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<widget class="QMenu" name="menuFile">
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@@ -297,6 +297,8 @@
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</property>
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<addaction name="actionOpen_database"/>
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<addaction name="separator"/>
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<addaction name="actionExport"/>
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<addaction name="separator"/>
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<addaction name="actionQuit"/>
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</widget>
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<widget class="QMenu" name="menuEdit">
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@@ -359,6 +361,11 @@
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<string>Generate 3D map (.pcd) ...</string>
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</property>
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</action>
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<action name="actionExport">
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<property name="text">
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<string>Export...</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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166
guilib/src/ui/exportDialog.ui
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166
guilib/src/ui/exportDialog.ui
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@@ -0,0 +1,166 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>ExportDialog</class>
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<widget class="QDialog" name="ExportDialog">
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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>371</width>
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<height>236</height>
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</rect>
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</property>
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<property name="windowTitle">
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<string>Export...</string>
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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="QHBoxLayout" name="horizontalLayout_2">
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<item>
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<widget class="QSpinBox" name="spinBox_ignored">
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<property name="suffix">
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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>
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<widget class="QLabel" name="label">
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<property name="text">
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<string>Frames ignored</string>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="horizontalSpacer">
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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="sizeHint" stdset="0">
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<size>
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<width>40</width>
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<height>20</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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</layout>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox_rgb">
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<property name="text">
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<string>RGB images</string>
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</property>
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<property name="checked">
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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="checkBox_depth">
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<property name="text">
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<string>Depth images</string>
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</property>
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<property name="checked">
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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="checkBox_depth2d">
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<property name="text">
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<string>Depth 2D (laser scans)</string>
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</property>
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<property name="checked">
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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="checkBox_odom">
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<property name="text">
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<string>Odometry</string>
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</property>
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<property name="checked">
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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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<layout class="QHBoxLayout" name="horizontalLayout">
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<item>
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<widget class="QLineEdit" name="lineEdit_path">
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<property name="readOnly">
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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="QToolButton" name="toolButton_path">
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<property name="text">
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<string>...</string>
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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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<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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<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>ExportDialog</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>ExportDialog</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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@@ -102,7 +102,7 @@
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<x>0</x>
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<y>0</y>
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<width>809</width>
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<height>21</height>
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<height>25</height>
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</rect>
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</property>
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<widget class="QMenu" name="menuFile">
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@@ -128,6 +128,7 @@
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<addaction name="actionDump_the_prediction_matrix"/>
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<addaction name="actionGenerate_map"/>
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<addaction name="actionGenerate_local_map"/>
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<addaction name="actionGenerate_TORO_graph_graph"/>
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<addaction name="separator"/>
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<addaction name="actionView_high_res_point_cloud"/>
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<addaction name="actionSave_point_cloud"/>
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@@ -620,6 +621,27 @@
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</layout>
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</widget>
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</widget>
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<widget class="QDockWidget" name="dockWidget_mapVisibility">
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<property name="windowTitle">
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<string>Map visibility</string>
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</property>
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<attribute name="dockWidgetArea">
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<number>8</number>
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</attribute>
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<widget class="QWidget" name="dockWidgetContents_8">
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<layout class="QVBoxLayout" name="verticalLayout_9">
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<property name="spacing">
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<number>0</number>
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</property>
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<property name="margin">
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<number>0</number>
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</property>
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<item>
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<widget class="rtabmap::MapVisibilityWidget" name="widget_mapVisibility" native="true"/>
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</item>
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</layout>
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</widget>
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</widget>
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<action name="actionExit">
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<property name="text">
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<string>Exit</string>
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@@ -909,6 +931,11 @@
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<string>Trigger a new map</string>
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</property>
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</action>
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<action name="actionGenerate_TORO_graph_graph">
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<property name="text">
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<string>Generate TORO graph (*.graph)...</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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@@ -946,6 +973,12 @@
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<header>../include/rtabmap/gui/LoopClosureViewer.h</header>
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<container>1</container>
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</customwidget>
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<customwidget>
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<class>rtabmap::MapVisibilityWidget</class>
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<extends>QWidget</extends>
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<header>MapVisibilityWidget.h</header>
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<container>1</container>
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</customwidget>
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</customwidgets>
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<resources>
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<include location="../GuiLib.qrc"/>
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