mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-08 02:57:46 +08:00
DBReader: added ignore imu option, GUI: added tf overrides option (#1637)
* DBReader: added ignore imu option, GUI: added tf overrides option * transform offset
This commit is contained in:
matlabbe
@@ -778,7 +778,7 @@ p, li { white-space: pre-wrap; }
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</widget>
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</item>
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<item row="52" column="0">
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<widget class="QLabel" name="label_48">
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<widget class="QLabel" name="label_481">
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<property name="text">
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<string>With cuVSLAM :</string>
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</property>
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+205
-149
@@ -7180,17 +7180,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<bool>false</bool>
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</property>
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<layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1,0">
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<item row="8" column="0">
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<widget class="QSpinBox" name="source_spinBox_databaseStartId">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>99999</number>
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<item row="10" column="0">
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<widget class="QSpinBox" name="source_spinBox_databaseStopId">
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<property name="minimum">
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<number>0</number>
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@@ -7203,19 +7193,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="0" column="1">
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<widget class="QLineEdit" name="source_database_lineEdit_path"/>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_72">
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<property name="text">
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<string>Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="QCheckBox" name="source_checkBox_useDbStamps">
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<property name="text">
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@@ -7223,60 +7200,13 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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_263">
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<property name="text">
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<string>Ignore goals saved in the database.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="QCheckBox" name="source_checkBox_ignoreOdometry">
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<item row="3" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
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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="0" column="2">
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<widget class="QToolButton" name="toolButton_dbViewer">
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<property name="toolTip">
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<string>Open database viewer</string>
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</property>
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<property name="text">
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<string/>
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</property>
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<property name="icon">
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<iconset resource="../GuiLib.qrc">
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<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<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>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_80">
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<property name="text">
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<string>Ignore goal delay.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_644">
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<property name="text">
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@@ -7290,52 +7220,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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_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">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<widget class="QLabel" name="label_529">
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<property name="text">
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<string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="QLabel" name="label_315">
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<property name="text">
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<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. Leave empty to use all cameras. Can also be multiple indices split by spaces in a string like "0 2" to stream cameras 0 and 2 only.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="11" column="0">
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<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
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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="0" column="0">
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<widget class="QToolButton" name="source_database_toolButton_selectSource">
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<property name="text">
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@@ -7343,24 +7227,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="source_checkBox_ignoreGoals">
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<item row="12" column="1">
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<widget class="QLabel" name="label_784">
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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="5" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreLandmarks">
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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="5" column="1">
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<widget class="QLabel" name="label_546">
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<property name="text">
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<string>Ignore landmarks.</string>
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<string>Override camera local transform(s) with local transform(s) set above. For multi-cameras, use a ";" between each transform.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7370,13 +7240,44 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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_58">
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<item row="1" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreOdometry">
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<property name="text">
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<string>Start position (node ID).</string>
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<string/>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</widget>
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</item>
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<item row="11" column="0">
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<widget class="QLineEdit" name="source_lineEdit_databaseCameraIndex"/>
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</item>
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<item row="4" column="0">
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<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>
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</item>
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<item row="13" column="0">
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<widget class="QLineEdit" name="source_lineEdit_databaseLocalTransformOffset"/>
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</item>
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<item row="0" column="2">
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<widget class="QToolButton" name="toolButton_dbViewer">
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<property name="toolTip">
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<string>Open database viewer</string>
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</property>
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<property name="text">
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<string/>
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</property>
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<property name="icon">
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<iconset resource="../GuiLib.qrc">
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<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
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</property>
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</widget>
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</item>
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<item row="12" column="0">
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<widget class="QCheckBox" name="source_checkBox_overrideLocalTransforms">
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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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@@ -7387,10 +7288,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="11" column="1">
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<widget class="QLabel" name="label_557">
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<item row="1" column="1">
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<widget class="QLabel" name="label_72">
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<property name="text">
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<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
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<string>Ignore odometry saved in the database, so if RGB-D SLAM is activated, odometry will be recomputed.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7400,10 +7301,10 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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_653">
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<item row="11" column="1">
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<widget class="QLabel" name="label_315">
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<property name="text">
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<string>Ignore priors.</string>
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<string>Camera index. If the database contains multi-camera data, you can choose which camera to use. Leave empty to use all cameras. Can also be multiple indices split by spaces in a string like "0 2" to stream cameras 0 and 2 only.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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@@ -7420,8 +7321,163 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="QLineEdit" name="source_lineEdit_databaseCameraIndex"/>
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<item row="13" column="1">
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<widget class="QLabel" name="label_785">
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<property name="text">
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<string>Add an y-axis offset before optical rotation on the overriden local transform(s). For multi-cameras,explicitly enumerate offsets if they are different (e.g., "0.05 0.075" for two cameras setup), or set single number to apply to all camera transforms.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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||||
</property>
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</widget>
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</item>
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<item row="9" column="0">
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<widget class="QSpinBox" name="source_spinBox_databaseStartId">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>99999</number>
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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_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">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="source_checkBox_ignoreLandmarks">
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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="9" column="1">
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<widget class="QLabel" name="label_58">
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<property name="text">
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<string>Start position (node ID).</string>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="14" column="0">
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<widget class="QCheckBox" name="source_checkBox_stereoToDepthDB">
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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="7" column="1">
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<widget class="QLabel" name="label_653">
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<property name="text">
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<string>Ignore priors.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_546">
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<property name="text">
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<string>Ignore landmarks.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_80">
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<property name="text">
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<string>Ignore goal delay.</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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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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||||
</widget>
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</item>
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<item row="14" column="1">
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<widget class="QLabel" name="label_557">
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<property name="text">
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<string>If the database contains stereo data, generate disparity image and convert it to depth. The resulting output is a RGB-D image instead of stereo images. Dense disparity parameters can be found under StereoBM tab.</string>
|
||||
</property>
|
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<property name="wordWrap">
|
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
|
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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="QLabel" name="label_529">
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<property name="text">
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<string>Stop position (node ID) is the last node to process. If 0, all nodes after start position are published.</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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<property name="textInteractionFlags">
|
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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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_263">
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<property name="text">
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<string>Ignore goals saved in the database.</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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||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</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_786">
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<property name="text">
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<string>Ignore IMU (i.e., gravity links).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="textInteractionFlags">
|
||||
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
|
||||
</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="QCheckBox" name="source_checkBox_ignoreIMU">
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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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||||
</layout>
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||||
</widget>
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Block a user