mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
Added parameter KpMaxDepth to limit the features extracted under a specified maximum depth.
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1288 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -293,6 +293,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
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_ui->checkBox_dictionary_nndrUsed->setObjectName(Parameters::kKpNndrUsed().c_str());
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_ui->surf_doubleSpinBox_nndrRatio->setObjectName(Parameters::kKpNndrRatio().c_str());
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_ui->surf_spinBox_maxLeafs->setObjectName(Parameters::kKpMaxLeafs().c_str());
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_ui->surf_doubleSpinBox_maxDepth->setObjectName(Parameters::kKpMaxDepth().c_str());
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_ui->surf_spinBox_wordsPerImageTarget->setObjectName(Parameters::kKpWordsPerImage().c_str());
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_ui->surf_doubleSpinBox_ratioBadSign->setObjectName(Parameters::kKpBadSignRatio().c_str());
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_ui->checkBox_kp_tfIdfLikelihoodUsed->setObjectName(Parameters::kKpTfIdfLikelihoodUsed().c_str());
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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>15</number>
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<number>9</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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@@ -2790,12 +2790,9 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
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<property name="title">
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<string>Visual word</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_39">
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<layout class="QVBoxLayout" name="verticalLayout_38">
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<item>
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<layout class="QFormLayout" name="formLayout_7">
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<property name="fieldGrowthPolicy">
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<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<item row="0" column="0">
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<widget class="QCheckBox" name="checkBox_kp_publishKeypoints">
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<property name="text">
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@@ -2817,6 +2814,44 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
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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="surf_doubleSpinBox_maxDepth">
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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="decimals">
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<number>2</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>99.000000000000000</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>0.000000000000000</double>
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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_53">
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<property name="toolTip">
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<string>0 means that the response (hessian) threshold
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used for the detector will not be adapted.
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Otherwise, the threshold is modified to
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generate the number of words requested.</string>
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</property>
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<property name="text">
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<string>Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image".</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="surf_spinBox_wordsPerImageTarget">
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<property name="minimum">
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<number>0</number>
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@@ -2829,7 +2864,7 @@ see Sqlite3 doc 'PRAGMA temp_store'.</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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<item row="2" column="1">
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<widget class="QLabel" name="label_22">
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<property name="toolTip">
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<string>0 means that the response (hessian) threshold
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@@ -2845,7 +2880,7 @@ generate the number of words requested.</string>
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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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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
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<property name="decimals">
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<number>2</number>
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@@ -2864,7 +2899,7 @@ generate the number of words requested.</string>
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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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<item row="3" column="1">
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<widget class="QLabel" name="label_81">
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<property name="toolTip">
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<string>0 means that the response (hessian) threshold
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@@ -2880,7 +2915,7 @@ generate the number of words requested.</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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<item row="4" column="0">
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<widget class="QCheckBox" name="checkBox_kp_tfIdfLikelihoodUsed">
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<property name="text">
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<string/>
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@@ -2890,7 +2925,7 @@ generate the number of words requested.</string>
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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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<item row="4" column="1">
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<widget class="QLabel" name="label_82">
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<property name="text">
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<string>Use the tf-idf method to compute the likelihood.</string>
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@@ -2900,7 +2935,7 @@ generate the number of words requested.</string>
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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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<item row="5" column="0">
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<widget class="QCheckBox" name="checkBox_kp_parallelized">
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<property name="text">
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<string/>
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@@ -2910,7 +2945,7 @@ generate the number of words requested.</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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<item row="5" column="1">
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<widget class="QLabel" name="label_94">
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<property name="text">
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<string>If the dictionary update and signature creation were parallelized.</string>
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@@ -2920,14 +2955,14 @@ generate the number of words requested.</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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<item row="6" column="0">
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<widget class="QLineEdit" name="lineEdit_kp_roi">
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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 row="5" column="1">
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<item row="6" column="1">
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<widget class="QLabel" name="label_101">
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<property name="text">
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<string>ROI ratios [left, right, top, bottom].</string>
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@@ -2937,7 +2972,7 @@ generate the number of words requested.</string>
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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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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
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<property name="suffix">
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<string> %</string>
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@@ -2947,7 +2982,7 @@ generate the number of words requested.</string>
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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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<item row="7" column="1">
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<widget class="QLabel" name="label_97">
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<property name="text">
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<string>Left ROI ratio (0 = no change).</string>
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@@ -2957,7 +2992,7 @@ generate the number of words requested.</string>
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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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<item row="8" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
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<property name="suffix">
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<string> %</string>
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@@ -2967,7 +3002,7 @@ generate the number of words requested.</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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<item row="8" column="1">
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<widget class="QLabel" name="label_98">
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<property name="text">
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<string>Right ROI ratio (0 = no change).</string>
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@@ -2977,7 +3012,7 @@ generate the number of words requested.</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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<item row="9" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
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<property name="suffix">
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<string> %</string>
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@@ -2987,7 +3022,7 @@ generate the number of words requested.</string>
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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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<item row="9" column="1">
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<widget class="QLabel" name="label_99">
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<property name="text">
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<string>Top ROI ratio (0 = no change).</string>
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@@ -2997,7 +3032,7 @@ generate the number of words requested.</string>
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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="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
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<property name="suffix">
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<string> %</string>
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@@ -3007,7 +3042,7 @@ generate the number of words requested.</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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<item row="10" column="1">
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<widget class="QLabel" name="label_100">
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<property name="text">
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<string>Bottom ROI ratio (0 = no change).</string>
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@@ -3017,17 +3052,7 @@ generate the number of words requested.</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="QLabel" name="label_117">
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<property name="text">
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<string>Visual word type.</string>
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</property>
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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="10" column="0">
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<item row="11" column="0">
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<widget class="QComboBox" name="comboBox_detector_strategy">
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<item>
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<property name="text">
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@@ -3041,6 +3066,16 @@ generate the number of words requested.</string>
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</item>
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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_117">
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<property name="text">
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<string>Visual word type.</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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</item>
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<item>
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@@ -4144,7 +4179,10 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item row="3" column="1">
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<widget class="QLabel" name="label_146">
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<property name="text">
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<string>Max feature depth.</string>
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<string>Max feature depth. Note that parameter "Visual Word"->"Max words depth" is applied before this.</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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