mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
DbViewer: added new graph optimization options: span to all maps and ignore some links
This commit is contained in:
matlabbe
@@ -6,7 +6,7 @@
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<rect>
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<x>0</x>
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<width>1183</width>
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<width>1285</width>
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<height>804</height>
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@@ -50,8 +50,8 @@
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<rect>
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<width>162</width>
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<width>172</width>
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<height>184</height>
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</rect>
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</property>
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<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
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@@ -233,8 +233,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>162</width>
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<height>173</height>
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<width>172</width>
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<height>184</height>
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</rect>
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</property>
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<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
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@@ -411,8 +411,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>1183</width>
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<height>25</height>
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<width>1285</width>
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<height>22</height>
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</rect>
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</property>
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<widget class="QMenu" name="menuFile">
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@@ -666,34 +666,17 @@
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_10">
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<property name="text">
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<string>Total path length (m)</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="QSpinBox" name="spinBox_optimizationsFrom"/>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_optimizeFrom">
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<property name="text">
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<string>Optimize from</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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<widget class="QLabel" name="label_pathLength">
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<item row="6" column="0">
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<widget class="QLabel" name="label_loopClosures">
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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="3" column="1">
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<widget class="QLabel" name="label_39">
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<item row="4" column="0">
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<widget class="QLabel" name="label_timeGrid">
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<property name="text">
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<string>Time optimization (s)</string>
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<string/>
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</property>
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</widget>
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</item>
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@@ -704,6 +687,37 @@
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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="QSpinBox" name="spinBox_optimizationsFrom"/>
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</item>
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<item row="5" column="1">
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<widget class="QLabel" name="label_52">
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<property name="text">
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<string>Nodes</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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<widget class="QLabel" name="label_39">
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<property name="text">
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<string>Time optimization (s)</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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<widget class="QLabel" name="label_41">
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<property name="text">
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<string>Loop closures (G, LS, LT, U)</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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<widget class="QLabel" name="label_10">
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<property name="text">
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<string>Total path length (m)</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_45">
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<property name="text">
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@@ -711,8 +725,36 @@
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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="QLabel" name="label_timeGrid">
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<item row="2" column="0">
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<widget class="QLabel" name="label_pathLength">
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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="1">
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<layout class="QHBoxLayout" name="horizontalLayout_7" stretch="0,1">
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<item>
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<widget class="QLabel" name="label_optimizeFrom">
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<property name="text">
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<string>Graph root</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="QCheckBox" name="checkBox_spanAllMaps">
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<property name="text">
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<string>Span to all maps</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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</layout>
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</item>
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<item row="5" column="0">
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<widget class="QLabel" name="label_nodes">
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<property name="text">
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<string/>
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</property>
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@@ -741,15 +783,15 @@
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<item>
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<widget class="QToolBox" name="toolBox">
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<property name="currentIndex">
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<number>4</number>
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<number>2</number>
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</property>
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<widget class="QWidget" name="page">
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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>314</width>
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<height>303</height>
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<width>312</width>
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<height>314</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -968,8 +1010,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>338</width>
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<height>314</height>
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<width>351</width>
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<height>331</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1236,37 +1278,50 @@
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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>246</width>
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<height>198</height>
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<y>-118</y>
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<width>330</width>
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<height>304</height>
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</rect>
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</property>
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<attribute name="label">
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<string>Graph optimization</string>
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</attribute>
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<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QComboBox" name="comboBox_graphOptimizer">
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<item>
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<property name="text">
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<string>TORO</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>g2o</string>
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</property>
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</item>
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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_40">
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<layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox_2dslam">
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<property name="text">
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<string>Strategy</string>
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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="1" column="0">
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<item row="6" column="2">
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<widget class="QLabel" name="label_48">
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<property name="text">
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<string>Ignore global loop closures</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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<widget class="QCheckBox" name="checkBox_ignoreUserLoop">
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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="1" column="2">
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<widget class="QLabel" name="label_7">
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<property name="text">
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<string>Iterations</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QSpinBox" name="spinBox_iterations">
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<property name="suffix">
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<string/>
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@@ -1282,14 +1337,7 @@
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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_7">
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<property name="text">
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<string>Iterations</string>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<item row="2" column="1">
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<widget class="QSpinBox" name="spinBox_optimizationDepth">
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<property name="suffix">
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<string/>
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@@ -1305,15 +1353,15 @@
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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_8">
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<item row="5" column="2">
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<widget class="QLabel" name="label_35">
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<property name="text">
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<string>Depth (0=inf)</string>
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<string>Ignore pose correction</string>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox_ignoreCovariance">
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<item row="6" column="0">
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<widget class="QCheckBox" name="checkBox_ignoreGlobalLoop">
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<property name="text">
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<string/>
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</property>
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@@ -1322,14 +1370,7 @@
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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_34">
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<property name="text">
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<string>Ignore covariance</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_ignorePoseCorrection">
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<property name="text">
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<string/>
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@@ -1339,15 +1380,8 @@
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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_35">
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<property name="text">
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<string>Ignore pose correction</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="checkBox_2dslam">
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<item row="8" column="0">
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<widget class="QCheckBox" name="checkBox_ignoreLocalLoopTime">
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<property name="text">
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<string/>
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</property>
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@@ -1356,26 +1390,105 @@
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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_41">
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<item row="0" column="0" colspan="2">
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<widget class="QComboBox" name="comboBox_graphOptimizer">
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<property name="sizeAdjustPolicy">
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<enum>QComboBox::AdjustToContents</enum>
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</property>
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<item>
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<property name="text">
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<string>TORO</string>
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</property>
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</item>
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<item>
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<property name="text">
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<string>g2o</string>
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</property>
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</item>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QLabel" name="label_8">
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<property name="text">
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<string>2d SLAM</string>
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<string>Depth (0=inf)</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="9" column="2">
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<widget class="QLabel" name="label_50">
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<property name="text">
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<string>Ignore user loop closures</string>
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</property>
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</widget>
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</item>
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<item row="7" column="2">
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<widget class="QLabel" name="label_47">
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<property name="text">
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<string>Ignore local loop closures (space)</string>
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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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<spacer name="verticalSpacer_3">
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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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<width>0</width>
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<height>40</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="7" column="0">
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<widget class="QCheckBox" name="checkBox_ignoreLocalLoopSpace">
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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="8" column="2">
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<widget class="QLabel" name="label_49">
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<property name="text">
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<string>Ignore local loop closures (time)</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="QLabel" name="label_40">
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<property name="text">
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<string>Strategy</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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<widget class="QCheckBox" name="checkBox_ignoreCovariance">
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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="3" column="2">
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<widget class="QLabel" name="label_51">
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<property name="text">
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<string>2d SLAM</string>
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</property>
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</widget>
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</item>
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<item row="4" column="2">
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<widget class="QLabel" name="label_34">
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<property name="text">
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<string>Ignore covariance</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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<widget class="QWidget" name="page_4">
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@@ -1383,8 +1496,8 @@
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<rect>
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||||
<x>0</x>
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||||
<y>0</y>
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<width>243</width>
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||||
<height>284</height>
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<width>248</width>
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<height>319</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1577,8 +1690,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>256</width>
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<height>151</height>
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<width>201</width>
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<height>126</height>
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</rect>
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</property>
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<attribute name="label">
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