mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
-Added the grid map in the 3D map view (pcl::TextureMesh, available only when pcl>=1.7.2). Refactored how 2d maps are created.
-Fixed export grid map on Mac OS X. git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1623 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -7,7 +7,7 @@
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<x>0</x>
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@@ -22,91 +22,87 @@
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<property name="checkable">
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<bool>true</bool>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_3">
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<item>
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
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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>3</number>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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<property name="value">
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<double>0.005000000000000</double>
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<item row="0" column="1">
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<widget class="QLabel" name="label_107">
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<property name="text">
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<string>3D cloud voxel size.</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 row="1" column="0">
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<widget class="QSpinBox" name="spinBox_decimation">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>32</number>
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<property name="value">
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<number>1</number>
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<item row="1" column="1">
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<widget class="QLabel" name="label_108">
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<property name="text">
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<string>3D cloud decimation (1-2-4-8-...).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_maxDepth">
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<property name="suffix">
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<string> m</string>
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<property name="decimals">
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<number>1</number>
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<property name="maximum">
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<double>100.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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<property name="value">
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<double>4.000000000000000</double>
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</widget>
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<item row="2" column="1">
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<widget class="QLabel" name="label_132">
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<property name="text">
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<string>3D cloud maximum depth (0 means no limit).</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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<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
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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>3</number>
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<property name="maximum">
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<double>1.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.010000000000000</double>
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</property>
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<property name="value">
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<double>0.005000000000000</double>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_107">
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<property name="text">
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<string>3D cloud voxel size.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QSpinBox" name="spinBox_decimation">
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<property name="minimum">
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<number>1</number>
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</property>
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<property name="maximum">
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<number>32</number>
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</property>
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<property name="value">
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<number>1</number>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_108">
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<property name="text">
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<string>3D cloud decimation (1-2-4-8-...).</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="QDoubleSpinBox" name="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>1</number>
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</property>
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<property name="maximum">
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<double>100.000000000000000</double>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>4.000000000000000</double>
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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_132">
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<property name="text">
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<string>3D cloud maximum depth (0 means no limit).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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@@ -119,7 +115,7 @@
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<property name="checkable">
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<bool>true</bool>
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</property>
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<layout class="QFormLayout" name="formLayout_3">
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<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
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<property name="suffix">
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@@ -163,7 +159,7 @@
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<property name="checked">
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<bool>false</bool>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_4">
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<widget class="QLabel" name="label">
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<property name="text">
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@@ -175,7 +171,7 @@
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</widget>
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</item>
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<item>
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<layout class="QFormLayout" name="formLayout_4">
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<layout class="QGridLayout" name="gridLayout_3" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_mlsRadius">
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<property name="suffix">
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@@ -222,10 +218,7 @@ Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
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<property name="checked">
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<bool>false</bool>
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</property>
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<layout class="QFormLayout" name="formLayout">
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<property name="fieldGrowthPolicy">
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<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<layout class="QGridLayout" name="gridLayout_4" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QSpinBox" name="spinBox_normalKSearch">
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<property name="minimum">
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@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>-185</y>
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<width>737</width>
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<height>893</height>
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<y>0</y>
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<width>732</width>
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<height>1198</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -361,7 +361,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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</widget>
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</item>
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<item>
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<layout class="QFormLayout" name="formLayout_22">
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<layout class="QGridLayout" name="gridLayout_17" rowstretch="0,0" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_cloudFilterRadius">
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<property name="suffix">
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@@ -382,13 +382,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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_48">
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<property name="text">
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<string>Angle</string>
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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="QDoubleSpinBox" name="doubleSpinBox_cloudFilterAngle">
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<property name="suffix">
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@@ -405,6 +398,122 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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_48">
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<property name="text">
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<string>Angle</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox_gridMap">
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<property name="title">
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<string>Occupancy grid map</string>
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</property>
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<property name="checkable">
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<bool>false</bool>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_45">
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<item>
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<widget class="QLabel" name="label_167">
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<property name="text">
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<string>When laser scans are used, a 2D grid map can be created. When the Graph view is visible or if the "Show in 3D map view" below is checked, the grid map is generated.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_20" columnstretch="0,1">
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<item row="1" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_map_resolution">
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<property name="suffix">
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<string> m</string>
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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<property name="maximum">
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<double>1.000000000000000</double>
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<property name="value">
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<double>0.050000000000000</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_159">
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<property name="text">
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<string>Resolution (cell size)</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_164">
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<property name="text">
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<string>Fill empty space</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="QCheckBox" name="checkBox_map_fillEmptySpace">
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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>true</bool>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_map_opacity">
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<property name="suffix">
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<string/>
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</property>
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<property name="minimum">
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<double>0.750000000000000</double>
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</property>
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<property name="maximum">
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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>0.750000000000000</double>
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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_170">
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<property name="text">
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<string>Opacity</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="QCheckBox" name="checkBox_map_shown">
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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="0" column="1">
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<widget class="QLabel" name="label_map_shown">
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<property name="text">
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<string>Show in 3D map view</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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