mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.
This commit is contained in:
matlabbe
@@ -50,8 +50,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>154</width>
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<height>184</height>
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<width>175</width>
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<height>173</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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@@ -236,8 +236,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>154</width>
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<height>184</height>
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<width>174</width>
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<height>173</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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@@ -418,7 +418,7 @@
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<x>0</x>
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<y>0</y>
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<width>1285</width>
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<height>22</height>
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<height>25</height>
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</rect>
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</property>
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<widget class="QMenu" name="menuFile">
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@@ -441,6 +441,7 @@
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<addaction name="actionGenerate_graph_dot"/>
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<addaction name="actionGenerate_local_graph_dot"/>
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<addaction name="actionGenerate_TORO_graph_graph"/>
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<addaction name="actionGenerate_g2o_graph_g2o"/>
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<addaction name="separator"/>
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<addaction name="actionDetect_more_loop_closures"/>
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<addaction name="actionVisual_Refine_all_neighbor_links"/>
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@@ -828,15 +829,15 @@
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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>1</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>312</width>
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<height>314</height>
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<width>314</width>
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<height>303</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1055,8 +1056,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>366</width>
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<height>361</height>
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<width>351</width>
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<height>347</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1344,9 +1345,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>330</width>
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<height>304</height>
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<y>-26</y>
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<width>333</width>
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<height>333</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1363,14 +1364,14 @@
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</property>
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</widget>
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</item>
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<item row="6" column="2">
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<item row="7" 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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<item row="10" 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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@@ -1419,14 +1420,14 @@
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</property>
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</widget>
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</item>
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<item row="5" column="2">
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<item row="6" column="2">
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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="6" column="0">
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<item row="7" 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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@@ -1436,7 +1437,7 @@
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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="QCheckBox" name="checkBox_ignorePoseCorrection">
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<property name="text">
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<string/>
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@@ -1446,7 +1447,7 @@
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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="QCheckBox" name="checkBox_ignoreLocalLoopTime">
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<property name="text">
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<string/>
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@@ -1456,6 +1457,19 @@
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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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<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>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="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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@@ -1471,6 +1485,11 @@
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<string>g2o</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>GTSAM</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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@@ -1480,34 +1499,21 @@
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</property>
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</widget>
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</item>
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<item row="9" column="2">
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<item row="10" 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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<item row="8" 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>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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<item row="8" 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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@@ -1517,7 +1523,7 @@
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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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<item row="9" 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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@@ -1531,7 +1537,7 @@
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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_ignoreCovariance">
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<property name="text">
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<string/>
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@@ -1548,13 +1554,30 @@
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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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<item row="5" 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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<item row="4" column="2">
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<widget class="QLabel" name="label_63">
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<property name="text">
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<string>Robust optimization</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_robust">
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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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</layout>
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</widget>
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<widget class="QWidget" name="page_4">
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@@ -1562,8 +1585,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>248</width>
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<height>319</height>
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<width>243</width>
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<height>284</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1757,7 +1780,7 @@
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<x>0</x>
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<y>0</y>
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<width>201</width>
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<height>126</height>
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<height>117</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1856,8 +1879,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>283</width>
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<height>322</height>
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<width>285</width>
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<height>309</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -2301,6 +2324,11 @@
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<string>Reset all changes</string>
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</property>
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</action>
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<action name="actionGenerate_g2o_graph_g2o">
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<property name="text">
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<string>Generate g2o graph (*.g2o)...</string>
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</property>
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</action>
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</widget>
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<customwidgets>
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<customwidget>
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