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https://github.com/introlab/rtabmap.git
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Tango: 0.12.0 (performance optimization, time and memory)
This commit is contained in:
matlabbe
@@ -23,263 +23,6 @@
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android:layout_height="fill_parent"
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android:layout_gravity="top" />
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<LinearLayout
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android:id="@+id/status_layout"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:layout_alignParentTop="true"
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android:layout_alignParentLeft="true"
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android:orientation="vertical"
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android:paddingLeft="5dp" >
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/status" />
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<TextView
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android:id="@+id/status"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/memory" />
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<TextView
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android:id="@+id/memory"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/free_memory" />
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<TextView
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android:id="@+id/free_memory"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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</LinearLayout>
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<LinearLayout
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android:id="@+id/debug_layout"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:layout_alignParentLeft="true"
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android:orientation="vertical"
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android:layout_below="@+id/status_layout"
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android:paddingLeft="5dp" >
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/nodes" />
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<TextView
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android:id="@+id/nodes"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/words" />
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<TextView
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android:id="@+id/words"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/database_size" />
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<TextView
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android:id="@+id/database_size"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/points" />
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<TextView
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android:id="@+id/points"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/polygons" />
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<TextView
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android:id="@+id/polygons"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/update_time" />
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<TextView
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android:id="@+id/update_time"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/features" />
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<TextView
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android:id="@+id/features"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/rehearsal" />
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<TextView
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android:id="@+id/rehearsal"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/total_loop" />
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<TextView
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android:id="@+id/total_loop"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/inliers" />
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<TextView
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android:id="@+id/inliers"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/hypothesis" />
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<TextView
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android:id="@+id/hypothesis"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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<LinearLayout
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:orientation="horizontal" >
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<TextView
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android:layout_width="wrap_content"
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android:layout_height="wrap_content"
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android:text="@string/fps" />
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<TextView
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android:id="@+id/fps"
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android:layout_width="wrap_content"
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android:layout_height="wrap_content" />
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</LinearLayout>
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</LinearLayout>
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<ToggleButton
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android:id="@+id/backface_button"
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android:layout_width="100dp"
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@@ -68,6 +68,11 @@
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android:title="@string/pref_title_resolution"
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android:summary="@string/pref_summary_resolution"
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android:defaultValue="@string/pref_default_resolution"/>
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<SwitchPreference
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android:key="@string/pref_key_smoothing"
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android:title="@string/pref_title_smoothing"
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android:summary="@string/pref_summary_smoothing"
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android:defaultValue="@string/pref_default_smoothing"/>
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<PreferenceCategory
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android:title="@string/pref_title_mapping_core">
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@@ -11,7 +11,12 @@
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<item android:id="@+id/export" android:showAsAction="ifRoom" android:title="Export">
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<menu>
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<item android:id="@+id/export_point_cloud" android:title="Point Cloud" />
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<item android:id="@+id/export_point_cloud_menu" android:title="Point Cloud">
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<menu>
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<item android:id="@+id/export_point_cloud" android:title="Current Density" />
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<item android:id="@+id/export_point_cloud_highrez" android:title="Max Density" />
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</menu>
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</item>
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<item android:id="@+id/export_mesh_menu" android:title="Raw Mesh..." >
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<menu>
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<item android:id="@+id/export_mesh" android:title="Colored Mesh" />
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@@ -49,6 +54,7 @@
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<item android:id="@+id/menu_rendering_settings" android:title="Visibility...">
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<menu >
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<group android:id="@+id/group_rendering_visibility" android:checkableBehavior="all">
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<item android:id="@+id/status" android:checked="true" android:title="Status" />
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<item android:id="@+id/debug" android:checked="false" android:title="Debug" />
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<item android:id="@+id/map_shown" android:checked="true" android:title="Map Visible" />
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<item android:id="@+id/odom_shown" android:checked="true" android:title="Odom Visible" />
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@@ -18,7 +18,7 @@
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<string name="light_on">Lighting</string>
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<string name="light_off">Lighting</string>
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<string name="close_visualization">Close Visualization</string>
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<string name="save_to_file">Save to File…</string>
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<string name="save_to_file">Export to File…</string>
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<string name="share_to_sketchfab">Share to Sketchfab…</string>
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<string name="start">Start</string>
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<string name="nodes">"Nodes (WM): "</string>
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@@ -30,22 +30,22 @@
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<string name="total_loop">"Loop closures: "</string>
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<string name="inliers">"Inliers: "</string>
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<string name="features">"Features: "</string>
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<string name="rehearsal">"Rehearsal: "</string>
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<string name="rehearsal">"Rehearsal (%): "</string>
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<string name="polygons">"Polygons: "</string>
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<string name="memory">"Used Memory (MB): "</string>
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<string name="hypothesis">"Hypothesis: "</string>
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<string name="hypothesis">"Hypothesis (%): "</string>
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<string name="fps">"FPS (rendering): "</string>
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<!-- Preference keys: BEGIN -->
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<string name="pref_key_tags">pref_key_tags</string>
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<string name="pref_default_tags">rtabmap</string>
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<string name="pref_default_tags">rtabmap 3dscan</string>
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<string name="pref_key_rendering">pref_key_rendering</string>
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<string name="pref_default_rendering">2</string>
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<string name="pref_key_reset_button">pref_key_reset_button</string>
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<string name="pref_key_density">pref_key_density</string>
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<string name="pref_default_density">1</string>
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<string name="pref_key_depth">pref_key_depth</string>
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<string name="pref_default_depth">0</string>
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<string name="pref_default_depth">2.5</string>
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<string name="pref_key_point_size">pref_key_point_size</string>
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<string name="pref_default_point_size">5</string>
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<string name="pref_key_angle">pref_key_angle</string>
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@@ -60,6 +60,8 @@
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<string name="pref_default_auto_exposure">true</string>
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<string name="pref_key_resolution">pref_key_resolution</string>
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<string name="pref_default_resolution">false</string>
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<string name="pref_key_smoothing">pref_key_smoothing</string>
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<string name="pref_default_smoothing">true</string>
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<string name="pref_key_update_rate">pref_key_update_rate</string>
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<string name="pref_default_update_rate">1</string>
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@@ -93,7 +95,7 @@
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<string name="pref_default_db_in_memory">true</string>
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<string name="pref_key_cloud_voxel">pref_key_cloud_voxel</string>
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<string name="pref_default_cloud_voxel">0.01</string>
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<string name="pref_default_cloud_voxel">0</string>
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<string name="pref_key_texture_size">pref_key_texture_size</string>
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<string name="pref_default_texture_size">4096</string>
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<string name="pref_key_normal_k">pref_key_normal_k</string>
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@@ -145,17 +147,25 @@
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<string-array name="pref_depth_keys">
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<item>"No Limit"</item>
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<item>"5"</item>
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<item>"4.5"</item>
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<item>"4"</item>
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<item>"3.5"</item>
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<item>"3"</item>
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<item>"2.5"</item>
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<item>"2"</item>
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<item>"1.5"</item>
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<item>"1"</item>
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</string-array>
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<string-array name="pref_depth_values">
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<item>"0"</item>
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<item>"5"</item>
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<item>"4.5"</item>
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<item>"4"</item>
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<item>"3.5"</item>
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<item>"3"</item>
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<item>"2.5"</item>
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<item>"2"</item>
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<item>"1.5"</item>
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<item>"1"</item>
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</string-array>
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<string-array name="pref_point_size_values">
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@@ -208,6 +218,8 @@
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<string name="pref_summary_auto_exposure">Adjust camera exposure depending on the lighting to get always maximum contrast. This may change texture color between scanned images. Color correction option in Post-Processing can help to uniformize colors. May not work on some devices.</string>
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<string name="pref_title_resolution">HD Mode</string>
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<string name="pref_summary_resolution">Save HD images if you want very detailed textures. More memory will be required.</string>
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<string name="pref_title_smoothing">Smoothing</string>
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<string name="pref_summary_smoothing">Smooth the point clouds.</string>
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<string name="pref_title_update_rate">Update Rate</string>
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<string name="pref_summary_update_rate">Rate at which a new node is added to map.</string>
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<string name="pref_title_time_thr">Time Limit</string>
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@@ -460,7 +472,7 @@
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<item>"0"</item>
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</string-array>
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<string name="pref_title_export_sub">Exporting...</string>
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<string name="pref_title_export_sub">Exporting…</string>
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<string name="pref_title_export">Exporting</string>
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<string name="pref_summary_export">Advanced parameters used when exporting the map.</string>
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<string name="pref_title_cloud_voxel">Voxel Size</string>
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