mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Updated version to 0.8.11. Added param RGBD/LocalLoopDetectionPathOdomPosesUsed. DatabaseViewer: export option at a specified framerate. DBReader: option to read database at a rate specified by the stamps saved. Database: Added new column "data2d_max_pts" in Depth table
This commit is contained in:
Mathieu Labbe
@@ -7,7 +7,7 @@
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<x>0</x>
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<y>0</y>
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<width>382</width>
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<height>291</height>
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<height>331</height>
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</rect>
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</property>
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<property name="windowTitle">
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@@ -45,6 +45,40 @@
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</item>
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</layout>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_4">
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<item>
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<widget class="QDoubleSpinBox" name="doubleSpinBox_framerate">
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<property name="suffix">
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<string> Hz</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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</widget>
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</item>
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<item>
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<widget class="QLabel" name="label_3">
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<property name="text">
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<string>Target frame rate</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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<spacer name="horizontalSpacer_3">
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<property name="orientation">
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<enum>Qt::Horizontal</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>40</width>
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<height>20</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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</layout>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_3">
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<item>
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@@ -172,7 +206,7 @@
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<enum>Qt::Horizontal</enum>
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</property>
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<property name="standardButtons">
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<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
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<set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults</set>
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</property>
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</widget>
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</item>
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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>-806</y>
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<y>0</y>
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<width>760</width>
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<height>1462</height>
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<height>1029</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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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>19</number>
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<number>21</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29">
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@@ -1603,6 +1603,20 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<bool>false</bool>
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</property>
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<layout class="QGridLayout" name="gridLayout_9">
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<item row="0" column="2">
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<widget class="QToolButton" name="toolButton_dbViewer">
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<property name="toolTip">
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<string>Open database viewer</string>
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</property>
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<property name="text">
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<string/>
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</property>
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<property name="icon">
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<iconset resource="../GuiLib.qrc">
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<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
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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="QCheckBox" name="source_checkBox_ignoreOdometry">
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<property name="text">
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@@ -1620,14 +1634,14 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="0" column="1">
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<widget class="QLineEdit" name="source_database_lineEdit_path"/>
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</item>
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<item row="3" column="1">
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<item row="4" column="1">
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<widget class="QLabel" name="label_58">
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<property name="text">
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<string>Start position (index)</string>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<item row="4" column="0">
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<widget class="QSpinBox" name="source_spinBox_databaseStartPos">
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<property name="minimum">
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<number>0</number>
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@@ -1637,20 +1651,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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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="QToolButton" name="toolButton_dbViewer">
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<property name="toolTip">
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<string>Open database viewer</string>
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</property>
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<property name="text">
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<string/>
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</property>
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<property name="icon">
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<iconset resource="../GuiLib.qrc">
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<normaloff>:/images/mag_glass.png</normaloff>:/images/mag_glass.png</iconset>
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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_72">
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<property name="text">
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@@ -1661,7 +1661,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<item row="3" column="1">
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<widget class="QLabel" name="label_80">
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<property name="text">
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<string>Ignore goal delay.</string>
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@@ -1671,13 +1671,30 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<item row="3" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
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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="2" column="1">
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<widget class="QLabel" name="label_90">
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<property name="text">
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<string>Use database stamps as input rate.</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="QCheckBox" name="source_checkBox_useDbStamps">
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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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</layout>
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</widget>
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</item>
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@@ -5244,14 +5261,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<item row="3" column="0">
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<widget class="QCheckBox" name="checkBox_localSpaceLinksKeptInWM">
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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="2" column="1">
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<item row="3" column="1">
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<widget class="QLabel" name="label_scanMatching_2">
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<property name="text">
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<string>If local space links are kept in WM.</string>
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@@ -5271,6 +5288,23 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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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_scanMatching_4">
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<property name="text">
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<string>When comparing to a local path, merge the scan using the odometry poses instead of the ones in the optimized local graph.</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="QCheckBox" name="checkBox_localSpacePathOdomPosesUsed">
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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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</layout>
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</item>
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</layout>
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@@ -5900,6 +5934,45 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<string>ICP 3D (e.g. Kinect depth)</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_53" columnstretch="0,1">
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<item row="5" column="0">
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<widget class="QSpinBox" name="loopClosure_icpIterations">
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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>1000</number>
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</property>
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<property name="value">
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<number>10</number>
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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_124">
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<property name="text">
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<string>Max iterations.</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="3" column="0">
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<widget class="QSpinBox" name="loopClosure_icpSamples">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>999999</number>
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</property>
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<property name="singleStep">
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<number>100</number>
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</property>
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<property name="value">
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<number>5000</number>
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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="loopClosure_icpDecimation">
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<property name="minimum">
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@@ -5910,6 +5983,22 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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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="QDoubleSpinBox" name="loopClosure_icpMaxCorrespondenceDistance">
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<property name="decimals">
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<number>3</number>
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</property>
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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="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>0.100000000000000</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_109">
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<property name="text">
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@@ -5972,22 +6061,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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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="QSpinBox" name="loopClosure_icpSamples">
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>999999</number>
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</property>
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<property name="singleStep">
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<number>100</number>
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</property>
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<property name="value">
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<number>5000</number>
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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_118">
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<property name="text">
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@@ -5998,19 +6071,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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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="QDoubleSpinBox" name="loopClosure_icpMaxCorrespondenceDistance">
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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="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>0.100000000000000</double>
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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_122">
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<property name="text">
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@@ -6021,29 +6081,6 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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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="QSpinBox" name="loopClosure_icpIterations">
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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>1000</number>
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</property>
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<property name="value">
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<number>10</number>
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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_124">
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<property name="text">
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<string>Max iterations.</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="6" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icpRatio">
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<property name="minimum">
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@@ -6121,6 +6158,9 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<layout class="QGridLayout" name="gridLayout_52" columnstretch="0,1">
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<item row="0" column="0">
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<widget class="QDoubleSpinBox" name="loopClosure_icp2MaxCorrespondenceDistance">
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<property name="decimals">
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<number>3</number>
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</property>
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<property name="minimum">
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<double>0.010000000000000</double>
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</property>
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@@ -6184,7 +6224,7 @@ Lower the ratio -> higher the precision. 0 means disabled, matching the neare
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<item row="2" column="1">
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<widget class="QLabel" name="label_148">
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<property name="text">
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<string>Ratio of matching correspondences to accept the transform.</string>
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<string>Minimum ratio of correspondences on laser scan maximum size to accept the transform.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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