mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 10:00:23 +08:00
Version 0.11.0: Refactored Visual/ICP transformation estimation approaches, Added Registration classes for convenience, Added Parameters migration approach, 3D laser scans can be used
This commit is contained in:
matlabbe
@@ -50,8 +50,8 @@
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@@ -236,8 +236,8 @@
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<width>165</width>
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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>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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@@ -430,6 +430,7 @@
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<addaction name="actionSave_config"/>
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<addaction name="separator"/>
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<addaction name="actionGenerate_3D_map_pcd"/>
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<addaction name="actionExport_3D_laser_scans_ply_pcd"/>
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<addaction name="actionExport"/>
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<addaction name="actionExtract_images"/>
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<addaction name="separator"/>
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@@ -453,6 +454,7 @@
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<addaction name="actionReset_all_changes"/>
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<addaction name="separator"/>
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<addaction name="actionView_3D_map"/>
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<addaction name="actionView_3D_laser_scans"/>
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</widget>
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<widget class="QMenu" name="menuView">
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<property name="title">
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@@ -826,25 +828,103 @@
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</attribute>
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<widget class="QWidget" name="dockWidgetContents_3">
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<layout class="QVBoxLayout" name="verticalLayout_10">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_11">
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<item>
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<widget class="QComboBox" name="comboBox_logger_level">
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<property name="currentIndex">
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<number>1</number>
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</property>
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<item>
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<property name="text">
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<string>Debug</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>Info</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>Warning</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>Error</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>
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<widget class="QLabel" name="label_logger_level">
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<property name="text">
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<string>Logger level</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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<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>0</number>
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</property>
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<widget class="QWidget" name="page">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>314</width>
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<height>303</height>
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<width>312</width>
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<height>374</height>
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</rect>
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</property>
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<attribute name="label">
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<string>ICP</string>
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</attribute>
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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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<item row="8" column="0">
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<widget class="QSpinBox" name="spinBox_icp_iteration">
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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>30</number>
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<widget class="QLabel" name="label_15">
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<property name="text">
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<string>Iteration</string>
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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<widget class="QLabel" name="label_11">
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<property name="text">
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<string>Point to plane</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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<widget class="QSpinBox" name="spinBox_icp_normalKSearch">
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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>20</number>
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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_icp_decimation">
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<property name="minimum">
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<number>1</number>
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@@ -857,14 +937,14 @@
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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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<item row="1" column="1">
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<widget class="QLabel" name="label_14">
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<property name="text">
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<string>Decimation</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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<item row="2" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxDepth">
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<property name="suffix">
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<string> m</string>
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@@ -880,14 +960,7 @@
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QLabel" name="label_17">
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<property name="text">
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<string>Max depth</string>
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_icp_voxel">
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<property name="suffix">
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<string> m</string>
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@@ -903,14 +976,14 @@
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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="4" column="1">
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<widget class="QLabel" name="label_13">
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<property name="text">
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<string>Voxel</string>
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<string>Voxel size</string>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<item row="6" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_icp_maxCorrespDistance">
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<property name="suffix">
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<string> m</string>
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@@ -929,14 +1002,31 @@
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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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<item row="6" column="1">
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<widget class="QLabel" name="label_12">
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<property name="text">
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<string>Max correspondence distance</string>
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</property>
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</widget>
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</item>
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<item row="5" column="0">
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<item row="11" column="0">
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<widget class="QCheckBox" name="checkBox_icp_2d">
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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="2" column="1">
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<widget class="QLabel" name="label_17">
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<property name="text">
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<string>Max depth</string>
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_icp_minCorrespondenceRatio">
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<property name="suffix">
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<string/>
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@@ -955,34 +1045,14 @@
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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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<item row="7" column="1">
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<widget class="QLabel" name="label_46">
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<property name="text">
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<string>Min correspondence ratio</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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<widget class="QSpinBox" name="spinBox_icp_iteration">
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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>30</number>
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</property>
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</widget>
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</item>
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<item row="6" column="1">
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<widget class="QLabel" name="label_15">
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<property name="text">
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<string>Iteration</string>
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</property>
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</widget>
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</item>
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<item row="7" column="0">
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<item row="9" column="0">
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<widget class="QCheckBox" name="checkBox_icp_p2plane">
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<property name="text">
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<string/>
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@@ -992,51 +1062,21 @@
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLabel" name="label_11">
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<property name="text">
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<string>Point to plane</string>
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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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<widget class="QSpinBox" name="spinBox_icp_normalKSearch">
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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>20</number>
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</property>
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</widget>
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</item>
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<item row="8" column="1">
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<item row="10" column="1">
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<widget class="QLabel" name="label_20">
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<property name="text">
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<string>Normal K neighbors</string>
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</property>
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</widget>
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</item>
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<item row="9" column="0">
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<widget class="QCheckBox" name="checkBox_icp_2d">
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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="9" column="1">
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<item row="11" column="1">
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<widget class="QLabel" name="label_27">
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<property name="text">
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<string>2D icp (laser scans required)</string>
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<string>2D icp</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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<item row="12" column="0">
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<spacer name="verticalSpacer">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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@@ -1049,6 +1089,43 @@
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</property>
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</spacer>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_68">
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<property name="text">
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<string>Use laser scans for ICP</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_icp_laserScan">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_69">
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<property name="text">
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<string>Downsample step size</string>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QSpinBox" name="spinBox_icp_downsamplingStepSize">
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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>999999</number>
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</property>
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<property name="singleStep">
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<number>1000</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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</layout>
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</widget>
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<widget class="QWidget" name="page_2">
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@@ -1056,8 +1133,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>351</width>
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<height>407</height>
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<width>366</width>
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<height>420</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1389,8 +1466,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>333</width>
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<height>333</height>
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<width>338</width>
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<height>330</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1628,8 +1705,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>255</width>
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<height>377</height>
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<width>261</width>
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<height>411</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1886,7 +1963,7 @@
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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>117</height>
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<height>126</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -1985,8 +2062,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>285</width>
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<height>309</height>
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<width>283</width>
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<height>322</height>
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</rect>
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</property>
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<attribute name="label">
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@@ -2394,7 +2471,7 @@
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</action>
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<action name="actionGenerate_3D_map_pcd">
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<property name="text">
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<string>Export 3D map (*.pcd) ...</string>
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<string>Export 3D map (*.ply *.pcd) ...</string>
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</property>
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</action>
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<action name="actionExport">
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@@ -2457,6 +2534,16 @@
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<string>Generate g2o graph (*.g2o)...</string>
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</property>
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</action>
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<action name="actionView_3D_laser_scans">
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<property name="text">
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<string>View 3D laser scans...</string>
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</property>
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</action>
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||||
<action name="actionExport_3D_laser_scans_ply_pcd">
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<property name="text">
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<string>Export 3D laser scans (*.ply *.pcd) ...</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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||||
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