mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
fixed warning of logStatisticsHeader parameter not set in Preferences
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1898 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -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>22</number>
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<number>5</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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@@ -360,7 +360,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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<bool>true</bool>
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</property>
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<property name="checked">
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<bool>false</bool>
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||||
<bool>true</bool>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_37">
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<item>
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@@ -384,7 +384,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
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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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<double>0.200000000000000</double>
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</property>
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</widget>
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</item>
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@@ -2354,33 +2354,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item>
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<widget class="QGroupBox" name="groupBox_publishing">
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<property name="title">
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<string>Publishing (stuff to be shown in the GUI)</string>
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<string>Publish statistics (stuff to be shown in the GUI)</string>
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</property>
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<property name="checkable">
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<bool>true</bool>
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</property>
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||||
<layout class="QFormLayout" name="formLayout_15">
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<property name="fieldGrowthPolicy">
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<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
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<item row="0" column="0">
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<widget class="QCheckBox" name="general_checkBox_publishStats">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_35">
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<property name="text">
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<string>Publish statistics (when false, this disables other "Publish *").</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QCheckBox" name="general_checkBox_publishRawData">
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<property name="text">
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<string/>
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@@ -2390,14 +2373,14 @@ 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="1" column="1">
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<item row="0" column="1">
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<widget class="QLabel" name="label_91">
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<property name="text">
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<string>Publish raw sensor data.</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="1" column="0">
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<widget class="QCheckBox" name="general_checkBox_publishPdf">
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<property name="text">
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<string/>
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@@ -2407,14 +2390,14 @@ 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="1">
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<item row="1" column="1">
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<widget class="QLabel" name="label_106">
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<property name="text">
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<string>Publish pdf. See the probability density function</string>
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<string>Publish loop closure hypotheses (pdf).</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="2" column="0">
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<widget class="QCheckBox" name="general_checkBox_publishLikelihood">
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<property name="text">
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<string/>
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@@ -2424,10 +2407,27 @@ 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="3" column="1">
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<item row="2" column="1">
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<widget class="QLabel" name="label_116">
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<property name="text">
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<string>Publish likelihood.</string>
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<string>Publish loop closure likelihood.</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_144">
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<property name="text">
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<string>Publish visual words.</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="QCheckBox" name="checkBox_kp_publishKeypoints">
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<property name="text">
|
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<string/>
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</property>
|
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<property name="checked">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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@@ -2437,13 +2437,16 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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<item>
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<widget class="QGroupBox" name="groupBox_statistics">
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<property name="title">
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<string>Statistics</string>
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<string>Log statistics (LogI.txt and LogF.txt) in the working directory.</string>
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</property>
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<property name="checkable">
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<bool>true</bool>
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</property>
|
||||
<layout class="QFormLayout" name="formLayout_16">
|
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<property name="fieldGrowthPolicy">
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<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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</property>
|
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<item row="1" column="0">
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<item row="0" column="0">
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<widget class="QCheckBox" name="general_checkBox_statisticLogsBufferedInRAM">
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<property name="text">
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<string/>
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@@ -2453,7 +2456,7 @@ 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="1" column="1">
|
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<item row="0" column="1">
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<widget class="QLabel" name="label_143">
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<property name="text">
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<string>Statistics logs buffered in RAM and written to hard drive on exit (otherwise logs are written at each iteration on hard drive).</string>
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@@ -2463,18 +2466,8 @@ 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="0" column="1">
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<widget class="QLabel" name="label_144">
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<property name="text">
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<string>Log statistics (in LogI.txt and LogF.txt in the working directory).</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="0" column="0">
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<widget class="QCheckBox" name="general_checkBox_statisticLogged">
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<item row="1" column="0">
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<widget class="QCheckBox" name="general_checkBox_statisticLoggedHeaders">
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<property name="text">
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<string/>
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</property>
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@@ -2483,6 +2476,16 @@ 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="1" column="1">
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<widget class="QLabel" name="label_209">
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<property name="text">
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<string>Add headers (column names) to log files.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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@@ -3150,235 +3153,6 @@ see Sqlite3 doc 'PRAGMA temp_store'.</string>
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<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
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||||
</property>
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="checkBox_kp_publishKeypoints">
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_publishWords">
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||||
<property name="text">
|
||||
<string>Publish visual words.</string>
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||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
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</property>
|
||||
</widget>
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</item>
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<item row="2" column="0">
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||||
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_maxDepth">
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<property name="suffix">
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<string> m</string>
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</property>
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||||
<property name="decimals">
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<number>2</number>
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</property>
|
||||
<property name="minimum">
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||||
<double>0.000000000000000</double>
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</property>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
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</property>
|
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<property name="singleStep">
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<double>1.000000000000000</double>
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||||
</property>
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||||
<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_53">
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<property name="toolTip">
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<string>0 means that the response (hessian) threshold
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used for the detector will not be adapted.
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Otherwise, the threshold is modified to
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generate the number of words requested.</string>
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</property>
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<property name="text">
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||||
<string>Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image".</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="surf_spinBox_wordsPerImageTarget">
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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>2000</number>
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</property>
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<property name="value">
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<number>150</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_22">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
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used for the detector will not be adapted.
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Otherwise, the threshold is modified to
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generate the number of words requested.</string>
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||||
</property>
|
||||
<property name="text">
|
||||
<string>Maximum words per image.</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="4" column="0">
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||||
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
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||||
<property name="decimals">
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||||
<number>2</number>
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||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.250000000000000</double>
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||||
</property>
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||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_81">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
|
||||
used for the detector will not be adapted.
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||||
Otherwise, the threshold is modified to
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||||
generate the number of words requested.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QLineEdit" name="lineEdit_kp_roi">
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_101">
|
||||
<property name="text">
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_97">
|
||||
<property name="text">
|
||||
<string>Left ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_98">
|
||||
<property name="text">
|
||||
<string>Right ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_99">
|
||||
<property name="text">
|
||||
<string>Top ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="10" column="1">
|
||||
<widget class="QLabel" name="label_100">
|
||||
<property name="text">
|
||||
<string>Bottom ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_117">
|
||||
<property name="text">
|
||||
<string>Visual word type.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QComboBox" name="comboBox_detector_strategy">
|
||||
<item>
|
||||
<property name="text">
|
||||
@@ -3422,6 +3196,215 @@ generate the number of words requested.</string>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_117">
|
||||
<property name="text">
|
||||
<string>Visual word type.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_maxDepth">
|
||||
<property name="suffix">
|
||||
<string> m</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>99.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_53">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
|
||||
used for the detector will not be adapted.
|
||||
Otherwise, the threshold is modified to
|
||||
generate the number of words requested.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Maximum words depth (0 means inf). Only used when a depth image is provided. Applied before "Maximum words per image".</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="surf_spinBox_wordsPerImageTarget">
|
||||
<property name="minimum">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>2000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>150</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
|
||||
used for the detector will not be adapted.
|
||||
Otherwise, the threshold is modified to
|
||||
generate the number of words requested.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Maximum words per image.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QDoubleSpinBox" name="surf_doubleSpinBox_ratioBadSign">
|
||||
<property name="decimals">
|
||||
<number>2</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>0.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.050000000000000</double>
|
||||
</property>
|
||||
<property name="value">
|
||||
<double>0.250000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="label_81">
|
||||
<property name="toolTip">
|
||||
<string>0 means that the response (hessian) threshold
|
||||
used for the detector will not be adapted.
|
||||
Otherwise, the threshold is modified to
|
||||
generate the number of words requested.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="0">
|
||||
<widget class="QLineEdit" name="lineEdit_kp_roi">
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="5" column="1">
|
||||
<widget class="QLabel" name="label_101">
|
||||
<property name="text">
|
||||
<string>ROI ratios [left, right, top, bottom] between 0 and 1.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi0">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="6" column="1">
|
||||
<widget class="QLabel" name="label_97">
|
||||
<property name="text">
|
||||
<string>Left ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi1">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="7" column="1">
|
||||
<widget class="QLabel" name="label_98">
|
||||
<property name="text">
|
||||
<string>Right ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi2">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="8" column="1">
|
||||
<widget class="QLabel" name="label_99">
|
||||
<property name="text">
|
||||
<string>Top ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="0">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_kp_roi3">
|
||||
<property name="suffix">
|
||||
<string> %</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>0</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="9" column="1">
|
||||
<widget class="QLabel" name="label_100">
|
||||
<property name="text">
|
||||
<string>Bottom ROI ratio (0 = no change).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@@ -4869,7 +4852,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_57">
|
||||
<property name="text">
|
||||
<string>A transformation is computed using the 3D visual word correspondences. See "Visual transformation" panel for parameters.</string>
|
||||
<string>A transformation is computed using the 3D visual word correspondences. See "Loop closure constraint" panel for parameters.</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
@@ -4999,7 +4982,9 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="label_151">
|
||||
<property name="text">
|
||||
<string>Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node).
|
||||
<string>Optimize graph from the newest node.
|
||||
-If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node). An odometry correction from frames /map to /odom is computed.
|
||||
-If true, there is no odometry correction computed since it is all previous poses in the map that are corrected, not the last one (which corresponds to latest odometry value).
|
||||
Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
|
||||
Reference in New Issue
Block a user