mirror of
https://github.com/introlab/rtabmap.git
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Multi component view (#1729)
* Multi component view implemented except for rotations. Rotations can cause segfaults. * Implemented: handling rotations and applied rotations on optimized poses. Addition of a notion of main component (for saves in db) abd a node selection tool. * New feature: merge component using selected nodes * Refactored with suggestions. * Fixing QSet error on older Qt versions --------- Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Pierre ELIS
+180
-159
@@ -6,8 +6,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>382</width>
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<height>331</height>
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<width>333</width>
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<height>520</height>
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</rect>
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</property>
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<property name="windowTitle">
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@@ -15,178 +15,199 @@
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_2">
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<item>
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<widget class="QSpinBox" name="spinBox_ignored">
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<property name="suffix">
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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>
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<widget class="QLabel" name="label">
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<property name="text">
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<string>Frames ignored</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">
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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_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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<widget class="QSpinBox" name="spinBox_session">
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<property name="suffix">
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<string/>
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</property>
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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>999</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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<item>
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Mapping session (-1 = all)</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_2">
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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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<widget class="QCheckBox" name="checkBox_rgb">
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<property name="text">
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<string>RGB images</string>
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</property>
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<property name="checked">
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<bool>true</bool>
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<widget class="QGroupBox" name="groupBox_3">
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<property name="title">
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<string>Selection</string>
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</property>
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<layout class="QFormLayout" name="formLayout">
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<item row="0" column="0">
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<widget class="QSpinBox" name="spinBox_session">
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<property name="suffix">
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<string/>
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</property>
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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>999</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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<item row="0" column="1">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>Mapping session (-1 = all)</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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<widget class="QCheckBox" name="checkBox_selected_nodes">
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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_4">
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<property name="text">
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<string>Selected nodes</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="1">
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<widget class="QLabel" name="label_5">
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<property name="text">
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<string>Current component only</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="checkBox_current_component">
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<property name="text">
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<string/>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox_depth">
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<property name="text">
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<string>Depth images</string>
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</property>
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<property name="checked">
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<bool>true</bool>
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<widget class="QGroupBox" name="groupBox_2">
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<property name="title">
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<string>Filtering</string>
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</property>
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<layout class="QFormLayout" name="formLayout_2">
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<item row="0" column="0">
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<widget class="QSpinBox" name="spinBox_ignored">
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<property name="suffix">
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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="0" column="1">
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<widget class="QLabel" name="label">
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<property name="text">
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<string>Nodes ignored</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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<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 row="1" column="1">
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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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</layout>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox_depth2d">
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<property name="text">
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<string>Laser scans</string>
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</property>
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<property name="checked">
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<bool>true</bool>
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<widget class="QGroupBox" name="groupBox">
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<property name="title">
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<string>Data</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_2">
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<item>
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<widget class="QCheckBox" name="checkBox_rgb">
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<property name="text">
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<string>RGB images</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>
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<widget class="QCheckBox" name="checkBox_depth">
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<property name="text">
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<string>Depth images</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>
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<widget class="QCheckBox" name="checkBox_depth2d">
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<property name="text">
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<string>Laser scans</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>
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<widget class="QCheckBox" name="checkBox_odom">
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<property name="text">
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<string>Odometry</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>
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<widget class="QCheckBox" name="checkBox_userData">
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<property name="text">
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<string>User data (planned goals)</string>
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</property>
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<property name="checked">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QCheckBox" name="checkBox_odom">
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<property name="text">
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<string>Odometry</string>
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</property>
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<property name="checked">
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<bool>true</bool>
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<widget class="QGroupBox" name="groupBox_4">
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<property name="title">
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<string>Output Path</string>
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</property>
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<layout class="QHBoxLayout" name="horizontalLayout">
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<item>
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<widget class="QLineEdit" name="lineEdit_path">
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<property name="readOnly">
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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>
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<widget class="QToolButton" name="toolButton_path">
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<property name="text">
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<string>...</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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<item>
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<widget class="QCheckBox" name="checkBox_userData">
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<property name="text">
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<string>User data (planned goals)</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>
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<layout class="QHBoxLayout" name="horizontalLayout">
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<item>
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<widget class="QLineEdit" name="lineEdit_path">
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<property name="readOnly">
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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>
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<widget class="QToolButton" name="toolButton_path">
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<property name="text">
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<string>...</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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<spacer name="verticalSpacer">
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<property name="orientation">
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